├── .gitattributes
├── .github
├── ISSUE_TEMPLATE
│ ├── bug_report.md
│ └── feature_request.md
└── workflows
│ ├── doc.yaml
│ └── ros-build-test.yml
├── .gitignore
├── LICENCE.txt
├── README.md
├── jenkins-pipeline
├── ocs2
├── CMakeLists.txt
└── package.xml
├── ocs2_core
├── CMakeLists.txt
├── cmake
│ └── ocs2_cxx_flags.cmake
├── include
│ └── ocs2_core
│ │ ├── ComputationRequest.h
│ │ ├── NumericTraits.h
│ │ ├── PreComputation.h
│ │ ├── Types.h
│ │ ├── augmented_lagrangian
│ │ ├── AugmentedLagrangian.h
│ │ ├── StateAugmentedLagrangian.h
│ │ ├── StateAugmentedLagrangianCollection.h
│ │ ├── StateAugmentedLagrangianInterface.h
│ │ ├── StateInputAugmentedLagrangian.h
│ │ ├── StateInputAugmentedLagrangianCollection.h
│ │ └── StateInputAugmentedLagrangianInterface.h
│ │ ├── automatic_differentiation
│ │ ├── CppAdInterface.h
│ │ ├── CppAdSparsity.h
│ │ ├── FiniteDifferenceMethods.h
│ │ └── Types.h
│ │ ├── constraint
│ │ ├── ConstraintOrder.h
│ │ ├── LinearStateConstraint.h
│ │ ├── LinearStateInputConstraint.h
│ │ ├── StateConstraint.h
│ │ ├── StateConstraintCollection.h
│ │ ├── StateConstraintCppAd.h
│ │ ├── StateInputConstraint.h
│ │ ├── StateInputConstraintCollection.h
│ │ └── StateInputConstraintCppAd.h
│ │ ├── control
│ │ ├── ControllerAdjustmentBase.h
│ │ ├── ControllerBase.h
│ │ ├── ControllerType.h
│ │ ├── FeedforwardController.h
│ │ ├── LinearController.h
│ │ └── StateBasedLinearController.h
│ │ ├── cost
│ │ ├── QuadraticStateCost.h
│ │ ├── QuadraticStateInputCost.h
│ │ ├── StateCost.h
│ │ ├── StateCostCollection.h
│ │ ├── StateCostCppAd.h
│ │ ├── StateInputCost.h
│ │ ├── StateInputCostCollection.h
│ │ ├── StateInputCostCppAd.h
│ │ └── StateInputGaussNewtonCostAd.h
│ │ ├── dynamics
│ │ ├── ControlledSystemBase.h
│ │ ├── LinearSystemDynamics.h
│ │ ├── SystemDynamicsBase.h
│ │ ├── SystemDynamicsBaseAD.h
│ │ ├── SystemDynamicsLinearizer.h
│ │ └── TransferFunctionBase.h
│ │ ├── initialization
│ │ ├── DefaultInitializer.h
│ │ ├── Initializer.h
│ │ └── OperatingPoints.h
│ │ ├── integration
│ │ ├── Integrator.h
│ │ ├── IntegratorBase.h
│ │ ├── Observer.h
│ │ ├── OdeBase.h
│ │ ├── OdeFunc.h
│ │ ├── RungeKuttaDormandPrince5.h
│ │ ├── SensitivityIntegrator.h
│ │ ├── SensitivityIntegratorImpl.h
│ │ ├── StateTriggeredEventHandler.h
│ │ ├── SystemEventHandler.h
│ │ ├── TrapezoidalIntegration.h
│ │ ├── eigenIntegration.h
│ │ ├── implementation
│ │ │ └── Integrator.h
│ │ └── steppers.h
│ │ ├── loopshaping
│ │ ├── Loopshaping.h
│ │ ├── LoopshapingDefinition.h
│ │ ├── LoopshapingFilter.h
│ │ ├── LoopshapingPreComputation.h
│ │ ├── LoopshapingPropertyTree.h
│ │ ├── augmented_lagrangian
│ │ │ ├── LoopshapingAugmentedLagrangian.h
│ │ │ ├── LoopshapingAugmentedLagrangianEliminatePattern.h
│ │ │ ├── LoopshapingAugmentedLagrangianOutputPattern.h
│ │ │ ├── LoopshapingStateAugmentedLagrangian.h
│ │ │ └── LoopshapingStateInputAugmentedLagrangian.h
│ │ ├── constraint
│ │ │ ├── LoopshapingConstraint.h
│ │ │ ├── LoopshapingConstraintEliminatePattern.h
│ │ │ ├── LoopshapingConstraintOutputPattern.h
│ │ │ ├── LoopshapingStateConstraint.h
│ │ │ └── LoopshapingStateInputConstraint.h
│ │ ├── cost
│ │ │ ├── LoopshapingCost.h
│ │ │ ├── LoopshapingCostEliminatePattern.h
│ │ │ ├── LoopshapingCostOutputPattern.h
│ │ │ ├── LoopshapingStateCost.h
│ │ │ └── LoopshapingStateInputCost.h
│ │ ├── dynamics
│ │ │ ├── LoopshapingDynamics.h
│ │ │ ├── LoopshapingDynamicsEliminatePattern.h
│ │ │ ├── LoopshapingDynamicsOutputPattern.h
│ │ │ └── LoopshapingFilterDynamics.h
│ │ ├── initialization
│ │ │ └── LoopshapingInitializer.h
│ │ └── soft_constraint
│ │ │ ├── LoopshapingSoftConstraint.h
│ │ │ ├── LoopshapingSoftConstraintEliminatePattern.h
│ │ │ ├── LoopshapingSoftConstraintOutputPattern.h
│ │ │ └── LoopshapingStateInputSoftConstraint.h
│ │ ├── misc
│ │ ├── Benchmark.h
│ │ ├── Collection.h
│ │ ├── CommandLine.h
│ │ ├── Display.h
│ │ ├── LTI_Equations.h
│ │ ├── LinearAlgebra.h
│ │ ├── LinearFunction.h
│ │ ├── LinearInterpolation.h
│ │ ├── LoadData.h
│ │ ├── LoadStdVectorOfPair.h
│ │ ├── Log.h
│ │ ├── Lookup.h
│ │ ├── Numerics.h
│ │ ├── implementation
│ │ │ └── LinearInterpolation.h
│ │ └── randomMatrices.h
│ │ ├── model_data
│ │ ├── Metrics.h
│ │ ├── ModelData.h
│ │ ├── ModelDataLinearInterpolation.h
│ │ └── Multiplier.h
│ │ ├── penalties
│ │ ├── MultidimensionalPenalty.h
│ │ ├── Penalties.h
│ │ ├── augmented
│ │ │ ├── AugmentedPenaltyBase.h
│ │ │ ├── ModifiedRelaxedBarrierPenalty.h
│ │ │ ├── QuadraticPenalty.h
│ │ │ ├── SlacknessSquaredHingePenalty.h
│ │ │ └── SmoothAbsolutePenalty.h
│ │ └── penalties
│ │ │ ├── DoubleSidedPenalty.h
│ │ │ ├── PenaltyBase.h
│ │ │ ├── QuadraticPenalty.h
│ │ │ ├── RelaxedBarrierPenalty.h
│ │ │ ├── SmoothAbsolutePenalty.h
│ │ │ └── SquaredHingePenalty.h
│ │ ├── reference
│ │ ├── ModeSchedule.h
│ │ └── TargetTrajectories.h
│ │ ├── soft_constraint
│ │ ├── StateInputSoftBoxConstraint.h
│ │ ├── StateInputSoftConstraint.h
│ │ └── StateSoftConstraint.h
│ │ └── thread_support
│ │ ├── BufferedValue.h
│ │ ├── ExecuteAndSleep.h
│ │ ├── SetThreadPriority.h
│ │ ├── Synchronized.h
│ │ └── ThreadPool.h
├── misc
│ └── BugReportTest.cpp
├── package.xml
├── src
│ ├── Types.cpp
│ ├── augmented_lagrangian
│ │ ├── AugmentedLagrangian.cpp
│ │ ├── StateAugmentedLagrangian.cpp
│ │ ├── StateAugmentedLagrangianCollection.cpp
│ │ ├── StateInputAugmentedLagrangian.cpp
│ │ └── StateInputAugmentedLagrangianCollection.cpp
│ ├── automatic_differentation
│ │ ├── CppAdInterface.cpp
│ │ ├── CppAdSparsity.cpp
│ │ └── FiniteDifferenceMethods.cpp
│ ├── constraint
│ │ ├── LinearStateConstraint.cpp
│ │ ├── LinearStateInputConstraint.cpp
│ │ ├── StateConstraintCollection.cpp
│ │ ├── StateConstraintCppAd.cpp
│ │ ├── StateInputConstraintCollection.cpp
│ │ └── StateInputConstraintCppAd.cpp
│ ├── control
│ │ ├── FeedforwardController.cpp
│ │ ├── LinearController.cpp
│ │ └── StateBasedLinearController.cpp
│ ├── cost
│ │ ├── QuadraticStateCost.cpp
│ │ ├── QuadraticStateInputCost.cpp
│ │ ├── StateCostCollection.cpp
│ │ ├── StateCostCppAd.cpp
│ │ ├── StateInputCostCollection.cpp
│ │ ├── StateInputCostCppAd.cpp
│ │ └── StateInputGaussNewtonCostAd.cpp
│ ├── dynamics
│ │ ├── ControlledSystemBase.cpp
│ │ ├── LinearSystemDynamics.cpp
│ │ ├── SystemDynamicsBase.cpp
│ │ ├── SystemDynamicsBaseAD.cpp
│ │ ├── SystemDynamicsLinearizer.cpp
│ │ └── TransferFunctionBase.cpp
│ ├── integration
│ │ ├── Integrator.cpp
│ │ ├── IntegratorBase.cpp
│ │ ├── Observer.cpp
│ │ ├── OdeBase.cpp
│ │ ├── RungeKuttaDormandPrince5.cpp
│ │ ├── SensitivityIntegrator.cpp
│ │ ├── SensitivityIntegratorImpl.cpp
│ │ ├── StateTriggeredEventHandler.cpp
│ │ └── SystemEventHandler.cpp
│ ├── lintTarget.cpp
│ ├── loopshaping
│ │ ├── LoopshapingDefinition.cpp
│ │ ├── LoopshapingFilter.cpp
│ │ ├── LoopshapingPreComputation.cpp
│ │ ├── LoopshapingPropertyTree.cpp
│ │ ├── augmented_lagrangian
│ │ │ ├── LoopshapingAugmentedLagrangian.cpp
│ │ │ ├── LoopshapingAugmentedLagrangianEliminatePattern.cpp
│ │ │ ├── LoopshapingAugmentedLagrangianOutputPattern.cpp
│ │ │ ├── LoopshapingStateAugmentedLagrangian.cpp
│ │ │ └── LoopshapingStateInputAugmentedLagrangian.cpp
│ │ ├── constraint
│ │ │ ├── LoopshapingConstraint.cpp
│ │ │ ├── LoopshapingConstraintEliminatePattern.cpp
│ │ │ ├── LoopshapingConstraintOutputPattern.cpp
│ │ │ ├── LoopshapingStateConstraint.cpp
│ │ │ └── LoopshapingStateInputConstraint.cpp
│ │ ├── cost
│ │ │ ├── LoopshapingCost.cpp
│ │ │ ├── LoopshapingCostEliminatePattern.cpp
│ │ │ ├── LoopshapingCostOutputPattern.cpp
│ │ │ ├── LoopshapingStateCost.cpp
│ │ │ └── LoopshapingStateInputCost.cpp
│ │ ├── dynamics
│ │ │ ├── LoopshapingDynamics.cpp
│ │ │ ├── LoopshapingDynamicsEliminatePattern.cpp
│ │ │ ├── LoopshapingDynamicsOutputPattern.cpp
│ │ │ └── LoopshapingFilterDynamics.cpp
│ │ ├── initialization
│ │ │ └── LoopshapingInitializer.cpp
│ │ └── soft_constraint
│ │ │ ├── LoopshapingSoftConstraint.cpp
│ │ │ ├── LoopshapingSoftConstraintEliminatePattern.cpp
│ │ │ ├── LoopshapingSoftConstraintOutputPattern.cpp
│ │ │ └── LoopshapingStateInputSoftConstraint.cpp
│ ├── misc
│ │ ├── LinearAlgebra.cpp
│ │ └── Log.cpp
│ ├── model_data
│ │ ├── Metrics.cpp
│ │ ├── ModelData.cpp
│ │ └── Multiplier.cpp
│ ├── penalties
│ │ ├── MultidimensionalPenalty.cpp
│ │ ├── Penalties.cpp
│ │ └── penalties
│ │ │ ├── RelaxedBarrierPenalty.cpp
│ │ │ └── SquaredHingePenalty.cpp
│ ├── reference
│ │ ├── ModeSchedule.cpp
│ │ └── TargetTrajectories.cpp
│ ├── soft_constraint
│ │ ├── StateInputSoftBoxConstraint.cpp
│ │ ├── StateInputSoftConstraint.cpp
│ │ └── StateSoftConstraint.cpp
│ └── thread_support
│ │ └── ThreadPool.cpp
└── test
│ ├── constraint
│ ├── testConstraintCollection.cpp
│ ├── testConstraintCppAd.cpp
│ ├── testConstraints.h
│ └── testLinearConstraint.cpp
│ ├── control
│ ├── testFeedforwardController.cpp
│ └── testLinearController.cpp
│ ├── cost
│ ├── testCostCollection.cpp
│ ├── testCostCppAd.cpp
│ └── testQuadraticCostFunction.cpp
│ ├── cppad_cg
│ ├── LinearSystemDynamicsAD.h
│ ├── commonFixture.h
│ ├── testCppADCG_dynamics.cpp
│ ├── testCppAdInterface.cpp
│ └── testSparsityHelpers.cpp
│ ├── dynamics
│ ├── testSystemDynamicsLinearizer.cpp
│ ├── testSystemDynamicsPreComputation.cpp
│ └── testTransferfunctionBase.cpp
│ ├── include
│ └── ocs2_core
│ │ └── test
│ │ └── testTools.h
│ ├── initialization
│ └── InitializationTest.cpp
│ ├── integration
│ ├── IntegrationTest.cpp
│ ├── TrapezoidalIntegrationTest.cpp
│ ├── testRungeKuttaDormandPrince5.cpp
│ └── testSensitivityIntegrator.cpp
│ ├── loopshaping
│ ├── loopshaping_r.conf
│ ├── loopshaping_r_ballbot.conf
│ ├── loopshaping_s.conf
│ ├── loopshaping_s_integrator.conf
│ ├── testLoopshapingAugmentedLagrangian.cpp
│ ├── testLoopshapingAugmentedLagrangian.h
│ ├── testLoopshapingConfiguration.cpp
│ ├── testLoopshapingConfigurations.h
│ ├── testLoopshapingConstraint.cpp
│ ├── testLoopshapingConstraint.h
│ ├── testLoopshapingCost.cpp
│ ├── testLoopshapingCost.h
│ ├── testLoopshapingDefinition.cpp
│ ├── testLoopshapingDynamics.cpp
│ ├── testLoopshapingDynamics.h
│ ├── testLoopshapingFilterDynamics.cpp
│ ├── testLoopshapingPreComputation.cpp
│ ├── testLoopshapingSoftConstraint.cpp
│ ├── testLoopshapingSoftConstraint.h
│ └── testQuadraticConstraint.h
│ ├── misc
│ ├── data
│ │ └── pairVectors.info
│ ├── testInterpolation.cpp
│ ├── testLinearAlgebra.cpp
│ ├── testLoadData.cpp
│ ├── testLogging.cpp
│ └── testLookup.cpp
│ ├── model_data
│ ├── testMetrics.cpp
│ ├── testModelData.cpp
│ └── testMultiplier.cpp
│ ├── reference
│ └── testModeSchedule.cpp
│ ├── soft_constraint
│ ├── testDoubleSidedPenalty.cpp
│ └── testSoftConstraint.cpp
│ ├── testPrecomputation.cpp
│ ├── testTypes.cpp
│ └── thread_support
│ ├── testBufferedValue.cpp
│ ├── testSynchronized.cpp
