├── LICENSE ├── README.md ├── path_planning ├── forces │ ├── C │ │ ├── car_dynamics.c │ │ └── myfevals.c │ ├── NLPexample_autoFevals.m │ ├── NLPexample_autoFevals_termCost.m │ ├── NLPexample_ownFevals.m │ └── NLPexample_usingParameters.m └── ipopt │ ├── pathplanning.py │ └── pathplanning_code_generation.py ├── quadcopter ├── acado │ ├── dynamics.m │ ├── dynamics_ss.m │ ├── export_MPC │ │ ├── forces │ │ │ ├── forces.m │ │ │ ├── forces_info.txt │ │ │ ├── include │ │ │ │ └── forces.h │ │ │ ├── interface │ │ │ │ ├── COPYING.m │ │ │ │ ├── forces.m │ │ │ │ ├── forces_build.py │ │ │ │ ├── forces_lib.mdl │ │ │ │ ├── forces_mex.c │ │ │ │ ├── forces_py.py │ │ │ │ ├── forces_simulinkBlock.c │ │ │ │ ├── forces_simulinkBlockcompact.c │ │ │ │ ├── forcescompact_lib.mdl │ │ │ │ └── forcesprologo.jpg │ │ │ ├── lib │ │ │ │ └── forces.so │ │ │ └── obj │ │ │ │ └── forces.o │ │ ├── qpoases │ │ │ ├── EXAMPLES │ │ │ │ ├── example1.cpp │ │ │ │ └── example1b.cpp │ │ │ ├── INCLUDE │ │ │ │ ├── Bounds.hpp │ │ │ │ ├── Constants.hpp │ │ │ │ ├── Constraints.hpp │ │ │ │ ├── CyclingManager.hpp │ │ │ │ ├── EXTRAS │ │ │ │ │ └── SolutionAnalysis.hpp │ │ │ │ ├── Indexlist.hpp │ │ │ │ ├── MessageHandling.hpp │ │ │ │ ├── QProblem.hpp │ │ │ │ ├── QProblemB.hpp │ │ │ │ ├── SubjectTo.hpp │ │ │ │ ├── Types.hpp │ │ │ │ └── Utils.hpp │ │ │ ├── LICENSE.txt │ │ │ ├── README.txt │ │ │ ├── SRC │ │ │ │ ├── Bounds.cpp │ │ │ │ ├── Bounds.ipp │ │ │ │ ├── Constraints.cpp │ │ │ │ ├── Constraints.ipp │ │ │ │ ├── CyclingManager.cpp │ │ │ │ ├── CyclingManager.ipp │ │ │ │ ├── EXTRAS │ │ │ │ │ └── SolutionAnalysis.cpp │ │ │ │ ├── Indexlist.cpp │ │ │ │ ├── Indexlist.ipp │ │ │ │ ├── MessageHandling.cpp │ │ │ │ ├── MessageHandling.ipp │ │ │ │ ├── QProblem.cpp │ │ │ │ ├── QProblem.ipp │ │ │ │ ├── QProblemB.cpp │ │ │ │ ├── QProblemB.ipp │ │ │ │ ├── SubjectTo.cpp │ │ │ │ ├── SubjectTo.ipp │ │ │ │ ├── Utils.cpp │ │ │ │ └── Utils.ipp │ │ │ └── VERSIONS.txt │ │ └── qpoases3 │ │ │ ├── AUTHORS │ │ │ ├── AUTHORS.txt │ │ │ ├── INSTALL │ │ │ ├── INSTALL.txt │ │ │ ├── LICENSE.txt │ │ │ ├── Makefile │ │ │ ├── README │ │ │ ├── README.txt │ │ │ ├── VERSIONS │ │ │ ├── VERSIONS.txt │ │ │ ├── bin │ │ │ └── empty.txt │ │ │ ├── doc │ │ │ ├── Makefile │ │ │ ├── doxygen.config │ │ │ └── mainpage.dox │ │ │ ├── examples │ │ │ ├── Makefile │ │ │ ├── example1.c │ │ │ ├── example1b.c │ │ │ ├── example3.c │ │ │ └── exampleLP.c │ │ │ ├── include │ │ │ ├── qpOASES_e.h │ │ │ └── qpOASES_e │ │ │ │ ├── Bounds.h │ │ │ │ ├── Constants.h │ │ │ │ ├── ConstraintProduct.h │ │ │ │ ├── Constraints.h │ │ │ │ ├── Flipper.h │ │ │ │ ├── Indexlist.h │ │ │ │ ├── Matrices.h │ │ │ │ ├── MessageHandling.h │ │ │ │ ├── Options.h │ │ │ │ ├── QProblem.h │ │ │ │ ├── QProblemB.h │ │ │ │ ├── Types.h │ │ │ │ ├── UnitTesting.h │ │ │ │ ├── Utils.h │ │ │ │ └── extras │ │ │ │ └── OQPinterface.h │ │ │ ├── interfaces │ │ │ ├── matlab │ │ │ │ ├── example1.mat │ │ │ │ ├── example1a.mat │ │ │ │ ├── example1b.mat │ │ │ │ ├── make.m │ │ │ │ ├── qpOASES_e.c │ │ │ │ ├── qpOASES_e.m │ │ │ │ ├── qpOASES_e.mexa64 │ │ │ │ ├── qpOASES_e_auxInput.m │ │ │ │ ├── qpOASES_e_matlab_utils.c │ │ │ │ ├── qpOASES_e_matlab_utils.h │ │ │ │ ├── qpOASES_e_options.m │ │ │ │ ├── qpOASES_e_sequence.c │ │ │ │ ├── qpOASES_e_sequence.m │ │ │ │ └── qpOASES_e_sequence.mexa64 │ │ │ └── simulink │ │ │ │ ├── example_QProblem.mdl │ │ │ │ ├── example_QProblemB.mdl │ │ │ │ ├── load_example_QProblem.m │ │ │ │ ├── load_example_QProblemB.m │ │ │ │ ├── make.m │ │ │ │ ├── qpOASES_e_QProblem.c │ │ │ │ ├── qpOASES_e_QProblemB.c │ │ │ │ └── qpOASES_e_simulink_utils.c │ │ │ ├── make.mk │ │ │ ├── make_cygwin.mk │ │ │ ├── make_linux.mk │ │ │ ├── make_osx.mk │ │ │ ├── make_windows.mk │ │ │ ├── src │ │ │ ├── Bounds.c │ │ │ ├── Constraints.c │ │ │ ├── Flipper.c │ │ │ ├── Indexlist.c │ │ │ ├── Makefile │ │ │ ├── Matrices.c │ │ │ ├── MessageHandling.c │ │ │ ├── OQPinterface.c │ │ │ ├── Options.c │ │ │ ├── QProblem.c │ │ │ ├── QProblemB.c │ │ │ └── Utils.c │ │ │ └── testing │ │ │ └── c │ │ │ ├── Makefile │ │ │ ├── data │ │ │ └── fetch_cpp_data │ │ │ ├── test_bench.c │ │ │ └── test_matrices.c │ ├── find_steady_state.m │ ├── myeul2quat.m │ ├── myquat2eul.m │ ├── quadcopter_sim_acado.m │ └── quadcopter_sim_acado_refinement.m ├── forces │ ├── dynamics.m │ ├── myquat2eul.m │ └── quadcopter_sim_forces.m └── ipopt │ ├── quadcopter.py │ └── quadcopter_bfgs.py └── robot ├── acado ├── dynamics.m ├── export_MPC │ ├── forces │ │ ├── forces.m │ │ ├── forces_info.txt │ │ ├── include │ │ │ └── forces.h │ │ ├── interface │ │ │ ├── COPYING.m │ │ │ ├── forces.m │ │ │ ├── forces_build.py │ │ │ ├── forces_lib.mdl │ │ │ ├── forces_mex.c │ │ │ ├── forces_py.py │ │ │ ├── forces_simulinkBlock.c │ │ │ ├── forces_simulinkBlockcompact.c │ │ │ ├── forcescompact_lib.mdl │ │ │ └── forcesprologo.jpg │ │ ├── lib │ │ │ └── forces.so │ │ └── obj │ │ │ └── forces.o │ └── qpoases │ │ ├── EXAMPLES │ │ ├── example1.cpp │ │ └── example1b.cpp │ │ ├── INCLUDE │ │ ├── Bounds.hpp │ │ ├── Constants.hpp │ │ ├── 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