├── .clang-format ├── .clang-format-check.sh ├── .clang-format-common.sh ├── .clang-format-fix.sh ├── .github └── workflows │ ├── ci-colcon.yaml │ ├── ci-standalone.yaml │ └── package.yaml ├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── LICENSE ├── README.md ├── debian ├── changelog ├── compat ├── control ├── copyright └── rules ├── doc └── Install.md ├── nmpc ├── CMakeLists.txt └── package.xml ├── nmpc_cgmres ├── CMakeLists.txt ├── README.md ├── doc │ ├── CMakeLists.txt │ ├── Doxyfile.extra.in │ └── images │ │ ├── TestCartPoleProblem.png │ │ └── TestSemiactiveDamperProblem.png ├── include │ └── nmpc_cgmres │ │ ├── CgmresProblem.h │ │ ├── CgmresSolver.h │ │ ├── Gmres.h │ │ └── OdeSolver.h ├── package.xml ├── scripts │ └── plotCgmresData.py ├── src │ └── CgmresSolver.cpp └── tests │ ├── CMakeLists.txt │ └── src │ ├── CartPoleProblem.h │ ├── SemiactiveDamperProblem.h │ ├── TestCgmresSolver.cpp │ └── TestGmres.cpp ├── nmpc_ddp ├── CMakeLists.txt ├── README.md ├── doc │ ├── CMakeLists.txt │ ├── Doxyfile.extra.in │ └── images │ │ ├── TestDDPBipedal.png │ │ ├── TestDDPCartPole.gif │ │ └── TestDDPVerticalMotion.png ├── include │ └── nmpc_ddp │ │ ├── BoxQP.h │ │ ├── DDPProblem.h │ │ ├── DDPSolver.h │ │ └── DDPSolver.hpp ├── package.xml ├── scripts │ └── plotDDPTraceData.py └── tests │ ├── CMakeLists.txt │ ├── rqt │ └── TestDDPCartPole.perspective │ ├── rviz │ └── TestDDPCartPole.rviz │ ├── scripts │ ├── plotTestDDPBipedal.py │ └── plotTestDDPVerticalMotion.py │ ├── src │ ├── TestBoxQP.cpp │ ├── TestDDPBipedal.cpp │ ├── TestDDPCartPole.cpp │ ├── TestDDPCentroidalMotion.cpp │ └── TestDDPVerticalMotion.cpp │ └── test │ └── TestDDPCartPole.test └── nmpc_fmpc ├── CMakeLists.txt ├── README.md ├── doc ├── CMakeLists.txt ├── Doxyfile.extra.in └── images │ ├── TestFmpcCartPole.png │ └── TestFmpcOscillator.png ├── include └── nmpc_fmpc │ ├── FmpcProblem.h │ ├── FmpcSolver.h │ ├── FmpcSolver.hpp │ └── MathUtils.h ├── package.xml └── tests ├── CMakeLists.txt ├── rqt └── 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