│ └── testThreadPool.cpp
├── ocs2_ddp
├── CMakeLists.txt
├── include
│ └── ocs2_ddp
│ │ ├── ContinuousTimeLqr.h
│ │ ├── DDP_Data.h
│ │ ├── DDP_DataCollector.h
│ │ ├── DDP_HelperFunctions.h
│ │ ├── DDP_Settings.h
│ │ ├── GaussNewtonDDP.h
│ │ ├── GaussNewtonDDP_MPC.h
│ │ ├── HessianCorrection.h
│ │ ├── ILQR.h
│ │ ├── SLQ.h
│ │ ├── riccati_equations
│ │ ├── ContinuousTimeRiccatiEquations.h
│ │ ├── DiscreteTimeRiccatiEquations.h
│ │ ├── RiccatiModification.h
│ │ ├── RiccatiModificationInterpolation.h
│ │ └── RiccatiTransversalityConditions.h
│ │ ├── search_strategy
│ │ ├── LevenbergMarquardtStrategy.h
│ │ ├── LineSearchStrategy.h
│ │ ├── SearchStrategyBase.h
│ │ └── StrategySettings.h
│ │ └── unsupported
│ │ ├── MPC_OCS2.h
│ │ ├── SLQ_Hamiltonian.h
│ │ ├── bvp_solver
│ │ ├── BVPEquations.h
│ │ └── SolveBVP.h
│ │ └── implementation
│ │ └── SLQ_Hamiltonian.h
├── package.xml
├── src
│ ├── ContinuousTimeLqr.cpp
│ ├── DDP_DataCollector.cpp
│ ├── DDP_HelperFunctions.cpp
│ ├── DDP_Settings.cpp
│ ├── GaussNewtonDDP.cpp
│ ├── HessianCorrection.cpp
│ ├── ILQR.cpp
│ ├── SLQ.cpp
│ ├── lintTarget.cpp
│ ├── riccati_equations
│ │ ├── ContinuousTimeRiccatiEquations.cpp
│ │ ├── DiscreteTimeRiccatiEquations.cpp
│ │ └── RiccatiModification.cpp
│ ├── search_strategy
│ │ ├── LevenbergMarquardtStrategy.cpp
│ │ ├── LineSearchStrategy.cpp
│ │ └── StrategySettings.cpp
│ └── unsupported
│ │ └── MPC_OCS2.cpp
└── test
│ ├── CircularKinematicsTest.cpp
│ ├── CorrectnessTest.cpp
│ ├── Exp0Test.cpp
│ ├── Exp1Test.cpp
│ ├── HybridSlqTest.cpp
│ ├── RiccatiTest.cpp
│ ├── bouncingmass
│ ├── BouncingMassTest.cpp
│ ├── OverallReference.cpp
│ └── Reference.cpp
│ ├── include
│ └── ocs2_ddp
│ │ └── test
│ │ └── bouncingmass
│ │ ├── OverallReference.h
│ │ ├── Reference.h
│ │ └── SystemModel.h
│ ├── testContinuousTimeLqr.cpp
│ ├── testDdpHelperFunction.cpp
│ └── testReachingTask.cpp
├── ocs2_doc
├── .gitignore
├── CMakeLists.txt
├── Dockerfile
├── cmake
│ └── FindSphinx.cmake
├── docs
│ ├── faq.rst
│ ├── from_urdf_to_ocp.rst
│ ├── getting-started.rst
│ ├── index.rst
│ ├── installation.rst
│ ├── intro.rst
│ ├── mpcnet.rst
│ ├── optimal_control_modules.rst
│ ├── overview.rst
│ ├── profiling.rst
│ ├── refs.bib
│ └── robotic_examples.rst
├── package.xml
├── readme.md
└── tools
│ ├── doxygen
│ ├── .gitignore
│ └── Doxyfile.in
│ └── sphinx
│ ├── _static
│ ├── cite.bib
│ ├── gif
│ │ ├── ballbot.gif
│ │ ├── cartpole.gif
│ │ ├── double_integrator.gif
│ │ ├── legged_robot.gif
│ │ ├── mobile_manipulator.gif
│ │ ├── mobile_manipulator
│ │ │ ├── franka.gif
│ │ │ ├── kinova_j2n6.gif
│ │ │ ├── kinova_j2n7.gif
│ │ │ ├── mabi_mobile.gif
│ │ │ ├── pr2.gif
│ │ │ └── ridgeback_ur5.gif
│ │ └── quadrotor.gif
│ └── img
│ │ ├── GitHub-Mark-120px-plus.png
│ │ ├── jumping_goat.jpg
│ │ └── logo.png
│ └── conf.py
├── ocs2_frank_wolfe
├── CMakeLists.txt
├── cmake
│ └── FindGLPK.cmake
├── include
│ └── ocs2_frank_wolfe
│ │ ├── FrankWolfeDescentDirection.h
│ │ ├── GradientDescent.h
│ │ ├── NLP_Constraints.h
│ │ ├── NLP_Cost.h
│ │ └── NLP_Settings.h
├── package.xml
├── src
│ ├── FrankWolfeDescentDirection.cpp
│ └── GradientDescent.cpp
└── test
│ ├── MatyasTest.cpp
│ ├── QuadraticTest.cpp
│ └── testGLPK.cpp
├── ocs2_ipm
├── CMakeLists.txt
├── include
│ └── ocs2_ipm
│ │ ├── IpmHelpers.h
│ │ ├── IpmInitialization.h
│ │ ├── IpmMpc.h
│ │ ├── IpmPerformanceIndexComputation.h
│ │ ├── IpmSettings.h
│ │ ├── IpmSolver.h
│ │ └── IpmSolverStatus.h
├── package.xml
├── src
│ ├── IpmHelpers.cpp
│ ├── IpmInitialization.cpp
│ ├── IpmPerformanceIndexComputation.cpp
│ ├── IpmSettings.cpp
│ └── IpmSolver.cpp
└── test
│ ├── Exp0Test.cpp
│ ├── Exp1Test.cpp
│ ├── testCircularKinematics.cpp
│ ├── testSwitchedProblem.cpp
│ ├── testUnconstrained.cpp
│ └── testValuefunction.cpp
├── ocs2_mpc
├── CMakeLists.txt
├── include
│ └── ocs2_mpc
│ │ ├── CommandData.h
│ │ ├── LoopshapingSystemObservation.h
│ │ ├── MPC_BASE.h
│ │ ├── MPC_MRT_Interface.h
│ │ ├── MPC_Settings.h
│ │ ├── MRT_BASE.h
│ │ ├── MrtObserver.h
│ │ └── SystemObservation.h
├── package.xml
└── src
│ ├── LoopshapingSystemObservation.cpp
│ ├── MPC_BASE.cpp
│ ├── MPC_MRT_Interface.cpp
│ ├── MPC_Settings.cpp
│ ├── MRT_BASE.cpp
│ ├── SystemObservation.cpp
│ └── lintTarget.cpp
├── ocs2_mpcnet
├── ocs2_ballbot_mpcnet
│ ├── CMakeLists.txt
│ ├── include
│ │ └── ocs2_ballbot_mpcnet
│ │ │ ├── BallbotMpcnetDefinition.h
│ │ │ └── BallbotMpcnetInterface.h
│ ├── launch
│ │ └── ballbot_mpcnet.launch
│ ├── package.xml
│ ├── policy
│ │ ├── ballbot.onnx
│ │ └── ballbot.pt
│ ├── python
│ │ └── ocs2_ballbot_mpcnet
│ │ │ ├── __init__.py
│ │ │ ├── config
│ │ │ └── ballbot.yaml
│ │ │ ├── mpcnet.py
│ │ │ └── train.py
│ ├── setup.py
│ └── src
│ │ ├── BallbotMpcnetDefinition.cpp
│ │ ├── BallbotMpcnetDummyNode.cpp
│ │ ├── BallbotMpcnetInterface.cpp
│ │ └── BallbotMpcnetPybindings.cpp
├── ocs2_legged_robot_mpcnet
│ ├── CMakeLists.txt
│ ├── include
│ │ └── ocs2_legged_robot_mpcnet
│ │ │ ├── LeggedRobotMpcnetDefinition.h
│ │ │ └── LeggedRobotMpcnetInterface.h
│ ├── launch
│ │ └── legged_robot_mpcnet.launch
│ ├── package.xml
│ ├── policy
│ │ ├── legged_robot.onnx
│ │ └── legged_robot.pt
│ ├── python
│ │ └── ocs2_legged_robot_mpcnet
│ │ │ ├── __init__.py
│ │ │ ├── config
│ │ │ └── legged_robot.yaml
│ │ │ ├── mpcnet.py
│ │ │ └── train.py
│ ├── setup.py
│ └── src
│ │ ├── LeggedRobotMpcnetDefinition.cpp
│ │ ├── LeggedRobotMpcnetDummyNode.cpp
│ │ ├── LeggedRobotMpcnetInterface.cpp
│ │ └── LeggedRobotMpcnetPybindings.cpp
├── ocs2_mpcnet
│ ├── CMakeLists.txt
│ └── package.xml
└── ocs2_mpcnet_core
│ ├── CMakeLists.txt
│ ├── include
│ └── ocs2_mpcnet_core
│ │ ├── MpcnetDefinitionBase.h
│ │ ├── MpcnetInterfaceBase.h
│ │ ├── MpcnetPybindMacros.h
│ │ ├── control
│ │ ├── MpcnetBehavioralController.h
│ │ ├── MpcnetControllerBase.h
│ │ └── MpcnetOnnxController.h
│ │ ├── dummy
│ │ ├── MpcnetDummyLoopRos.h
│ │ └── MpcnetDummyObserverRos.h
│ │ └── rollout
│ │ ├── MpcnetData.h
│ │ ├── MpcnetDataGeneration.h
│ │ ├── MpcnetMetrics.h
│ │ ├── MpcnetPolicyEvaluation.h
│ │ ├── MpcnetRolloutBase.h
│ │ └── MpcnetRolloutManager.h
│ ├── misc
│ └── onnxruntime
│ │ └── cmake
│ │ ├── onnxruntimeConfig.cmake
│ │ └── onnxruntimeVersion.cmake
│ ├── package.xml
│ ├── python
│ └── ocs2_mpcnet_core
│ │ ├── __init__.py
│ │ ├── config.py
│ │ ├── helper.py
│ │ ├── loss
│ │ ├── __init__.py
│ │ ├── base.py
│ │ ├── behavioral_cloning.py
│ │ ├── cross_entropy.py
│ │ └── hamiltonian.py
│ │ ├── memory
│ │ ├── __init__.py
│ │ ├── base.py
│ │ └── circular.py
│ │ ├── mpcnet.py
│ │ └── policy
│ │ ├── __init__.py
│ │ ├── base.py
│ │ ├── linear.py
│ │ ├── mixture_of_linear_experts.py
│ │ ├── mixture_of_nonlinear_experts.py
│ │ └── nonlinear.py
│ ├── requirements.txt
│ ├── setup.py
│ └── src
│ ├── MpcnetInterfaceBase.cpp
│ ├── MpcnetPybindings.cpp
│ ├── control
│ ├── MpcnetBehavioralController.cpp
│ └── MpcnetOnnxController.cpp
│ ├── dummy
│ ├── MpcnetDummyLoopRos.cpp
│ └── MpcnetDummyObserverRos.cpp
│ └── rollout
│ ├── MpcnetDataGeneration.cpp
│ ├── MpcnetPolicyEvaluation.cpp
│ ├── MpcnetRolloutBase.cpp
│ └── MpcnetRolloutManager.cpp
├── ocs2_msgs
├── CMakeLists.txt
├── msg
│ ├── constraint.msg
│ ├── controller_data.msg
│ ├── lagrangian_metrics.msg
│ ├── mode_schedule.msg
│ ├── mpc_flattened_controller.msg
│ ├── mpc_input.msg
│ ├── mpc_observation.msg
│ ├── mpc_performance_indices.msg
│ ├── mpc_state.msg
│ ├── mpc_target_trajectories.msg
│ └── multiplier.msg
├── package.xml
└── srv
│ └── reset.srv
├── ocs2_oc
├── CMakeLists.txt
├── include
│ └── ocs2_oc
│ │ ├── approximate_model
│ │ ├── ChangeOfInputVariables.h
│ │ └── LinearQuadraticApproximator.h
│ │ ├── multiple_shooting
│ │ ├── Helpers.h
│ │ ├── Initialization.h
│ │ ├── LagrangianEvaluation.h
│ │ ├── MetricsComputation.h
│ │ ├── PerformanceIndexComputation.h
│ │ ├── ProjectionMultiplierCoefficients.h
│ │ └── Transcription.h
│ │ ├── oc_data
│ │ ├── DualSolution.h
│ │ ├── LoopshapingPrimalSolution.h
│ │ ├── PerformanceIndex.h
│ │ ├── PrimalSolution.h
│ │ ├── ProblemMetrics.h
│ │ └── TimeDiscretization.h
│ │ ├── oc_problem
│ │ ├── LoopshapingOptimalControlProblem.h
│ │ ├── OcpSize.h
│ │ ├── OcpToKkt.h
│ │ ├── OptimalControlProblem.h
│ │ └── OptimalControlProblemHelperFunction.h
│ │ ├── oc_solver
│ │ └── SolverBase.h
│ │ ├── precondition
│ │ └── Ruzi.h
│ │ ├── rollout
│ │ ├── InitializerRollout.h
│ │ ├── PerformanceIndicesRollout.h
│ │ ├── RolloutBase.h
│ │ ├── RolloutSettings.h
│ │ ├── RootFinder.h
│ │ ├── RootFinderType.h
│ │ ├── StateTriggeredRollout.h
│ │ └── TimeTriggeredRollout.h
│ │ ├── search_strategy
│ │ └── FilterLinesearch.h
│ │ ├── synchronized_module
│ │ ├── LoopshapingReferenceManager.h
│ │ ├── LoopshapingSynchronizedModule.h
│ │ ├── ReferenceManager.h
│ │ ├── ReferenceManagerDecorator.h
│ │ ├── ReferenceManagerInterface.h
│ │ ├── SolverObserver.h
│ │ └── SolverSynchronizedModule.h
│ │ └── trajectory_adjustment
│ │ ├── TrajectorySpreading.h
│ │ └── TrajectorySpreadingHelperFunctions.h
├── package.xml
├── src
│ ├── approximate_model
│ │ ├── ChangeOfInputVariables.cpp
│ │ └── LinearQuadraticApproximator.cpp
│ ├── lintTarget.cpp
│ ├── multiple_shooting
│ │ ├── Helpers.cpp
│ │ ├── Initialization.cpp
│ │ ├── LagrangianEvaluation.cpp
│ │ ├── MetricsComputation.cpp
│ │ ├── PerformanceIndexComputation.cpp
│ │ ├── ProjectionMultiplierCoefficients.cpp
│ │ └── Transcription.cpp
│ ├── oc_data
│ │ ├── LoopshapingPrimalSolution.cpp
│ │ ├── PerformanceIndex.cpp
│ │ └── TimeDiscretization.cpp
│ ├── oc_problem
│ │ ├── LoopshapingOptimalControlProblem.cpp
│ │ ├── OcpSize.cpp
│ │ ├── OcpToKkt.cpp
│ │ ├── OptimalControlProblem.cpp
│ │ └── OptimalControlProblemHelperFunction.cpp
│ ├── oc_solver
│ │ └── SolverBase.cpp
│ ├── precondition
│ │ └── Ruzi.cpp
│ ├── rollout
│ │ ├── InitializerRollout.cpp
│ │ ├── PerformanceIndicesRollout.cpp
│ │ ├── RolloutBase.cpp
│ │ ├── RolloutSettings.cpp
│ │ ├── RootFinder.cpp
│ │ ├── StateTriggeredRollout.cpp
│ │ └── TimeTriggeredRollout.cpp
│ ├── search_strategy
│ │ └── FilterLinesearch.cpp
│ ├── synchronized_module
│ │ ├── LoopshapingReferenceManager.cpp
│ │ ├── LoopshapingSynchronizedModule.cpp
│ │ ├── ReferenceManager.cpp
│ │ └── SolverObserver.cpp
│ └── trajectory_adjustment
│ │ └── TrajectorySpreading.cpp
└── test
│ ├── include
│ └── ocs2_oc
│ │ └── test
│ │ ├── DoubleIntegratorReachingTask.h
│ │ ├── EXP0.h
│ │ ├── EXP1.h
│ │ ├── ball_dynamics_staterollout.h
│ │ ├── circular_kinematics.h
│ │ ├── dynamics_hybrid_slq_test.h
│ │ ├── pendulum_dynamics_staterollout.h
│ │ └── testProblemsGeneration.h
│ ├── multiple_shooting
│ ├── testProjectionMultiplierCoefficients.cpp
│ ├── testTranscriptionMetrics.cpp
│ └── testTranscriptionPerformanceIndex.cpp
│ ├── oc_data
│ └── testTimeDiscretization.cpp
│ ├── oc_problem
│ └── testOcpToKkt.cpp
│ ├── precondition
│ └── testPrecondition.cpp
│ ├── rollout
│ ├── testStateTriggeredRollout.cpp
│ └── testTimeTriggeredRollout.cpp
│ ├── testChangeOfInputVariables.cpp
│ └── trajectory_adjustment
│ └── TrajectorySpreadingTest.cpp
├── ocs2_ocs2
├── CMakeLists.txt
├── include
│ └── ocs2_ocs2
│ │ ├── FrankWolfeGDDP.h
│ │ ├── GDDP.h
│ │ ├── GDDP_Settings.h
│ │ ├── GSLQPSolver.h
│ │ ├── NumGDDP.h
│ │ ├── OCS2.h
│ │ ├── implementation
│ │ ├── FrankWolfeGDDP.h
│ │ ├── GDDP.h
│ │ ├── GSLQSolver.h
│ │ ├── NumGDDP.h
│ │ └── OCS2.h
│ │ ├── sensitivity_equations
│ │ ├── BvpSensitivityEquations.h
│ │ ├── BvpSensitivityErrorEquations.h
│ │ ├── RolloutSensitivityEquations.h
│ │ └── SensitivitySequentialRiccatiEquations.h
│ │ └── upper_level_op
│ │ ├── UpperLevelConstraints.h
│ │ └── UpperLevelCost.h
├── package.xml
├── src
│ └── lintTarget.cpp
└── test
│ ├── exp0_gddp_test.cpp
│ ├── exp0_ocs2_test.cpp
│ ├── exp1_gddp_test.cpp
│ └── exp1_ocs2_test.cpp
├── ocs2_perceptive
├── CMakeLists.txt
├── include
│ └── ocs2_perceptive
│ │ ├── distance_transform
│ │ ├── ComputeDistanceTransform.h
│ │ ├── DistanceTransformInterface.h
│ │ └── implementation
│ │ │ └── ComputeDistanceTransform.h
│ │ ├── end_effector
│ │ ├── EndEffectorDistanceConstraint.h
│ │ └── EndEffectorDistanceConstraintCppAd.h
│ │ └── interpolation
│ │ ├── BilinearInterpolation.h
│ │ ├── TrilinearInterpolation.h
│ │ └── implementation
│ │ ├── BilinearInterpolation.h
│ │ └── TrilinearInterpolation.h
├── package.xml
├── src
│ ├── end_effector
│ │ ├── EndEffectorDistanceConstraint.cpp
│ │ └── EndEffectorDistanceConstraintCppAd.cpp
│ └── lintTarget.cpp
└── test
│ └── interpolation
│ ├── testBilinearInterpolation.cpp
│ └── testTrilinearInterpolation.cpp
├── ocs2_pinocchio
├── ocs2_centroidal_model
│ ├── CMakeLists.txt
│ ├── include
│ │ └── ocs2_centroidal_model
│ │ │ ├── AccessHelperFunctions.h
│ │ │ ├── CentroidalModelInfo.h
│ │ │ ├── CentroidalModelPinocchioMapping.h
│ │ │ ├── CentroidalModelRbdConversions.h
│ │ │ ├── FactoryFunctions.h
│ │ │ ├── ModelHelperFunctions.h
│ │ │ ├── PinocchioCentroidalDynamics.h
│ │ │ ├── PinocchioCentroidalDynamicsAD.h
│ │ │ └── implementation
│ │ │ ├── AccessHelperFunctionsImpl.h
│ │ │ └── ModelHelperFunctionsImpl.h
│ ├── package.xml
│ ├── src
│ │ ├── CentroidalModelInfo.cpp
│ │ ├── CentroidalModelPinocchioMapping.cpp
│ │ ├── CentroidalModelRbdConversions.cpp
│ │ ├── FactoryFunctions.cpp
│ │ ├── ModelHelperFunctions.cpp
│ │ ├── PinocchioCentroidalDynamics.cpp
│ │ └── PinocchioCentroidalDynamicsAD.cpp
│ └── test
│ │ ├── cppad_generated
│ │ └── .gitignore
│ │ ├── include
│ │ └── ocs2_centroidal_model
│ │ │ └── test
│ │ │ └── definitions.h
│ │ └── testAnymalCentroidalModel.cpp
├── ocs2_pinocchio
│ ├── CMakeLists.txt
│ └── package.xml
├── ocs2_pinocchio_interface
│ ├── CMakeLists.txt
│ ├── cmake
│ │ └── pinocchio_config.cmake
│ ├── include
│ │ └── ocs2_pinocchio_interface
│ │ │ ├── PinocchioEndEffectorKinematics.h
│ │ │ ├── PinocchioEndEffectorKinematicsCppAd.h
│ │ │ ├── PinocchioInterface.h
│ │ │ ├── PinocchioStateInputMapping.h
│ │ │ ├── implementation
│ │ │ └── PinocchioInterface.h
│ │ │ ├── pinocchio_forward_declaration.h
│ │ │ └── urdf.h
│ ├── package.xml
│ ├── src
│ │ ├── PinocchioEndEffectorKinematics.cpp
│ │ ├── PinocchioEndEffectorKinematicsCppAd.cpp
│ │ ├── PinocchioInterface.cpp
│ │ ├── PinocchioInterfaceCppAd.cpp
│ │ └── urdf.cpp
│ └── test
│ │ ├── CartPoleUrdf.h
│ │ ├── ManipulatorArmUrdf.h
│ │ ├── testPinocchioEndEffectorKinematics.cpp
│ │ └── testPinocchioInterface.cpp
├── ocs2_self_collision
│ ├── CMakeLists.txt
│ ├── include
│ │ └── ocs2_self_collision
│ │ │ ├── PinocchioGeometryInterface.h
│ │ │ ├── SelfCollision.h
│ │ │ ├── SelfCollisionConstraint.h
│ │ │ ├── SelfCollisionConstraintCppAd.h
│ │ │ └── SelfCollisionCppAd.h
│ ├── package.xml
│ └── src
│ │ ├── PinocchioGeometryInterface.cpp
│ │ ├── SelfCollision.cpp
│ │ ├── SelfCollisionConstraint.cpp
│ │ ├── SelfCollisionConstraintCppAd.cpp
│ │ └── SelfCollisionCppAd.cpp
├── ocs2_self_collision_visualization
│ ├── CMakeLists.txt
│ ├── include
│ │ └── ocs2_self_collision_visualization
│ │ │ └── GeometryInterfaceVisualization.h
│ ├── package.xml
│ └── src
│ │ └── GeometryInterfaceVisualization.cpp
└── ocs2_sphere_approximation
│ ├── CMakeLists.txt
│ ├── include
│ └── ocs2_sphere_approximation
│ │ ├── PinocchioSphereInterface.h
│ │ ├── PinocchioSphereKinematics.h
│ │ ├── PinocchioSphereKinematicsCppAd.h
│ │ └── SphereApproximation.h
│ ├── package.xml
│ ├── src
│ ├── PinocchioSphereInterface.cpp
│ ├── PinocchioSphereKinematics.cpp
│ ├── PinocchioSphereKinematicsCppAd.cpp
│ └── SphereApproximation.cpp
│ └── test
│ └── testPinocchioSphereKinematics.cpp
├── ocs2_python_interface
├── CMakeLists.txt
├── include
│ └── ocs2_python_interface
│ │ ├── PybindMacros.h
│ │ └── PythonInterface.h
├── package.xml
├── setup.py
├── src
│ └── PythonInterface.cpp
└── test
│ └── testDummyPyBindings.cpp
├── ocs2_raisim
├── ocs2_legged_robot_raisim
│ ├── CMakeLists.txt
│ ├── config
│ │ └── raisim.info
│ ├── include
│ │ └── ocs2_legged_robot_raisim
│ │ │ ├── LeggedRobotRaisimConversions.h
│ │ │ └── LeggedRobotRaisimVisualizer.h
│ ├── launch
│ │ ├── legged_robot_ddp_raisim.launch
│ │ └── legged_robot_sqp_raisim.launch
│ ├── package.xml
│ ├── src
│ │ ├── LeggedRobotRaisimConversions.cpp
│ │ ├── LeggedRobotRaisimDummyNode.cpp
│ │ └── LeggedRobotRaisimVisualizer.cpp
│ └── test
│ │ └── testLeggedRobotRaisimConversions.cpp
├── ocs2_raisim
│ ├── CMakeLists.txt
│ └── package.xml
├── ocs2_raisim_core
│ ├── CMakeLists.txt
│ ├── include
│ │ └── ocs2_raisim_core
│ │ │ ├── RaisimRollout.h
│ │ │ └── RaisimRolloutSettings.h
│ ├── package.xml
│ └── src
│ │ ├── RaisimRollout.cpp
│ │ └── lintTarget.cpp
└── ocs2_raisim_ros
│ ├── CMakeLists.txt
│ ├── include
│ └── ocs2_raisim_ros
│ │ └── RaisimHeightmapRosConverter.h
│ ├── package.xml
│ ├── src
│ └── RaisimHeightmapRosConverter.cpp
│ └── test
│ └── testRosConversion.cpp
├── ocs2_robotic_examples
├── ocs2_ballbot
│ ├── CMakeLists.txt
│ ├── auto_generated
│ │ └── .gitignore
│ ├── config
│ │ └── mpc
│ │ │ └── task.info
│ ├── include
│ │ └── ocs2_ballbot
│ │ │ ├── BallbotInterface.h
│ │ │ ├── BallbotParameters.h
│ │ │ ├── BallbotPyBindings.h
│ │ │ ├── definitions.h
│ │ │ ├── dynamics
│ │ │ └── BallbotSystemDynamics.h
│ │ │ ├── generated
│ │ │ ├── declarations.h
│ │ │ ├── default_dynparams_getter.h
│ │ │ ├── dynamics_parameters.h
│ │ │ ├── forward_dynamics.h
│ │ │ ├── forward_dynamics.impl.h
│ │ │ ├── inertia_properties.h
│ │ │ ├── inertia_properties.impl.h
│ │ │ ├── inverse_dynamics.h
│ │ │ ├── inverse_dynamics.impl.h
│ │ │ ├── jacobians.h
│ │ │ ├── jacobians.impl.h
│ │ │ ├── joint_data_map.h
│ │ │ ├── jsim.h
│ │ │ ├── jsim.impl.h
│ │ │ ├── kindsl
│ │ │ │ ├── Ballbot.dtdsl
│ │ │ │ ├── Ballbot.kindsl
│ │ │ │ └── ballbot.urdf
│ │ │ ├── kinematics_parameters.h
│ │ │ ├── link_data_map.h
│ │ │ ├── miscellaneous.cpp
│ │ │ ├── miscellaneous.h
│ │ │ ├── traits.h
│ │ │ ├── transforms.h
│ │ │ └── transforms.impl.h
│ │ │ └── package_path.h.in
│ ├── package.xml
│ ├── setup.py
│ ├── src
│ │ ├── BallbotInterface.cpp
│ │ ├── BallbotSimpleExample.cpp
│ │ ├── dynamics
│ │ │ └── BallbotSystemDynamics.cpp
│ │ ├── ocs2_ballbot
│ │ │ └── __init__.py
│ │ └── pyBindModule.cpp
│ └── test
│ │ ├── testBallbotPyBindings.cpp
│ │ ├── testBallbotPyBindings.py
│ │ └── testRobcogenModel.cpp
├── ocs2_ballbot_ros
│ ├── CMakeLists.txt
│ ├── include
│ │ └── ocs2_ballbot_ros
│ │ │ └── BallbotDummyVisualization.h
│ ├── launch
│ │ ├── ballbot_ddp.launch
│ │ ├── ballbot_mpc_mrt.launch
│ │ ├── ballbot_slp.launch
│ │ ├── ballbot_sqp.launch
│ │ ├── multiplot.launch
│ │ └── visualize.launch
│ ├── package.xml
│ ├── rviz
│ │ └── ballbot.rviz
│ ├── src
│ │ ├── BallbotDdpMpcNode.cpp
│ │ ├── BallbotDummyVisualization.cpp
│ │ ├── BallbotMpcMrtNode.cpp
│ │ ├── BallbotSlpMpcNode.cpp
│ │ ├── BallbotSqpMpcNode.cpp
│ │ ├── BallbotTargetPoseCommand.cpp
│ │ └── DummyBallbotNode.cpp
│ └── test
│ │ └── ballbotIntegrationTest.cpp
├── ocs2_cartpole
│ ├── CMakeLists.txt
│ ├── auto_generated
│ │ └── .gitignore
│ ├── config
│ │ ├── mpc
│ │ │ └── task.info
│ │ └── multiplot
│ │ │ ├── mpc_metrics.xml
│ │ │ └── mpc_observation.xml
│ ├── include
│ │ └── ocs2_cartpole
│ │ │ ├── CartPoleInterface.h
│ │ │ ├── CartPoleParameters.h
│ │ │ ├── definitions.h
│ │ │ ├── dynamics
│ │ │ └── CartPoleSystemDynamics.h
│ │ │ └── package_path.h.in
│ ├── package.xml
│ ├── src
│ │ └── CartPoleInterface.cpp
│ └── test
│ │ └── testCartpole.cpp
├── ocs2_cartpole_ros
│ ├── CMakeLists.txt
│ ├── include
│ │ └── ocs2_cartpole_ros
│ │ │ └── CartpoleDummyVisualization.h
│ ├── launch
│ │ ├── cartpole.launch
│ │ ├── multiplot.launch
│ │ └── visualize.launch
│ ├── package.xml
│ ├── rviz
│ │ └── cartpole.rviz
│ └── src
│ │ ├── CartpoleDummyVisualization.cpp
│ │ ├── CartpoleMpcNode.cpp
│ │ └── DummyCartpoleNode.cpp
├── ocs2_double_integrator
│ ├── CMakeLists.txt
│ ├── auto_generated
│ │ └── .gitignore
│ ├── config
│ │ └── mpc
│ │ │ └── task.info
│ ├── include
│ │ └── ocs2_double_integrator
│ │ │ ├── DoubleIntegratorInterface.h
│ │ │ ├── DoubleIntegratorPyBindings.h
│ │ │ ├── definitions.h
│ │ │ └── package_path.h.in
│ ├── package.xml
│ ├── setup.py
│ ├── src
│ │ ├── DoubleIntegratorInterface.cpp
│ │ ├── ocs2_double_integrator
│ │ │ └── __init__.py
│ │ └── pyBindModule.cpp
│ └── test
│ │ ├── DoubleIntegratorNoRosIntegrationTest.cpp
│ │ ├── DoubleIntegratorPyBindingTest.cpp
│ │ └── DoubleIntegratorPyBindingTest.py
├── ocs2_double_integrator_ros
│ ├── CMakeLists.txt
│ ├── include
│ │ └── ocs2_double_integrator_ros
│ │ │ └── DoubleIntegratorDummyVisualization.h
│ ├── launch
│ │ ├── double_integrator.launch
│ │ ├── multiplot.launch
│ │ └── visualize.launch
│ ├── package.xml
│ ├── rviz
│ │ └── double_integrator.rviz
│ └── src
│ │ ├── DoubleIntegratorDummyVisualization.cpp
│ │ ├── DoubleIntegratorMpcNode.cpp
│ │ ├── DoubleIntegratorTargetPoseCommand.cpp
│ │ └── DummyDoubleIntegratorNode.cpp
├── ocs2_legged_robot
│ ├── CMakeLists.txt
│ ├── auto_generated
│ │ └── .gitignore
│ ├── config
│ │ ├── command
│ │ │ ├── gait.info
│ │ │ └── reference.info
│ │ ├── mpc
│ │ │ └── task.info
│ │ └── multiplot
│ │ │ ├── friction_cone.xml
│ │ │ └── zero_velocity.xml
│ ├── include
│ │ └── ocs2_legged_robot
│ │ │ ├── LeggedRobotInterface.h
│ │ │ ├── LeggedRobotPreComputation.h
│ │ │ ├── common
│ │ │ ├── ModelSettings.h
│ │ │ ├── Types.h
│ │ │ └── utils.h
│ │ │ ├── constraint
│ │ │ ├── EndEffectorLinearConstraint.h
│ │ │ ├── FrictionConeConstraint.h
│ │ │ ├── NormalVelocityConstraintCppAd.h
│ │ │ ├── ZeroForceConstraint.h
│ │ │ └── ZeroVelocityConstraintCppAd.h
│ │ │ ├── cost
│ │ │ └── LeggedRobotQuadraticTrackingCost.h
│ │ │ ├── dynamics
│ │ │ └── LeggedRobotDynamicsAD.h
│ │ │ ├── foot_planner
│ │ │ ├── CubicSpline.h
│ │ │ ├── SplineCpg.h
│ │ │ └── SwingTrajectoryPlanner.h
│ │ │ ├── gait
│ │ │ ├── Gait.h
│ │ │ ├── GaitSchedule.h
│ │ │ ├── LegLogic.h
│ │ │ ├── ModeSequenceTemplate.h
│ │ │ └── MotionPhaseDefinition.h
│ │ │ ├── initialization
│ │ │ └── LeggedRobotInitializer.h
│ │ │ ├── package_path.h.in
│ │ │ └── reference_manager
│ │ │ └── SwitchedModelReferenceManager.h
│ ├── package.xml
│ ├── src
│ │ ├── LeggedRobotInterface.cpp
│ │ ├── LeggedRobotPreComputation.cpp
│ │ ├── common
│ │ │ └── ModelSettings.cpp
│ │ ├── constraint
│ │ │ ├── EndEffectorLinearConstraint.cpp
│ │ │ ├── FrictionConeConstraint.cpp
│ │ │ ├── NormalVelocityConstraintCppAd.cpp
│ │ │ ├── ZeroForceConstraint.cpp
│ │ │ └── ZeroVelocityConstraintCppAd.cpp
│ │ ├── dynamics
│ │ │ └── LeggedRobotDynamicsAD.cpp
│ │ ├── foot_planner
│ │ │ ├── CubicSpline.cpp
│ │ │ ├── SplineCpg.cpp
│ │ │ └── SwingTrajectoryPlanner.cpp
│ │ ├── gait
│ │ │ ├── Gait.cpp
│ │ │ ├── GaitSchedule.cpp
│ │ │ ├── LegLogic.cpp
│ │ │ └── ModeSequenceTemplate.cpp
│ │ ├── initialization
│ │ │ └── LeggedRobotInitializer.cpp
│ │ └── reference_manager
│ │ │ └── SwitchedModelReferenceManager.cpp
│ └── test
│ │ ├── AnymalFactoryFunctions.cpp
│ │ ├── constraint
│ │ ├── testEndEffectorLinearConstraint.cpp
│ │ ├── testFrictionConeConstraint.cpp
│ │ └── testZeroForceConstraint.cpp
│ │ └── include
│ │ └── ocs2_legged_robot
│ │ └── test
│ │ └── AnymalFactoryFunctions.h
├── ocs2_legged_robot_ros
│ ├── CMakeLists.txt
│ ├── include
│ │ └── ocs2_legged_robot_ros
│ │ │ ├── gait
│ │ │ ├── GaitKeyboardPublisher.h
│ │ │ ├── GaitReceiver.h
│ │ │ └── ModeSequenceTemplateRos.h
│ │ │ └── visualization
│ │ │ └── LeggedRobotVisualizer.h
│ ├── launch
│ │ ├── legged_robot_ddp.launch
│ │ ├── legged_robot_ipm.launch
│ │ ├── legged_robot_sqp.launch
│ │ └── multiplot.launch
│ ├── package.xml
│ ├── rviz
│ │ └── legged_robot.rviz
│ └── src
│ │ ├── LeggedRobotDdpMpcNode.cpp
│ │ ├── LeggedRobotDummyNode.cpp
│ │ ├── LeggedRobotGaitCommandNode.cpp
│ │ ├── LeggedRobotIpmMpcNode.cpp
│ │ ├── LeggedRobotPoseCommandNode.cpp
│ │ ├── LeggedRobotSqpMpcNode.cpp
│ │ ├── gait
│ │ ├── GaitKeyboardPublisher.cpp
│ │ └── GaitReceiver.cpp
│ │ └── visualization
│ │ └── LeggedRobotVisualizer.cpp
├── ocs2_mobile_manipulator
│ ├── CMakeLists.txt
│ ├── auto_generated
│ │ └── .gitignore
│ ├── config
│ │ ├── franka
│ │ │ └── task.info
│ │ ├── kinova
│ │ │ ├── task_j2n6.info
│ │ │ └── task_j2n7.info
│ │ ├── mabi_mobile
│ │ │ └── task.info
│ │ ├── pr2
│ │ │ └── task.info
│ │ └── ridgeback_ur5
│ │ │ └── task.info
│ ├── include
│ │ └── ocs2_mobile_manipulator
│ │ │ ├── AccessHelperFunctions.h
│ │ │ ├── FactoryFunctions.h
│ │ │ ├── ManipulatorModelInfo.h
│ │ │ ├── MobileManipulatorInterface.h
│ │ │ ├── MobileManipulatorPinocchioMapping.h
│ │ │ ├── MobileManipulatorPreComputation.h
│ │ │ ├── constraint
│ │ │ ├── EndEffectorConstraint.h
│ │ │ └── MobileManipulatorSelfCollisionConstraint.h
│ │ │ ├── cost
│ │ │ └── QuadraticInputCost.h
│ │ │ ├── dynamics
│ │ │ ├── DefaultManipulatorDynamics.h
│ │ │ ├── FloatingArmManipulatorDynamics.h
│ │ │ ├── FullyActuatedFloatingArmManipulatorDynamics.h
│ │ │ └── WheelBasedMobileManipulatorDynamics.h
│ │ │ ├── implementation
│ │ │ └── AccessHelperFunctionsImpl.h
│ │ │ └── package_path.h.in
│ ├── package.xml
│ ├── src
│ │ ├── FactoryFunctions.cpp
│ │ ├── MobileManipulatorInterface.cpp
│ │ ├── MobileManipulatorPinocchioMapping.cpp
│ │ ├── MobileManipulatorPreComputation.cpp
│ │ ├── constraint
│ │ │ └── EndEffectorConstraint.cpp
│ │ └── dynamics
│ │ │ ├── DefaultManipulatorDynamics.cpp
│ │ │ ├── FloatingArmManipulatorDynamics.cpp
│ │ │ ├── FullyActuatedFloatingArmManipulatorDynamics.cpp
│ │ │ └── WheelBasedMobileManipulatorDynamics.cpp
│ └── test
│ │ ├── testDummyMobileManipulator.cpp
│ │ ├── testEndEffectorConstraint.cpp
│ │ └── testSelfCollision.cpp
├── ocs2_mobile_manipulator_ros
│ ├── CMakeLists.txt
│ ├── include
│ │ └── ocs2_mobile_manipulator_ros
│ │ │ └── MobileManipulatorDummyVisualization.h
│ ├── launch
│ │ ├── include
│ │ │ ├── mobile_manipulator.launch
│ │ │ ├── mobile_manipulator_distance.launch
│ │ │ └── visualize.launch
│ │ ├── manipulator_franka.launch
│ │ ├── manipulator_kinova_j2n6.launch
│ │ ├── manipulator_kinova_j2n7.launch
│ │ ├── manipulator_mabi_mobile.launch
│ │ ├── manipulator_pr2.launch
│ │ └── manipulator_ridgeback_ur5.launch
│ ├── package.xml
│ ├── rviz
│ │ ├── mobile_manipulator.rviz
│ │ └── mobile_manipulator_distance.rviz
│ └── src
│ │ ├── MobileManipulatorDistanceVisualization.cpp
│ │ ├── MobileManipulatorDummyMRT.cpp
│ │ ├── MobileManipulatorDummyVisualization.cpp
│ │ ├── MobileManipulatorMpcNode.cpp
│ │ └── MobileManipulatorTarget.cpp
├── ocs2_perceptive_anymal
│ ├── ocs2_anymal
│ │ ├── CMakeLists.txt
│ │ └── package.xml
│ ├── ocs2_anymal_commands
│ │ ├── CMakeLists.txt
│ │ ├── config
│ │ │ ├── gait.info
│ │ │ ├── motions.info
│ │ │ └── motions
│ │ │ │ ├── demo_motion.txt
│ │ │ │ └── walking.txt
│ │ ├── include
│ │ │ └── ocs2_anymal_commands
│ │ │ │ ├── LoadMotions.h
│ │ │ │ ├── ModeSequenceKeyboard.h
│ │ │ │ ├── MotionCommandController.h
│ │ │ │ ├── MotionCommandDummy.h
│ │ │ │ ├── MotionCommandInterface.h
│ │ │ │ ├── PoseCommandToCostDesiredRos.h
│ │ │ │ ├── ReferenceExtrapolation.h
│ │ │ │ └── TerrainAdaptation.h
│ │ ├── package.xml
│ │ ├── src
│ │ │ ├── AnymalGaitNode.cpp
│ │ │ ├── AnymalMotionCommandNode.cpp
│ │ │ ├── AnymalPoseCommandNode.cpp
│ │ │ ├── LoadMotions.cpp
│ │ │ ├── ModeSequenceKeyboard.cpp
│ │ │ ├── MotionCommandController.cpp
│ │ │ ├── MotionCommandDummy.cpp
│ │ │ ├── MotionCommandInterface.cpp
│ │ │ ├── PoseCommandToCostDesiredRos.cpp
│ │ │ ├── ReferenceExtrapolation.cpp
│ │ │ └── TerrainAdaptation.cpp
│ │ └── test
│ │ │ ├── data
│ │ │ ├── animatedMotion.txt
│ │ │ ├── cartesianMotion.txt
│ │ │ ├── testCsv.txt
│ │ │ └── testMotion.txt
│ │ │ ├── testLoadMotions.cpp
│ │ │ ├── testReferenceExtrapolation.cpp
│ │ │ └── testTerrainAdaptation.cpp
│ ├── ocs2_anymal_loopshaping_mpc
│ │ ├── CMakeLists.txt
│ │ ├── config
│ │ │ ├── c_series
│ │ │ │ ├── frame_declaration.info
│ │ │ │ ├── loopshaping.info
│ │ │ │ ├── multiple_shooting.info
│ │ │ │ └── task.info
│ │ │ └── rviz
│ │ │ │ └── demo_config.rviz
│ │ ├── data
│ │ │ ├── demo_terrain.png
│ │ │ ├── gaps.png
│ │ │ ├── hurdles.png
│ │ │ ├── side_gap.png
│ │ │ ├── step.png
│ │ │ └── stepping_stones.png
│ │ ├── include
│ │ │ └── ocs2_anymal_loopshaping_mpc
│ │ │ │ └── AnymalLoopshapingInterface.h
│ │ ├── launch
│ │ │ ├── anymal_c.launch
│ │ │ ├── camel.launch
│ │ │ ├── mpc.launch
│ │ │ └── perceptive_mpc_demo.launch
│ │ ├── package.xml
│ │ ├── src
│ │ │ ├── AnymalLoopshapingDummyMrt.cpp
│ │ │ ├── AnymalLoopshapingInterface.cpp
│ │ │ ├── AnymalLoopshapingMpcNode.cpp
│ │ │ └── PerceptiveMpcDemo.cpp
│ │ └── test
│ │ │ ├── testMotionTracking.cpp
│ │ │ ├── testProblemFormulation.cpp
│ │ │ └── testSensitivity.cpp
│ ├── ocs2_anymal_models
│ │ ├── CMakeLists.txt
│ │ ├── config
│ │ │ └── visualize_urdf.rviz
│ │ ├── include
│ │ │ └── ocs2_anymal_models
│ │ │ │ ├── .gitignore
│ │ │ │ ├── AnymalModels.h
│ │ │ │ ├── DynamicsHelpers.h
│ │ │ │ ├── FrameDeclaration.h
│ │ │ │ ├── QuadrupedCom.h
│ │ │ │ ├── QuadrupedInverseKinematics.h
│ │ │ │ ├── QuadrupedKinematics.h
│ │ │ │ ├── QuadrupedPinocchioMapping.h
│ │ │ │ └── package_path.h.in
│ │ ├── launch
│ │ │ ├── load_urdf.launch
│ │ │ └── vizualize_urdf.launch
│ │ ├── package.xml
│ │ ├── src
│ │ │ ├── AnymalModels.cpp
│ │ │ ├── FrameDeclaration.cpp
│ │ │ ├── QuadrupedCom.cpp
│ │ │ ├── QuadrupedInverseKinematics.cpp
│ │ │ ├── QuadrupedKinematics.cpp
│ │ │ └── QuadrupedPinocchioMapping.cpp
│ │ ├── test
│ │ │ ├── TestDynamicsHelpers.cpp
│ │ │ ├── TestFrameDeclaration.cpp
│ │ │ ├── TestInverseKinematics.cpp
│ │ │ ├── TestQuadrupedPinocchioCom.cpp
│ │ │ ├── TestQuadrupedPinocchioKinematics.cpp
│ │ │ └── camel
│ │ │ │ ├── AnymalCamelCom.cpp
│ │ │ │ ├── AnymalCamelCom.h
│ │ │ │ ├── AnymalCamelKinematics.cpp
│ │ │ │ ├── AnymalCamelKinematics.h
│ │ │ │ ├── RobcogenHelpers.h
│ │ │ │ └── generated
│ │ │ │ ├── declarations.h
│ │ │ │ ├── default_dynparams_getter.h
│ │ │ │ ├── dynamics_parameters.h
│ │ │ │ ├── forward_dynamics.h
│ │ │ │ ├── forward_dynamics.impl.h
│ │ │ │ ├── inertia_properties.h
│ │ │ │ ├── inertia_properties.impl.h
│ │ │ │ ├── inverse_dynamics.h
│ │ │ │ ├── inverse_dynamics.impl.h
│ │ │ │ ├── jacobians.h
│ │ │ │ ├── jacobians.impl.h
│ │ │ │ ├── joint_data_map.h
│ │ │ │ ├── jsim.h
│ │ │ │ ├── jsim.impl.h
│ │ │ │ ├── kinematics_parameters.h
│ │ │ │ ├── link_data_map.h
│ │ │ │ ├── miscellaneous.cpp
│ │ │ │ ├── miscellaneous.h
│ │ │ │ ├── traits.h
│ │ │ │ ├── transforms.h
│ │ │ │ └── transforms.impl.h
│ │ └── urdf
│ │ │ ├── anymal_camel_rsl.urdf
│ │ │ └── frame_declaration_anymal_c.info
│ ├── ocs2_anymal_mpc
│ │ ├── CMakeLists.txt
│ │ ├── config
│ │ │ └── c_series
│ │ │ │ ├── frame_declaration.info
│ │ │ │ ├── multiple_shooting.info
│ │ │ │ ├── targetCommand.info
│ │ │ │ └── task.info
│ │ ├── include
│ │ │ └── ocs2_anymal_mpc
│ │ │ │ └── AnymalInterface.h
│ │ ├── launch
│ │ │ ├── camel.launch
│ │ │ └── mpc.launch
│ │ ├── package.xml
│ │ ├── src
│ │ │ ├── AnymalDummyMRT.cpp
│ │ │ ├── AnymalInterface.cpp
│ │ │ └── AnymalMpcNode.cpp
│ │ └── test
│ │ │ └── testProblemFormulation.cpp
│ ├── ocs2_quadruped_interface
│ │ ├── CMakeLists.txt
│ │ ├── config
│ │ │ └── config.rviz
│ │ ├── include
│ │ │ └── ocs2_quadruped_interface
│ │ │ │ ├── QuadrupedDummyNode.h
│ │ │ │ ├── QuadrupedInterface.h
│ │ │ │ ├── QuadrupedLogger.h
│ │ │ │ ├── QuadrupedMpc.h
│ │ │ │ ├── QuadrupedMpcNode.h
│ │ │ │ ├── QuadrupedPointfootInterface.h
│ │ │ │ ├── QuadrupedTfPublisher.h
│ │ │ │ ├── QuadrupedVisualizer.h
│ │ │ │ ├── SwingPlanningVisualizer.h
│ │ │ │ ├── TerrainPlaneVisualizer.h
│ │ │ │ └── TerrainReceiver.h
│ │ ├── launch
│ │ │ └── visualization.launch
│ │ ├── package.xml
│ │ └── src
│ │ │ ├── QuadrupedDummyNode.cpp
│ │ │ ├── QuadrupedInterface.cpp
│ │ │ ├── QuadrupedLogger.cpp
│ │ │ ├── QuadrupedMpc.cpp
│ │ │ ├── QuadrupedMpcNode.cpp
│ │ │ ├── QuadrupedPointfootInterface.cpp
│ │ │ ├── QuadrupedTfPublisher.cpp
│ │ │ ├── QuadrupedVisualizer.cpp
│ │ │ ├── SwingPlanningVisualizer.cpp
│ │ │ ├── TerrainPlaneVisualizer.cpp
│ │ │ └── TerrainReceiver.cpp
│ ├── ocs2_quadruped_loopshaping_interface
│ │ ├── CMakeLists.txt
│ │ ├── include
│ │ │ └── ocs2_quadruped_loopshaping_interface
│ │ │ │ ├── LoopshapingDimensions.h
│ │ │ │ ├── QuadrupedLoopshapingDummyNode.h
│ │ │ │ ├── QuadrupedLoopshapingInterface.h
│ │ │ │ ├── QuadrupedLoopshapingMpc.h
│ │ │ │ └── QuadrupedLoopshapingMpcNode.h
│ │ ├── package.xml
│ │ └── src
│ │ │ ├── QuadrupedLoopshapingDummyNode.cpp
│ │ │ ├── QuadrupedLoopshapingInterface.cpp
│ │ │ ├── QuadrupedLoopshapingMpc.cpp
│ │ │ └── QuadrupedLoopshapingMpcNode.cpp
│ ├── ocs2_switched_model_interface
│ │ ├── CMakeLists.txt
│ │ ├── include
│ │ │ └── ocs2_switched_model_interface
│ │ │ │ ├── analytical_inverse_kinematics
│ │ │ │ ├── AnalyticalInverseKinematics.h
│ │ │ │ └── LegInverseKinematicParameters.h
│ │ │ │ ├── constraint
│ │ │ │ ├── EndEffectorVelocityConstraint.h
│ │ │ │ ├── FootNormalConstraint.h
│ │ │ │ ├── FrictionConeConstraint.h
│ │ │ │ └── ZeroForceConstraint.h
│ │ │ │ ├── core
│ │ │ │ ├── ComModelBase.h
│ │ │ │ ├── InverseKinematicsModelBase.h
│ │ │ │ ├── KinematicsModelBase.h
│ │ │ │ ├── ModelSettings.h
│ │ │ │ ├── MotionPhaseDefinition.h
│ │ │ │ ├── Rotations.h
│ │ │ │ ├── SwitchedModel.h
│ │ │ │ ├── SwitchedModelPrecomputation.h
│ │ │ │ └── TorqueApproximation.h
│ │ │ │ ├── cost
│ │ │ │ ├── CollisionAvoidanceCost.h
│ │ │ │ ├── CostElements.h
│ │ │ │ ├── FootPlacementCost.h
│ │ │ │ ├── FrictionConeCost.h
│ │ │ │ ├── LinearStateInequalitySoftconstraint.h
│ │ │ │ ├── MotionTrackingCost.h
│ │ │ │ ├── MotionTrackingTerminalCost.h
│ │ │ │ └── TorqueLimitsSoftConstraint.h
│ │ │ │ ├── dynamics
│ │ │ │ ├── ComKinoDynamicsParameters.h
│ │ │ │ └── ComKinoSystemDynamicsAd.h
│ │ │ │ ├── foot_planner
│ │ │ │ ├── CubicSpline.h
│ │ │ │ ├── FootPhase.h
│ │ │ │ ├── KinematicFootPlacementPenalty.h
│ │ │ │ ├── QuinticSplineSwing.h
│ │ │ │ ├── SplineCpg.h
│ │ │ │ ├── SwingSpline3d.h
│ │ │ │ └── SwingTrajectoryPlanner.h
│ │ │ │ ├── initialization
│ │ │ │ └── ComKinoInitializer.h
│ │ │ │ ├── logic
│ │ │ │ ├── DynamicsParametersSynchronizedModule.h
│ │ │ │ ├── Gait.h
│ │ │ │ ├── GaitAdaptation.h
│ │ │ │ ├── GaitReceiver.h
│ │ │ │ ├── GaitSchedule.h
│ │ │ │ ├── GaitSwitching.h
│ │ │ │ ├── ModeSequenceTemplate.h
│ │ │ │ ├── SingleLegLogic.h
│ │ │ │ └── SwitchedModelModeScheduleManager.h
│ │ │ │ ├── ros_msg_conversions
│ │ │ │ └── RosMsgConversions.h
│ │ │ │ ├── terrain
│ │ │ │ ├── ConvexTerrain.h
│ │ │ │ ├── PlanarSignedDistanceField.h
│ │ │ │ ├── PlanarTerrainModel.h
│ │ │ │ ├── PlaneFitting.h
│ │ │ │ ├── SignedDistanceField.h
│ │ │ │ ├── TerrainModel.h
│ │ │ │ └── TerrainPlane.h
│ │ │ │ └── test
│ │ │ │ └── TestEvaluateConstraints.h
│ │ ├── package.xml
│ │ ├── src
│ │ │ ├── analytical_inverse_kinematics
│ │ │ │ ├── AnalyticalInverseKinematics.cpp
│ │ │ │ └── LegInverseKinematicParameters.cpp
│ │ │ ├── constraint
│ │ │ │ ├── EndEffectorVelocityConstraint.cpp
│ │ │ │ ├── FootNormalConstraint.cpp
│ │ │ │ ├── FrictionConeConstraint.cpp
│ │ │ │ └── ZeroForceConstraint.cpp
│ │ │ ├── core
│ │ │ │ ├── ComModelBase.cpp
│ │ │ │ ├── KinematicsModelBase.cpp
│ │ │ │ ├── ModelSettings.cpp
│ │ │ │ ├── SwitchedModelPrecomputation.cpp
│ │ │ │ └── TorqueApproximation.cpp
│ │ │ ├── cost
│ │ │ │ ├── CollisionAvoidanceCost.cpp
│ │ │ │ ├── FootPlacementCost.cpp
│ │ │ │ ├── FrictionConeCost.cpp
│ │ │ │ ├── LinearStateInequalitySoftConstraint.cpp
│ │ │ │ ├── MotionTrackingCost.cpp
│ │ │ │ ├── MotionTrackingTerminalCost.cpp
│ │ │ │ └── TorqueLimitsSoftConstraint.cpp
│ │ │ ├── dynamics
│ │ │ │ ├── ComKinoDynamicsParameters.cpp
│ │ │ │ └── ComKinoSystemDynamicsAd.cpp
│ │ │ ├── foot_planner
│ │ │ │ ├── CubicSpline.cpp
│ │ │ │ ├── FootPhase.cpp
│ │ │ │ ├── KinematicFootPlacementPenalty.cpp
│ │ │ │ ├── QuinticSplineSwing.cpp
│ │ │ │ ├── SplineCpg.cpp
│ │ │ │ ├── SwingSpline3d.cpp
│ │ │ │ └── SwingTrajectoryPlanner.cpp
│ │ │ ├── initialization
│ │ │ │ └── ComKinoInitializer.cpp
│ │ │ ├── logic
│ │ │ │ ├── DynamicsParametersSynchronizedModule.cpp
│ │ │ │ ├── Gait.cpp
│ │ │ │ ├── GaitAdaptation.cpp
│ │ │ │ ├── GaitReceiver.cpp
│ │ │ │ ├── GaitSchedule.cpp
│ │ │ │ ├── ModeSequenceTemplate.cpp
│ │ │ │ ├── SingleLegLogic.cpp
│ │ │ │ └── SwitchedModelModeScheduleManager.cpp
│ │ │ ├── ros_msg_conversions
│ │ │ │ └── RosMsgConversions.cpp
│ │ │ ├── terrain
│ │ │ │ ├── PlanarSignedDistanceField.cpp
│ │ │ │ ├── PlanarTerrainModel.cpp
│ │ │ │ ├── PlaneFitting.cpp
│ │ │ │ └── TerrainPlane.cpp
│ │ │ └── testConstraints.cpp
│ │ └── test
│ │ │ ├── constraint
│ │ │ ├── testFrictionConeConstraint.cpp
│ │ │ └── testZeroForceConstraint.cpp
│ │ │ ├── core
│ │ │ └── testRotation.cpp
│ │ │ ├── cost
│ │ │ ├── testFootplacementCost.cpp
│ │ │ ├── testFrictionConeCost.cpp
│ │ │ └── testTorqueLimitsSoftConstraint.cpp
│ │ │ ├── foot_planner
│ │ │ └── testSwingPhase.cpp
│ │ │ ├── logic
│ │ │ ├── testEarlyTouchDown.cpp
│ │ │ ├── testExtractContractTimings.cpp
│ │ │ ├── testGait.cpp
│ │ │ ├── testGaitSchedule.cpp
│ │ │ ├── testGaitSwitching.cpp
│ │ │ └── testSingleLegLogic.cpp
│ │ │ └── terrain
│ │ │ ├── testConvexTerrain.cpp
│ │ │ └── testTerrainPlane.cpp
│ ├── ocs2_switched_model_msgs
│ │ ├── CMakeLists.txt
│ │ ├── msg
│ │ │ ├── gait.msg
│ │ │ ├── gait_sequence.msg
│ │ │ └── scheduled_gait_sequence.msg
│ │ ├── package.xml
│ │ └── srv
│ │ │ └── trajectory_request.srv
│ └── segmented_planes_terrain_model
│ │ ├── CMakeLists.txt
│ │ ├── include
│ │ └── segmented_planes_terrain_model
│ │ │ ├── SegmentedPlanesSignedDistanceField.h
│ │ │ ├── SegmentedPlanesTerrainModel.h
│ │ │ ├── SegmentedPlanesTerrainModelRos.h
│ │ │ └── SegmentedPlanesTerrainVisualization.h
│ │ ├── package.xml
│ │ └── src
│ │ ├── SegmentedPlanesTerrainModel.cpp
│ │ ├── SegmentedPlanesTerrainModelRos.cpp
│ │ └── SegmentedPlanesTerrainVisualization.cpp
├── ocs2_quadrotor
│ ├── CMakeLists.txt
│ ├── auto_generated
│ │ └── .gitignore
│ ├── config
│ │ └── mpc
│ │ │ └── task.info
│ ├── include
│ │ └── ocs2_quadrotor
│ │ │ ├── QuadrotorInterface.h
│ │ │ ├── QuadrotorParameters.h
│ │ │ ├── QuadrotorPyBindings.h
│ │ │ ├── definitions.h
│ │ │ ├── dynamics
│ │ │ └── QuadrotorSystemDynamics.h
│ │ │ └── package_path.h.in
│ ├── package.xml
│ ├── setup.py
│ ├── src
│ │ ├── QuadrotorInterface.cpp
│ │ ├── QuadrotorSystemDynamics.cpp
│ │ ├── ocs2_quadrotor
│ │ │ └── __init__.py
│ │ └── pyBindModule.cpp
│ └── test
│ │ └── PyBindingsTest.cpp
├── ocs2_quadrotor_ros
│ ├── CMakeLists.txt
│ ├── include
│ │ └── ocs2_quadrotor_ros
│ │ │ └── QuadrotorDummyVisualization.h
│ ├── launch
│ │ ├── multiplot.launch
│ │ ├── quadrotor.launch
│ │ └── visualize.launch
│ ├── package.xml
│ ├── rviz
│ │ └── quadrotor.rviz
│ └── src
│ │ ├── DummyQuadrotorNode.cpp
│ │ ├── QuadrotorDummyVisualization.cpp
│ │ ├── QuadrotorMpcNode.cpp
│ │ └── QuadrotorTargetPoseCommand.cpp
└── ocs2_robotic_examples
│ ├── CMakeLists.txt
│ └── package.xml
├── ocs2_robotic_tools
├── CMakeLists.txt
├── include
│ └── ocs2_robotic_tools
│ │ ├── common
│ │ ├── AngularVelocityMapping.h
│ │ ├── LoopshapingRobotInterface.h
│ │ ├── RobotInterface.h
│ │ ├── RotationDerivativesTransforms.h
│ │ ├── RotationTransforms.h
│ │ └── SkewSymmetricMatrix.h
│ │ └── end_effector
│ │ └── EndEffectorKinematics.h
├── package.xml
├── src
│ ├── common
│ │ ├── LoopshapingRobotInterface.cpp
│ │ └── RotationTransforms.cpp
│ └── lintTarget.cpp
└── test
│ └── common
│ ├── TestRotationDerivativesTransforms.cpp
│ └── TestRotationTransforms.cpp
├── ocs2_ros_interfaces
├── CMakeLists.txt
├── include
│ └── ocs2_ros_interfaces
│ │ ├── command
│ │ ├── TargetTrajectoriesInteractiveMarker.h
│ │ ├── TargetTrajectoriesKeyboardPublisher.h
│ │ └── TargetTrajectoriesRosPublisher.h
│ │ ├── common
│ │ ├── RosMsgConversions.h
│ │ └── RosMsgHelpers.h
│ │ ├── mpc
│ │ └── MPC_ROS_Interface.h
│ │ ├── mrt
│ │ ├── DummyObserver.h
│ │ ├── LoopshapingDummyObserver.h
│ │ ├── MRT_ROS_Dummy_Loop.h
│ │ └── MRT_ROS_Interface.h
│ │ ├── synchronized_module
│ │ ├── RosReferenceManager.h
│ │ └── SolverObserverRosCallbacks.h
│ │ └── visualization
│ │ ├── VisualizationColors.h
│ │ └── VisualizationHelpers.h
├── launch
│ └── performance_indices.launch
├── multiplot
│ └── performance_indices.xml
├── package.xml
├── src
│ ├── command
│ │ ├── TargetTrajectoriesInteractiveMarker.cpp
│ │ ├── TargetTrajectoriesKeyboardPublisher.cpp
│ │ └── TargetTrajectoriesRosPublisher.cpp
│ ├── common
│ │ ├── RosMsgConversions.cpp
│ │ └── RosMsgHelpers.cpp
│ ├── lintTarget.cpp
│ ├── mpc
│ │ └── MPC_ROS_Interface.cpp
│ ├── mrt
│ │ ├── LoopshapingDummyObserver.cpp
│ │ ├── MRT_ROS_Dummy_Loop.cpp
│ │ └── MRT_ROS_Interface.cpp
│ ├── multiplot
│ │ └── MultiplotRemap.cpp
│ ├── synchronized_module
│ │ ├── RosReferenceManager.cpp
│ │ └── SolverObserverRosCallbacks.cpp
│ └── visualization
│ │ ├── VisualizationColors.cpp
│ │ └── VisualizationHelpers.cpp
└── test
│ └── test_custom_callback_queue.cpp
├── ocs2_slp
├── CMakeLists.txt
├── include
│ └── ocs2_slp
│ │ ├── Helpers.h
│ │ ├── SlpMpc.h
│ │ ├── SlpSettings.h
│ │ ├── SlpSolver.h
│ │ ├── SlpSolverStatus.h
│ │ └── pipg
│ │ ├── PipgBounds.h
│ │ ├── PipgSettings.h
│ │ ├── PipgSolver.h
│ │ ├── PipgSolverStatus.h
│ │ └── SingleThreadPipg.h
├── package.xml
├── src
│ ├── Helpers.cpp
│ ├── SlpSettings.cpp
│ ├── SlpSolver.cpp
│ ├── lintTarget.cpp
│ └── pipg
│ │ ├── PipgSettings.cpp
│ │ ├── PipgSolver.cpp
│ │ └── SingleThreadPipg.cpp
└── test
│ ├── testHelpers.cpp
│ ├── testPipgSolver.cpp
│ └── testSlpSolver.cpp
├── ocs2_sqp
├── blasfeo_catkin
│ ├── CMakeLists.txt
│ ├── cmake
│ │ └── blasfeo-extras.cmake.in
│ └── package.xml
├── hpipm_catkin
│ ├── CMakeLists.txt
│ ├── include
│ │ └── hpipm_catkin
│ │ │ ├── HpipmInterface.h
│ │ │ └── HpipmInterfaceSettings.h
│ ├── package.xml
│ ├── src
│ │ ├── HpipmInterface.cpp
│ │ └── HpipmInterfaceSettings.cpp
│ └── test
│ │ └── testHpipmInterface.cpp
└── ocs2_sqp
│ ├── CMakeLists.txt
│ ├── README.md
│ ├── doc
│ ├── LQR_full.pdf
│ └── deduction.pdf
│ ├── include
│ └── ocs2_sqp
│ │ ├── SqpLogging.h
│ │ ├── SqpMpc.h
│ │ ├── SqpSettings.h
│ │ ├── SqpSolver.h
│ │ └── SqpSolverStatus.h
│ ├── logging
│ ├── .gitignore
│ └── ReadSqpLog.py
│ ├── package.xml
│ ├── src
│ ├── SqpLogging.cpp
│ ├── SqpSettings.cpp
│ └── SqpSolver.cpp
│ └── test
│ ├── testCircularKinematics.cpp
│ ├── testLogging.cpp
│ ├── testSwitchedProblem.cpp
│ ├── testUnconstrained.cpp
│ └── testValuefunction.cpp
├── ocs2_test_tools
└── ocs2_qp_solver
│ ├── CMakeLists.txt
│ ├── include
│ └── ocs2_qp_solver
│ │ ├── Ocs2QpSolver.h
│ │ ├── QpDiscreteTranscription.h
│ │ ├── QpSolver.h
│ │ ├── QpSolverTypes.h
│ │ └── QpTrajectories.h
│ ├── package.xml
│ ├── src
│ ├── Ocs2QpSolver.cpp
│ ├── QpDiscreteTranscription.cpp
│ ├── QpSolver.cpp
│ └── QpTrajectories.cpp
│ └── test
│ ├── include
│ └── ocs2_qp_solver
│ │ └── test
│ │ └── testProblemsGeneration.h
│ ├── testDiscreteTranscription.cpp
│ ├── testOcs2QpSolver.cpp
│ └── testQpSolver.cpp
└── ocs2_thirdparty
├── CMakeLists.txt
├── include
├── cppad
│ ├── COPYING
│ ├── Version.txt
│ ├── authors
│ ├── base_require.hpp
│ ├── cg.hpp
│ ├── cg
│ │ ├── AUTHORS
│ │ ├── COPYING
│ │ ├── Version.txt
│ │ ├── abstract_atomic_fun.hpp
│ │ ├── argument.hpp
│ │ ├── arithmetic.hpp
│ │ ├── arithmetic_ad.hpp
│ │ ├── arithmetic_assign.hpp
│ │ ├── array_id_compresser.hpp
│ │ ├── array_view.hpp
│ │ ├── atomic_dependency_locator.hpp
│ │ ├── atomic_fun.hpp
│ │ ├── atomic_fun_bridge.hpp
│ │ ├── base_abstract_atomic_fun.hpp
│ │ ├── base_double.hpp
│ │ ├── base_float.hpp
│ │ ├── bidir_graph.hpp
│ │ ├── cg.hpp
│ │ ├── code_handler.hpp
│ │ ├── code_handler_impl.hpp
│ │ ├── code_handler_loops.hpp
│ │ ├── code_handler_vector.hpp
│ │ ├── collect_variable.hpp
│ │ ├── compare.hpp
│ │ ├── cond_exp_op.hpp
│ │ ├── cppadcg.hpp
│ │ ├── cppadcg_assert.hpp
│ │ ├── custom_position.hpp
│ │ ├── dae_index_reduction
│ │ │ ├── augment_path.hpp
│ │ │ ├── augment_path_depth_lookahead.hpp
│ │ │ ├── augment_path_depth_lookahead_a.hpp
│ │ │ ├── bipartite_graph.hpp
│ │ │ ├── bipartite_nodes.hpp
│ │ │ ├── dae_equation_info.hpp
│ │ │ ├── dae_index_reduction.hpp
│ │ │ ├── dae_structural_index_reduction.hpp
│ │ │ ├── dae_var_info.hpp
│ │ │ ├── dummy_deriv.hpp
│ │ │ ├── dummy_deriv_util.hpp
│ │ │ ├── pantelides.hpp
│ │ │ ├── simple_logger.hpp
│ │ │ ├── soares_secchi.hpp
│ │ │ └── time_diff.hpp
│ │ ├── debug.hpp
│ │ ├── declare_cg.hpp
│ │ ├── declare_cg_loops.hpp
│ │ ├── default.hpp
│ │ ├── epl-v10.txt
│ │ ├── evaluator
│ │ │ ├── evaluator.hpp
│ │ │ ├── evaluator_ad.hpp
│ │ │ ├── evaluator_adcg.hpp
│ │ │ ├── evaluator_adolc.hpp
│ │ │ ├── evaluator_cg.hpp
│ │ │ └── evaluator_solve.hpp
│ │ ├── exception.hpp
│ │ ├── extra
│ │ │ ├── declare_extra.hpp
│ │ │ ├── extra.hpp
│ │ │ ├── sparse_forjac_hessian.hpp
│ │ │ └── sparsity.hpp
│ │ ├── gpl3.txt
│ │ ├── graph_mod.hpp
│ │ ├── identical.hpp
│ │ ├── job_timer.hpp
│ │ ├── lang
│ │ │ ├── c
│ │ │ │ ├── lang_c_atomic_fun.hpp
│ │ │ │ ├── lang_c_custom_var_name_gen.hpp
│ │ │ │ ├── lang_c_default_hessian_var_name_gen.hpp
│ │ │ │ ├── lang_c_default_reverse2_var_name_gen.hpp
│ │ │ │ ├── lang_c_default_var_name_gen.hpp
│ │ │ │ ├── lang_c_util.hpp
│ │ │ │ ├── language_c.hpp
│ │ │ │ ├── language_c_arrays.hpp
│ │ │ │ ├── language_c_double.hpp
│ │ │ │ ├── language_c_float.hpp
│ │ │ │ ├── language_c_index_patterns.hpp
│ │ │ │ └── language_c_loops.hpp
│ │ │ ├── dot
│ │ │ │ ├── dot.hpp
│ │ │ │ ├── dot_util.hpp
│ │ │ │ ├── language_dot.hpp
│ │ │ │ ├── language_dot_arrays.hpp
│ │ │ │ └── language_dot_index_patterns.hpp
│ │ │ ├── lang_stream_stack.hpp
│ │ │ ├── language.hpp
│ │ │ ├── latex
│ │ │ │ ├── lang_latex_custom_var_name_gen.hpp
│ │ │ │ ├── lang_latex_default_var_name_gen.hpp
│ │ │ │ ├── language_latex.hpp
│ │ │ │ ├── language_latex_arrays.hpp
│ │ │ │ ├── language_latex_index_patterns.hpp
│ │ │ │ └── latex.hpp
│ │ │ └── mathml
│ │ │ │ ├── lang_mathml_custom_var_name_gen.hpp
│ │ │ │ ├── lang_mathml_default_var_name_gen.hpp
│ │ │ │ ├── language_mathml.hpp
│ │ │ │ ├── language_mathml_arrays.hpp
│ │ │ │ ├── language_mathml_index_patterns.hpp
│ │ │ │ └── mathml.hpp
│ │ ├── math.hpp
│ │ ├── math_other.hpp
│ │ ├── model
│ │ │ ├── atomic_external_function_wrapper.hpp
│ │ │ ├── atomic_generic_model.hpp
│ │ │ ├── compiler
│ │ │ │ ├── abstract_c_compiler.hpp
│ │ │ │ ├── c_compiler.hpp
│ │ │ │ ├── clang_compiler.hpp
│ │ │ │ └── gcc_compiler.hpp
│ │ │ ├── dynamic_lib
│ │ │ │ ├── ar_archiver.hpp
│ │ │ │ ├── archiver.hpp
│ │ │ │ ├── dynamic_library_processor.hpp
│ │ │ │ ├── dynamiclib.hpp
│ │ │ │ └── linux
│ │ │ │ │ ├── linux_dynamic_model_library_processor.hpp
│ │ │ │ │ ├── linux_dynamiclib.hpp
│ │ │ │ │ └── linux_dynamiclib_model.hpp
│ │ │ ├── external_function_wrapper.hpp
│ │ │ ├── functor_generic_model.hpp
│ │ │ ├── functor_model_library.hpp
│ │ │ ├── generic_model.hpp
│ │ │ ├── generic_model_external_function_wrapper.hpp
│ │ │ ├── llvm
│ │ │ │ ├── llvm.hpp
│ │ │ │ ├── llvm_base_model_library_processor.hpp
│ │ │ │ ├── llvm_model.hpp
│ │ │ │ ├── llvm_model_library.hpp
│ │ │ │ ├── v3_2
│ │ │ │ │ ├── llvm3_2.hpp
│ │ │ │ │ ├── llvm_model_library_3_2.hpp
│ │ │ │ │ └── llvm_model_library_processor.hpp
│ │ │ │ ├── v3_4
│ │ │ │ │ ├── llvm3_4.hpp
│ │ │ │ │ ├── llvm_model_library_3_4.hpp
│ │ │ │ │ └── llvm_model_library_processor.hpp
│ │ │ │ ├── v3_6
│ │ │ │ │ ├── llvm3_6.hpp
│ │ │ │ │ ├── llvm_model_library_3_6.hpp
│ │ │ │ │ └── llvm_model_library_processor.hpp
│ │ │ │ ├── v3_8
│ │ │ │ │ ├── llvm3_8.hpp
│ │ │ │ │ ├── llvm_model_library_3_8.hpp
│ │ │ │ │ └── llvm_model_library_processor.hpp
│ │ │ │ ├── v4_0
│ │ │ │ │ ├── llvm4_0.hpp
│ │ │ │ │ ├── llvm_model_library_4_0.hpp
│ │ │ │ │ └── llvm_model_library_processor.hpp
│ │ │ │ ├── v5_0
│ │ │ │ │ ├── llvm5_0.hpp
│ │ │ │ │ ├── llvm_base_model_library_processor_impl.hpp
│ │ │ │ │ ├── llvm_model_library_impl.hpp
│ │ │ │ │ └── llvm_model_library_processor.hpp
│ │ │ │ ├── v6_0
│ │ │ │ │ ├── llvm6_0.hpp
│ │ │ │ │ └── llvm_model_library_processor.hpp
│ │ │ │ ├── v7_0
│ │ │ │ │ ├── llvm7_0.hpp
│ │ │ │ │ └── llvm_model_library_processor.hpp
│ │ │ │ └── v8_0
│ │ │ │ │ ├── llvm8_0.hpp
│ │ │ │ │ └── llvm_model_library_processor.hpp
│ │ │ ├── model_c_source_gen.hpp
│ │ │ ├── model_c_source_gen_for0.hpp
│ │ │ ├── model_c_source_gen_for1.hpp
│ │ │ ├── model_c_source_gen_hes.hpp
│ │ │ ├── model_c_source_gen_impl.hpp
│ │ │ ├── model_c_source_gen_jac.hpp
│ │ │ ├── model_c_source_gen_rev1.hpp
│ │ │ ├── model_c_source_gen_rev2.hpp
│ │ │ ├── model_library.hpp
│ │ │ ├── model_library_c_source_gen.hpp
│ │ │ ├── model_library_c_source_gen_impl.hpp
│ │ │ ├── model_library_processor.hpp
│ │ │ ├── patterns
│ │ │ │ ├── hessian_with_loops_info.hpp
│ │ │ │ ├── model_c_source_gen_loops.hpp
│ │ │ │ ├── model_c_source_gen_loops_for0.hpp
│ │ │ │ ├── model_c_source_gen_loops_for1.hpp
│ │ │ │ ├── model_c_source_gen_loops_hess.hpp
│ │ │ │ ├── model_c_source_gen_loops_hess_r2.hpp
│ │ │ │ ├── model_c_source_gen_loops_jac.hpp
│ │ │ │ ├── model_c_source_gen_loops_jac_fr1.hpp
│ │ │ │ ├── model_c_source_gen_loops_rev1.hpp
│ │ │ │ └── model_c_source_gen_loops_rev2.hpp
│ │ │ ├── save_files_model_library_processor.hpp
│ │ │ ├── system
│ │ │ │ ├── linux_system.hpp
│ │ │ │ └── system.hpp
│ │ │ └── threadpool
│ │ │ │ ├── multi_threading_type.hpp
│ │ │ │ ├── openmp_c.hpp
│ │ │ │ ├── openmp_h.hpp
│ │ │ │ ├── pthread_pool_c.hpp
│ │ │ │ ├── pthread_pool_h.hpp
│ │ │ │ └── thread_pool_schedule_strategy.hpp
│ │ ├── nan.hpp
│ │ ├── nodes
│ │ │ ├── index_assign_operation_node.hpp
│ │ │ ├── index_operation_node.hpp
│ │ │ ├── loop_end_operation_node.hpp
│ │ │ ├── loop_start_operation_node.hpp
│ │ │ └── print_operation_node.hpp
│ │ ├── operation.hpp
│ │ ├── operation_node.hpp
│ │ ├── operation_node_name_streambuf.hpp
│ │ ├── operation_path.hpp
│ │ ├── operation_path_node.hpp
│ │ ├── operation_stack.hpp
│ │ ├── ordered.hpp
│ │ ├── ostream_config_restore.hpp
│ │ ├── patterns
│ │ │ ├── dependent_pattern_matcher.hpp
│ │ │ ├── equation_group.hpp
│ │ │ ├── equation_pattern.hpp
│ │ │ ├── independent_node_sorter.hpp
│ │ │ ├── index
│ │ │ │ ├── index_pattern.hpp
│ │ │ │ ├── index_pattern_impl.hpp
│ │ │ │ ├── linear_index_pattern.hpp
│ │ │ │ ├── plane_2d_index_pattern.hpp
│ │ │ │ ├── random_1d_index_pattern.hpp
│ │ │ │ ├── random_2d_index_pattern.hpp
│ │ │ │ ├── random_index_pattern.hpp
│ │ │ │ └── sectioned_index_pattern.hpp
│ │ │ ├── iter_equation_group.hpp
│ │ │ ├── loop.hpp
│ │ │ ├── loop_free_model.hpp
│ │ │ ├── loop_model.hpp
│ │ │ └── loop_position.hpp
│ │ ├── range.hpp
│ │ ├── scope_path_element.hpp
│ │ ├── smart_containers.hpp
│ │ ├── solver.hpp
│ │ ├── support
│ │ │ └── cppadcg_eigen.hpp
│ │ ├── unary.hpp
│ │ ├── util.hpp
│ │ ├── variable.hpp
│ │ └── variable_name_generator.hpp
│ ├── configure.hpp
│ ├── core
│ │ ├── abort_recording.hpp
│ │ ├── abs.hpp
│ │ ├── abs_normal_fun.hpp
│ │ ├── acosh.hpp
│ │ ├── ad.hpp
│ │ ├── ad_assign.hpp
│ │ ├── ad_binary.hpp
│ │ ├── ad_ctor.hpp
│ │ ├── ad_fun.hpp
│ │ ├── ad_io.hpp
│ │ ├── ad_to_string.hpp
│ │ ├── ad_type.hpp
│ │ ├── ad_valued.hpp
│ │ ├── add.hpp
│ │ ├── add_eq.hpp
│ │ ├── arithmetic.hpp
│ │ ├── asinh.hpp
│ │ ├── atan2.hpp
│ │ ├── atanh.hpp
│ │ ├── atomic
│ │ │ ├── atomic_one.hpp
│ │ │ ├── atomic_three.hpp
│ │ │ ├── atomic_two.hpp
│ │ │ ├── three_afun.hpp
│ │ │ ├── three_ctor.hpp
│ │ │ ├── three_for_type.hpp
│ │ │ ├── three_forward.hpp
│ │ │ ├── three_hes_sparsity.hpp
│ │ │ ├── three_jac_sparsity.hpp
│ │ │ ├── three_rev_depend.hpp
│ │ │ ├── three_reverse.hpp
│ │ │ ├── two_afun.hpp
│ │ │ ├── two_clear.hpp
│ │ │ ├── two_ctor.hpp
│ │ │ ├── two_for_sparse_hes.hpp
│ │ │ ├── two_for_sparse_jac.hpp
│ │ │ ├── two_forward.hpp
│ │ │ ├── two_option.hpp
│ │ │ ├── two_rev_depend.hpp
│ │ │ ├── two_rev_sparse_hes.hpp
│ │ │ ├── two_rev_sparse_jac.hpp
│ │ │ └── two_reverse.hpp
│ │ ├── azmul.hpp
│ │ ├── base2ad.hpp
│ │ ├── base_complex.hpp
│ │ ├── base_cond_exp.hpp
│ │ ├── base_double.hpp
│ │ ├── base_float.hpp
│ │ ├── base_hash.hpp
│ │ ├── base_limits.hpp
│ │ ├── base_std_math.hpp
│ │ ├── base_to_string.hpp
│ │ ├── bender_quad.hpp
│ │ ├── bool_fun.hpp
│ │ ├── bool_valued.hpp
│ │ ├── capacity_order.hpp
│ │ ├── check_for_nan.hpp
│ │ ├── chkpoint_one
│ │ │ ├── chkpoint_one.hpp
│ │ │ ├── ctor.hpp
│ │ │ ├── for_sparse_jac.hpp
│ │ │ ├── forward.hpp
│ │ │ ├── rev_sparse_hes.hpp
│ │ │ ├── rev_sparse_jac.hpp
│ │ │ ├── reverse.hpp
│ │ │ ├── set_hes_sparse_bool.hpp
│ │ │ ├── set_hes_sparse_set.hpp
│ │ │ ├── set_jac_sparse_bool.hpp
│ │ │ └── set_jac_sparse_set.hpp
│ │ ├── chkpoint_two
│ │ │ ├── chkpoint_two.hpp
│ │ │ ├── ctor.hpp
│ │ │ ├── dynamic.hpp
│ │ │ ├── for_type.hpp
│ │ │ ├── forward.hpp
│ │ │ ├── hes_sparsity.hpp
│ │ │ ├── jac_sparsity.hpp
│ │ │ ├── rev_depend.hpp
│ │ │ └── reverse.hpp
│ │ ├── compare.hpp
│ │ ├── compound_assign.hpp
│ │ ├── con_dyn_var.hpp
│ │ ├── cond_exp.hpp
│ │ ├── convert.hpp
│ │ ├── cppad_assert.hpp
│ │ ├── dependent.hpp
│ │ ├── discrete.hpp
│ │ ├── div.hpp
│ │ ├── div_eq.hpp
│ │ ├── drivers.hpp
│ │ ├── epsilon.hpp
│ │ ├── equal_op_seq.hpp
│ │ ├── erf.hpp
│ │ ├── erfc.hpp
│ │ ├── expm1.hpp
│ │ ├── for_hes_sparsity.hpp
│ │ ├── for_jac_sparsity.hpp
│ │ ├── for_one.hpp
│ │ ├── for_sparse_hes.hpp
│ │ ├── for_sparse_jac.hpp
│ │ ├── for_two.hpp
│ │ ├── forward.hpp
│ │ ├── fun_check.hpp
│ │ ├── fun_construct.hpp
│ │ ├── fun_eval.hpp
│ │ ├── graph
│ │ │ ├── cpp_graph.hpp
│ │ │ ├── from_graph.hpp
│ │ │ ├── from_json.hpp
│ │ │ ├── graph_op_enum.hpp
│ │ │ ├── to_graph.hpp
│ │ │ └── to_json.hpp
│ │ ├── hash_code.hpp
│ │ ├── hessian.hpp
│ │ ├── identical.hpp
│ │ ├── independent.hpp
│ │ ├── integer.hpp
│ │ ├── jacobian.hpp
│ │ ├── log1p.hpp
│ │ ├── lu_ratio.hpp
│ │ ├── mul.hpp
│ │ ├── mul_eq.hpp
│ │ ├── near_equal_ext.hpp
│ │ ├── new_dynamic.hpp
│ │ ├── num_skip.hpp
│ │ ├── numeric_limits.hpp
│ │ ├── omp_max_thread.hpp
│ │ ├── opt_val_hes.hpp
│ │ ├── optimize.hpp
│ │ ├── ordered.hpp
│ │ ├── parallel_ad.hpp
│ │ ├── pow.hpp
│ │ ├── print_for.hpp
│ │ ├── rev_hes_sparsity.hpp
│ │ ├── rev_jac_sparsity.hpp
│ │ ├── rev_one.hpp
│ │ ├── rev_sparse_hes.hpp
│ │ ├── rev_sparse_jac.hpp
│ │ ├── rev_two.hpp
│ │ ├── reverse.hpp
│ │ ├── sign.hpp
│ │ ├── sparse.hpp
│ │ ├── sparse_hes.hpp
│ │ ├── sparse_hessian.hpp
│ │ ├── sparse_jac.hpp
│ │ ├── sparse_jacobian.hpp
│ │ ├── standard_math.hpp
│ │ ├── std_math_98.hpp
│ │ ├── sub.hpp
│ │ ├── sub_eq.hpp
│ │ ├── subgraph_jac_rev.hpp
│ │ ├── subgraph_reverse.hpp
│ │ ├── subgraph_sparsity.hpp
│ │ ├── tape_link.hpp
│ │ ├── test_vector.hpp
│ │ ├── testvector.hpp
│ │ ├── unary_minus.hpp
│ │ ├── unary_plus.hpp
│ │ ├── undef.hpp
│ │ ├── user_ad.hpp
│ │ ├── value.hpp
│ │ ├── var2par.hpp
│ │ ├── vec_ad.hpp
│ │ └── zdouble.hpp
│ ├── cppad.hpp
│ ├── epl-2.0.txt
│ ├── example
│ │ ├── atomic_three
│ │ │ └── mat_mul.hpp
│ │ ├── atomic_two
│ │ │ ├── eigen_cholesky.hpp
│ │ │ ├── eigen_mat_inv.hpp
│ │ │ └── eigen_mat_mul.hpp
│ │ ├── base_adolc.hpp
│ │ ├── cppad_eigen.hpp
│ │ ├── eigen_cholesky.hpp
│ │ ├── eigen_mat_inv.hpp
│ │ ├── eigen_mat_mul.hpp
│ │ ├── eigen_plugin.hpp
│ │ └── mat_mul.hpp
│ ├── ipopt
│ │ ├── solve.hpp
│ │ ├── solve_callback.hpp
│ │ └── solve_result.hpp
│ ├── local
│ │ ├── abs_op.hpp
│ │ ├── acos_op.hpp
│ │ ├── acosh_op.hpp
│ │ ├── ad_tape.hpp
│ │ ├── add_op.hpp
│ │ ├── asin_op.hpp
│ │ ├── asinh_op.hpp
│ │ ├── atan_op.hpp
│ │ ├── atanh_op.hpp
│ │ ├── atom_state.hpp
│ │ ├── atomic_index.hpp
│ │ ├── color_general.hpp
│ │ ├── color_symmetric.hpp
│ │ ├── comp_op.hpp
│ │ ├── cond_op.hpp
│ │ ├── cos_op.hpp
│ │ ├── cosh_op.hpp
│ │ ├── cppad_colpack.hpp
│ │ ├── cskip_op.hpp
│ │ ├── csum_op.hpp
│ │ ├── declare_ad.hpp
│ │ ├── define.hpp
│ │ ├── discrete_op.hpp
│ │ ├── div_op.hpp
│ │ ├── erf_op.hpp
│ │ ├── exp_op.hpp
│ │ ├── expm1_op.hpp
│ │ ├── graph
│ │ │ ├── cpp_graph_itr.hpp
│ │ │ ├── cpp_graph_op.hpp
│ │ │ ├── json_lexer.hpp
│ │ │ ├── json_parser.hpp
│ │ │ └── json_writer.hpp
│ │ ├── hash_code.hpp
│ │ ├── independent.hpp
│ │ ├── is_pod.hpp
│ │ ├── load_op.hpp
│ │ ├── log1p_op.hpp
│ │ ├── log_op.hpp
│ │ ├── mul_op.hpp
│ │ ├── op.hpp
│ │ ├── op_code.hpp
│ │ ├── op_code_dyn.hpp
│ │ ├── op_code_var.hpp
│ │ ├── optimize
│ │ │ ├── cexp_info.hpp
│ │ │ ├── csum_op_info.hpp
│ │ │ ├── csum_stacks.hpp
│ │ │ ├── get_cexp_info.hpp
│ │ │ ├── get_dyn_previous.hpp
│ │ │ ├── get_op_previous.hpp
│ │ │ ├── get_op_usage.hpp
│ │ │ ├── get_par_usage.hpp
│ │ │ ├── hash_code.hpp
│ │ │ ├── match_op.hpp
│ │ │ ├── optimize_run.hpp
│ │ │ ├── record_csum.hpp
│ │ │ ├── record_pv.hpp
│ │ │ ├── record_vp.hpp
│ │ │ ├── record_vv.hpp
│ │ │ ├── size_pair.hpp
│ │ │ └── usage.hpp
│ │ ├── parameter_op.hpp
│ │ ├── play
│ │ │ ├── addr_enum.hpp
│ │ │ ├── atom_op_info.hpp
│ │ │ ├── player.hpp
│ │ │ ├── random_iterator.hpp
│ │ │ ├── random_setup.hpp
│ │ │ ├── sequential_iterator.hpp
│ │ │ └── subgraph_iterator.hpp
│ │ ├── pod_vector.hpp
│ │ ├── pow_op.hpp
│ │ ├── print_op.hpp
│ │ ├── prototype_op.hpp
│ │ ├── record
│ │ │ ├── comp_op.hpp
│ │ │ ├── cond_exp.hpp
│ │ │ ├── put_dyn_atomic.hpp
│ │ │ ├── put_var_atomic.hpp
│ │ │ └── recorder.hpp
│ │ ├── recorder.hpp
│ │ ├── set_get_in_parallel.hpp
│ │ ├── sign_op.hpp
│ │ ├── sin_op.hpp
│ │ ├── sinh_op.hpp
│ │ ├── sparse
│ │ │ ├── binary_op.hpp
│ │ │ ├── internal.hpp
│ │ │ ├── list_setvec.hpp
│ │ │ ├── pack_setvec.hpp
│ │ │ ├── svec_setvec.hpp
│ │ │ └── unary_op.hpp
│ │ ├── sparse_binary_op.hpp
│ │ ├── sparse_internal.hpp
│ │ ├── sparse_list.hpp
│ │ ├── sparse_pack.hpp
│ │ ├── sparse_sizevec.hpp
│ │ ├── sparse_unary_op.hpp
│ │ ├── sqrt_op.hpp
│ │ ├── std_set.hpp
│ │ ├── store_op.hpp
│ │ ├── sub_op.hpp
│ │ ├── subgraph
│ │ │ ├── arg_variable.hpp
│ │ │ ├── entire_call.hpp
│ │ │ ├── get_rev.hpp
│ │ │ ├── info.hpp
│ │ │ ├── init_rev.hpp
│ │ │ └── sparsity.hpp
│ │ ├── sweep
│ │ │ ├── call_atomic.hpp
│ │ │ ├── dynamic.hpp
│ │ │ ├── for_hes.hpp
│ │ │ ├── for_jac.hpp
│ │ │ ├── forward0.hpp
│ │ │ ├── forward1.hpp
│ │ │ ├── forward2.hpp
│ │ │ ├── rev_hes.hpp
│ │ │ ├── rev_jac.hpp
│ │ │ └── reverse.hpp
│ │ ├── tan_op.hpp
│ │ ├── tanh_op.hpp
│ │ ├── utility
│ │ │ ├── cppad_vector_itr.hpp
│ │ │ └── vector_bool.hpp
│ │ └── zmul_op.hpp
│ ├── speed
│ │ ├── det_33.hpp
│ │ ├── det_by_lu.hpp
│ │ ├── det_by_minor.hpp
│ │ ├── det_grad_33.hpp
│ │ ├── det_of_minor.hpp
│ │ ├── mat_sum_sq.hpp
│ │ ├── ode_evaluate.hpp
│ │ ├── sparse_hes_fun.hpp
│ │ ├── sparse_jac_fun.hpp
│ │ └── uniform_01.hpp
│ ├── utility.hpp
│ ├── utility
│ │ ├── check_numeric_type.hpp
│ │ ├── check_simple_vector.hpp
│ │ ├── elapsed_seconds.hpp
│ │ ├── error_handler.hpp
│ │ ├── index_sort.hpp
│ │ ├── lu_factor.hpp
│ │ ├── lu_invert.hpp
│ │ ├── lu_solve.hpp
│ │ ├── memory_leak.hpp
│ │ ├── nan.hpp
│ │ ├── near_equal.hpp
│ │ ├── ode_err_control.hpp
│ │ ├── ode_gear.hpp
│ │ ├── ode_gear_control.hpp
│ │ ├── omp_alloc.hpp
│ │ ├── poly.hpp
│ │ ├── pow_int.hpp
│ │ ├── romberg_mul.hpp
│ │ ├── romberg_one.hpp
│ │ ├── rosen_34.hpp
│ │ ├── runge_45.hpp
│ │ ├── set_union.hpp
│ │ ├── sparse2eigen.hpp
│ │ ├── sparse_rc.hpp
│ │ ├── sparse_rcv.hpp
│ │ ├── speed_test.hpp
│ │ ├── test_boolofvoid.hpp
│ │ ├── thread_alloc.hpp
│ │ ├── time_test.hpp
│ │ ├── to_string.hpp
│ │ ├── track_new_del.hpp
│ │ ├── vector.hpp
│ │ └── vector_bool.hpp
│ └── wno_conversion.hpp
└── iit
│ └── rbd
│ ├── InertiaMatrix.h
│ ├── StateDependentBase.h
│ ├── StateDependentMatrix.h
│ ├── TransformsBase.h
│ ├── eigen_traits.h
│ ├── internals.h
│ ├── rbd.h
│ ├── robcogen_commons.h
│ ├── traits
│ ├── CppADCodegenTrait.h
│ ├── DoubleTrait.h
│ ├── FloatTrait.h
│ └── TraitSelector.h
│ ├── types.h
│ └── utils.h
└── package.xml
/.gitattributes:
--------------------------------------------------------------------------------
1 | jenkins-pipeline merge-ours
--------------------------------------------------------------------------------
/.github/ISSUE_TEMPLATE/bug_report.md:
--------------------------------------------------------------------------------
1 | ---
2 | name: Bug report
3 | about: Create a report to help us improve
4 | title: ''
5 | labels: ''
6 | assignees: ''
7 |
8 | ---
9 |
10 | **Describe the bug**
11 | A clear and concise description of what the bug is.
12 |
13 | **To Reproduce**
14 | Steps to reproduce the behavior:
15 | 1. Go to '...'
16 | 2. Click on '....'
17 | 3. Scroll down to '....'
18 | 4. See error
19 |
20 | **Expected behavior**
21 | A clear and concise description of what you expected to happen.
22 |
23 | **Screenshots**
24 | If applicable, add screenshots to help explain your problem.
25 |
26 | **Desktop (please complete the following information):**
27 | - OS: [e.g. iOS]
28 | - Browser [e.g. chrome, safari]
29 | - Version [e.g. 22]
30 |
31 | **Smartphone (please complete the following information):**
32 | - Device: [e.g. iPhone6]
33 | - OS: [e.g. iOS8.1]
34 | - Browser [e.g. stock browser, safari]
35 | - Version [e.g. 22]
36 |
37 | **Additional context**
38 | Add any other context about the problem here.
39 |
--------------------------------------------------------------------------------
/.github/ISSUE_TEMPLATE/feature_request.md:
--------------------------------------------------------------------------------
1 | ---
2 | name: Feature request
3 | about: Suggest an idea for this project
4 | title: ''
5 | labels: ''
6 | assignees: ''
7 |
8 | ---
9 |
10 | **Is your feature request related to a problem? Please describe.**
11 | A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
12 |
13 | **Describe the solution you'd like**
14 | A clear and concise description of what you want to happen.
15 |
16 | **Describe alternatives you've considered**
17 | A clear and concise description of any alternative solutions or features you've considered.
18 |
19 | **Additional context**
20 | Add any other context or screenshots about the feature request here.
21 |
--------------------------------------------------------------------------------
/.github/workflows/doc.yaml:
--------------------------------------------------------------------------------
1 | name: Generate and Publish Documentation
2 |
3 | on:
4 | push:
5 | branches:
6 | - main
7 |
8 | jobs:
9 | build-and-deploy:
10 | runs-on: ubuntu-20.04
11 |
12 | container:
13 | image: registry.leggedrobotics.com/ocs2/doc
14 | credentials:
15 | username: ${{ secrets.REGISTRY_USERNAME }}
16 | password: ${{ secrets.REGISTRY_PASSWORD }}
17 |
18 | steps:
19 | - name: Checkout 🛎️
20 | uses: actions/checkout@v2.3.1
21 |
22 | - name: Install and Build 🔧 # This example project is built using npm and outputs the result to the 'build' folder. Replace with the commands required to build your project, or remove this step entirely if your site is pre-built.
23 | run: |
24 | cd ocs2_doc
25 | mkdir -p build && cd build
26 | cmake ..
27 | make
28 |
29 | - name: Deploy 🚀
30 | uses: JamesIves/github-pages-deploy-action@4.1.4
31 | with:
32 | branch: gh-pages # The branch the action should deploy to.
33 | folder: ocs2_doc/build/output/sphinx # The folder the action should deploy.
34 |
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/.gitignore:
--------------------------------------------------------------------------------
1 | CMakeFiles/
2 | CMakeCache.txt
3 | *.a
4 | *.o
5 | *.so
6 | Makefile
7 | .project
8 | .idea/
9 | .cproject
10 | *~
11 | *.settings*
12 | */doc/html/
13 | Doxyfile
14 | *.orig
15 | *.tag
16 | *.tmp
17 | *.swp
18 | __pycache__
19 | *.pyc
20 | *.pydevproject
21 | ocs2_core/test/cppad_cg/testCppADCG_generated/
22 | ocs2_ddp/test/ddp_test_generated/
23 | *.aux
24 | *.log
25 | *.out
26 | *.synctex.gz
27 | .vscode/
28 | runs/
29 |
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/README.md:
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1 | # OCS2 Toolbox
2 |
3 | ## Summary
4 | OCS2 is a C++ toolbox tailored for Optimal Control for Switched Systems (OCS2). The toolbox provides an efficient implementation of the following algorith
5 |
6 | * SLQ: Continuous-time domin DDP
7 | * iLQR: Discrete-time domain DDP
8 | * SQP: Multiple-shooting algorithm based on HPIPM
9 | * PISOC: Path integral stochatic optimal control
10 |
11 | 
12 |
13 | OCS2 handles general path constraints through Augmented Lagrangian or relaxed barrier methods. To facilitate the application of OCS2 in robotic tasks, it provides the user with additional tools to set up the system dynamics (such as kinematic or dynamic models) and cost/constraints (such as self-collision avoidance and end-effector tracking) from a URDF model. The library also provides an automatic differentiation tool to calculate derivatives of the system dynamics, constraints, and cost. To facilitate its deployment on robotic platforms, the OCS2 provides tools for ROS interfaces. The toolbox’s efficient and numerically stable implementations in conjunction with its user-friendly interface have paved the way for employing it on numerous robotic applications with limited onboard computation power.
14 |
15 | For more information refer to the project's [Documentation Page](https://leggedrobotics.github.io/ocs2/)
16 |
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/jenkins-pipeline:
--------------------------------------------------------------------------------
1 | library 'continuous_integration_pipeline'
2 | ciPipeline("--ros-distro noetic --publish-doxygen --recipes onnxruntime raisimlib\
3 | --dependencies 'git@github.com:leggedrobotics/hpp-fcl.git;master;git'\
4 | 'git@github.com:leggedrobotics/pinocchio.git;master;git'\
5 | 'git@github.com:leggedrobotics/ocs2_robotic_assets.git;main;git'\
6 | 'git@github.com:leggedrobotics/elevation_mapping_cupy.git;main;git'\
7 | 'git@github.com:ANYbotics/grid_map.git;master;git'\
8 | --ignore ocs2_doc")
9 |
10 | node {
11 | stage('Artifacts') {
12 | archiveArtifacts artifacts: 'build/ocs2_**/log/*.log', allowEmptyArchive: true
13 | }
14 | }
15 |
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/ocs2/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | cmake_minimum_required(VERSION 3.0.2)
2 | project(ocs2)
3 | find_package(catkin REQUIRED)
4 | catkin_metapackage()
5 |
6 |
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/ocs2/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2
4 | 1.0.0
5 | Metapackage for OCS2
6 |
7 | Farbod Farshidian
8 | Jan Carius
9 | Ruben Grandia
10 | BSD3
11 |
12 | catkin
13 | ocs2_core
14 | ocs2_mpc
15 | ocs2_frank_wolfe
16 | ocs2_oc
17 | ocs2_qp_solver
18 | ocs2_ddp
19 | ocs2_slp
20 | ocs2_sqp
21 | ocs2_ros_interfaces
22 | ocs2_python_interface
23 | ocs2_pinocchio
24 | ocs2_robotic_tools
25 | ocs2_perceptive
26 | ocs2_robotic_examples
27 | ocs2_thirdparty
28 | ocs2_raisim
29 | ocs2_mpcnet
30 |
31 |
32 |
33 |
34 |
35 |
36 |
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/ocs2_core/cmake/ocs2_cxx_flags.cmake:
--------------------------------------------------------------------------------
1 | # The list of compiler flags used in ocs2 can be prefixed with catkin config
2 | # Addition flags are to be separated by \;
3 | # For example, to turn on architecture specific optimizations:
4 | # catkin config --cmake-args -DOCS2_CXX_FLAGS=-march=native\;-mtune=native
5 | list(APPEND OCS2_CXX_FLAGS
6 | "-pthread"
7 | "-Wfatal-errors"
8 | "-Wl,--no-as-needed"
9 | )
10 |
11 | # Force Boost dynamic linking
12 | list(APPEND OCS2_CXX_FLAGS
13 | "-DBOOST_ALL_DYN_LINK"
14 | )
15 |
16 | # Add OpenMP flags
17 | if (NOT DEFINED OpenMP_CXX_FOUND)
18 | find_package(OpenMP REQUIRED)
19 | endif (NOT DEFINED OpenMP_CXX_FOUND)
20 | list(APPEND OCS2_CXX_FLAGS
21 | ${OpenMP_CXX_FLAGS}
22 | )
23 |
24 | # Cpp standard version
25 | set(CMAKE_CXX_STANDARD 14)
26 | set(CMAKE_CXX_STANDARD_REQUIRED ON)
27 |
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/ocs2_core/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_core
4 | 0.0.0
5 | The ocs2_core package
6 |
7 | Farbod Farshidian
8 | Jan Carius
9 | Ruben Grandia
10 |
11 | BSD
12 |
13 | catkin
14 | cmake_modules
15 | cmake_clang_tools
16 |
17 | ocs2_thirdparty
18 |
19 |
20 |
--------------------------------------------------------------------------------
/ocs2_core/test/control/testFeedforwardController.cpp:
--------------------------------------------------------------------------------
1 | #include
2 |
3 | #include
4 |
5 | using namespace ocs2;
6 |
7 | TEST(testFeedforwardController, testSerialization) {
8 | scalar_array_t time = {0.0, 1.0};
9 | vector_array_t uff = {vector_t::Random(2), vector_t::Random(2)};
10 | FeedforwardController controller(time, uff);
11 |
12 | std::vector> data(2);
13 | std::vector*> dataPtr{&data[0], &data[1]};
14 | std::vector const*> dataPtrConst{&data[0], &data[1]};
15 |
16 | controller.flatten(time, dataPtr);
17 |
18 | auto controllerOut = FeedforwardController::unFlatten(time, dataPtrConst);
19 |
20 | for (int k = 0; k < time.size(); k++) {
21 | EXPECT_NEAR(controller.timeStamp_[k], controllerOut.timeStamp_[k], 1e-6);
22 | EXPECT_TRUE(controller.uffArray_[k].isApprox(controllerOut.uffArray_[k], 1e-6));
23 | }
24 | }
25 |
--------------------------------------------------------------------------------
/ocs2_core/test/control/testLinearController.cpp:
--------------------------------------------------------------------------------
1 | #include
2 |
3 | #include
4 |
5 | using namespace ocs2;
6 |
7 | TEST(testLinearController, testSerialization) {
8 | scalar_array_t time = {0.0, 1.0};
9 | vector_array_t bias = {vector_t::Random(2), vector_t::Random(2)};
10 | matrix_array_t gain = {matrix_t::Random(2, 3), matrix_t::Random(2, 3)};
11 | LinearController controller(time, bias, gain);
12 |
13 | std::vector> data(2);
14 | std::vector*> dataPtr{&data[0], &data[1]};
15 | std::vector const*> dataPtrConst{&data[0], &data[1]};
16 |
17 | controller.flatten(time, dataPtr);
18 |
19 | auto controllerOut = LinearController::unFlatten({3, 3}, {2, 2}, time, dataPtrConst);
20 |
21 | for (int k = 0; k < time.size(); k++) {
22 | EXPECT_NEAR(controller.timeStamp_[k], controllerOut.timeStamp_[k], 1e-6);
23 | EXPECT_TRUE(controller.gainArray_[k].isApprox(controllerOut.gainArray_[k], 1e-6));
24 | EXPECT_TRUE(controller.biasArray_[k].isApprox(controllerOut.biasArray_[k], 1e-6));
25 | }
26 | }
27 |
--------------------------------------------------------------------------------
/ocs2_core/test/loopshaping/loopshaping_r.conf:
--------------------------------------------------------------------------------
1 | r_filter
2 | {
3 | numFilters 2;
4 |
5 | Filter0; Empty filter
6 | {
7 | numRepeats 1;
8 | numZeros 0;
9 | numPoles 0;
10 | scaling 1;
11 | }
12 |
13 | Filter1; Filter for u0, u1
14 | {
15 | numRepeats 2;
16 | numPoles 2;
17 | numZeros 2;
18 | scaling 1;
19 | zeros
20 | {
21 | (0) -200.0;
22 | (1) -200.0;
23 | }
24 | poles
25 | {
26 | (0) -100.0;
27 | (1) -400.0;
28 | }
29 | }
30 | }
31 |
--------------------------------------------------------------------------------
/ocs2_core/test/loopshaping/loopshaping_r_ballbot.conf:
--------------------------------------------------------------------------------
1 | r_filter
2 | {
3 | numFilters 2;
4 |
5 | Filter0; Filter for u0 u1 u2
6 | {
7 | numRepeats 3;
8 | numPoles 1;
9 | numZeros 1;
10 | scaling 1;
11 | zeros
12 | {
13 | (0) -100.0;
14 | }
15 | poles
16 | {
17 | (0) -200.0;
18 | }
19 | }
20 |
21 | Filter1; Filter for the arm inputs
22 | {
23 | numRepeats 3;
24 | numPoles 0;
25 | numZeros 0;
26 | scaling 1;
27 | }
28 | }
29 |
30 |
31 |
32 |
--------------------------------------------------------------------------------
/ocs2_core/test/loopshaping/loopshaping_s.conf:
--------------------------------------------------------------------------------
1 | s_inv_filter
2 | {
3 | numFilters 2;
4 |
5 | Filter0; Empty filter
6 | {
7 | numRepeats 1;
8 | numZeros 0;
9 | numPoles 0;
10 | scaling 1;
11 | }
12 |
13 | Filter1; Filter for u0, u1
14 | {
15 | numRepeats 2;
16 | numPoles 2;
17 | numZeros 2;
18 | scaling 1;
19 | zeros
20 | {
21 | (0) -200.0;
22 | (1) -200.0;
23 | }
24 | poles
25 | {
26 | (0) -100.0;
27 | (1) -400.0;
28 | }
29 | }
30 | }
31 |
32 |
--------------------------------------------------------------------------------
/ocs2_core/test/loopshaping/loopshaping_s_integrator.conf:
--------------------------------------------------------------------------------
1 | s_inv_filter
2 | {
3 | numFilters 1;
4 |
5 | Filter0;
6 | {
7 | numRepeats 1;
8 | numPoles 0;
9 | numZeros 1;
10 | scaling 100;
11 | zeros
12 | {
13 | (0) 0.0;
14 | }
15 | poles
16 | {
17 | (0) -100.0;
18 | }
19 | }
20 | }
21 |
22 |
--------------------------------------------------------------------------------
/ocs2_core/test/misc/data/pairVectors.info:
--------------------------------------------------------------------------------
1 | stringPairs {
2 | [0] "s1, s2"
3 | [1] "s3, s4"
4 | }
5 |
6 | sizePairs {
7 | [0] "1, 2"
8 | [1] "3, 4"
9 | }
10 |
11 | stringScalarPairs {
12 | [0] "s1, 2.1"
13 | [1] "s3, 4.3"
14 | }
15 |
16 | stringSizePairs {
17 | [0] "s1, 2"
18 | [1] "s3, 4"
19 | }
--------------------------------------------------------------------------------
/ocs2_ddp/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_ddp
4 | 0.0.0
5 | The ocs2_ddp package
6 |
7 | Farbod Farshidian
8 | Jan Carius
9 | Ruben Grandia
10 |
11 | BSD
12 |
13 | catkin
14 | cmake_modules
15 | cmake_clang_tools
16 | ocs2_qp_solver
17 | ocs2_core
18 | ocs2_oc
19 | ocs2_mpc
20 |
21 |
22 |
--------------------------------------------------------------------------------
/ocs2_ddp/src/lintTarget.cpp:
--------------------------------------------------------------------------------
1 | #include
2 | #include
3 | #include
4 |
5 | #include
6 | #include
7 |
8 | // Riccati equations
9 | #include
10 | #include
11 |
12 | #include
13 | #include
14 |
15 | // dummy target for clang toolchain
16 | int main() {
17 | return 0;
18 | }
19 |
--------------------------------------------------------------------------------
/ocs2_doc/.gitignore:
--------------------------------------------------------------------------------
1 | build
2 | venv
3 |
--------------------------------------------------------------------------------
/ocs2_doc/Dockerfile:
--------------------------------------------------------------------------------
1 | FROM ros:noetic
2 |
3 | RUN apt-get update \
4 | && apt-get upgrade -y \
5 | && apt-get install -y \
6 | doxygen \
7 | python3-pip \
8 | git \
9 | rsync \
10 | wget \
11 | curl
12 |
13 | RUN pip3 install \
14 | sphinx \
15 | breathe \
16 | sphinx-rtd-theme \
17 | sphinxcontrib.bibtex
18 |
--------------------------------------------------------------------------------
/ocs2_doc/cmake/FindSphinx.cmake:
--------------------------------------------------------------------------------
1 | # Look for an executable called sphinx-build
2 | find_program(SPHINX_EXECUTABLE
3 | NAMES sphinx-build
4 | DOC "Path to sphinx-build executable")
5 |
6 | include(FindPackageHandleStandardArgs)
7 |
8 | # Handle standard arguments to find_package like REQUIRED and QUIET
9 | find_package_handle_standard_args(Sphinx
10 | "Failed to find sphinx-build executable"
11 | SPHINX_EXECUTABLE)
12 |
--------------------------------------------------------------------------------
/ocs2_doc/docs/faq.rst:
--------------------------------------------------------------------------------
1 | .. index:: pair: page; Frequently Asked Questions
2 |
3 | .. _doxid-ocs2_doc_faq:
4 |
5 | Frequently Asked Questions
6 | ==========================
7 |
8 |
9 | At runtime, I receive warnings on setting thread priority
10 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
11 |
12 | The priority of a thread affects how the thread is scheduled by the OS.
13 | A higher priority thread is likely to be scheduled more often and lowers
14 | the latency of its execution.
15 |
16 | We can set the thread priority for the solver through the `threadPriority`
17 | attribute in the `task.info` file. This is set to `50` in the
18 | provided robotic examples.
19 |
20 | Normal users cannot set priorities higher than `0` by default. To allow
21 | your linux user account to do so, you need to append the following
22 | entries to the `/etc/security/limits.conf` file (replacing with
23 | your username):
24 |
25 | .. code-block::
26 |
27 | - rtprio 99
28 | - nice -20
29 |
30 | To allow your entire group to set higher priorities, append (replacing
31 | with the created group name):
32 |
33 | .. code-block::
34 |
35 | @ - rtprio 99
36 | @ - nice -20
37 |
38 |
--------------------------------------------------------------------------------
/ocs2_doc/docs/index.rst:
--------------------------------------------------------------------------------
1 | .. include:: intro.rst
2 |
3 | Table of Contents
4 | -----------------
5 |
6 | .. toctree::
7 | overview.rst
8 | installation.rst
9 | getting-started.rst
10 | optimal_control_modules.rst
11 | robotic_examples.rst
12 | from_urdf_to_ocp.rst
13 | profiling.rst
14 | mpcnet.rst
15 | faq.rst
16 |
17 | .. rubric:: Reference and Index:
18 |
19 | :ref:`genindex`
20 |
21 |
--------------------------------------------------------------------------------
/ocs2_doc/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_doc
4 | 1.0.0
5 | Documentation for OCS2
6 |
7 | Farbod Farshidian
8 | Jan Carius
9 | Ruben Grandia
10 |
11 | BSD
12 |
13 | catkin
14 |
15 | doxygen
16 | texlive-latex-base
17 |
18 | ocs2_core
19 | ocs2_frank_wolfe
20 | ocs2_oc
21 | ocs2_mpc
22 | ocs2_ddp
23 | ocs2_sqp
24 | ocs2_python_interface
25 | ocs2_ros_interfaces
26 | ocs2_robotic_tools
27 | ocs2_robotic_examples
28 | ocs2_pinocchio
29 |
30 |
--------------------------------------------------------------------------------
/ocs2_doc/readme.md:
--------------------------------------------------------------------------------
1 | OCS2 Documentation Tools
2 | ========================
3 |
4 | Consists of the following parts:
5 |
6 | - **Doxygen** to introspect the C++ code and generate XML output
7 | - **Breathe** to convert Doxygen's XML output to a Sphinx readable format
8 | - **Sphinx** to do the actual generation of the documentation
9 |
10 | Updating the Docker documentation environment
11 | ---------------------------------------------
12 |
13 | GitHub actions pulls the Docker documentation environment from the RSL Harbor _hub_ (https://registry.leggedrobotics.com/).
14 |
15 | ```
16 | # in the ocs2_doc directory, where `Dockerfile` resides.
17 | docker build -t registry.leggedrobotics.com/ocs2/doc .
18 | # you need push access to `https://registry.leggedrobotics.com/`
19 | docker push registry.leggedrobotics.com/ocs2/doc
20 | ```
21 |
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2 |
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/ocs2_ipm/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_ipm
4 | 0.0.0
5 | The ocs2_ipm package
6 |
7 | Sotaro Katayama
8 |
9 | BSD-3
10 |
11 | catkin
12 | ocs2_core
13 | ocs2_mpc
14 | ocs2_oc
15 | blasfeo_catkin
16 | hpipm_catkin
17 | ocs2_qp_solver
18 |
19 |
20 |
--------------------------------------------------------------------------------
/ocs2_mpc/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_mpc
4 | 0.0.0
5 | Model Predictive Control for SLQ
6 |
7 | Farbod Farshidian
8 | Jan Carius
9 | Ruben Grandia
10 |
11 | BSD3
12 |
13 | catkin
14 | cmake_modules
15 | cmake_clang_tools
16 | ocs2_core
17 | ocs2_oc
18 |
19 |
20 |
21 |
22 |
23 |
--------------------------------------------------------------------------------
/ocs2_mpc/src/lintTarget.cpp:
--------------------------------------------------------------------------------
1 | #include
2 | #include
3 | #include
4 | #include
5 |
6 | #include
7 | #include
8 |
9 | // dummy target for clang toolchain
10 | int main() {
11 | return 0;
12 | }
13 |
--------------------------------------------------------------------------------
/ocs2_mpcnet/ocs2_ballbot_mpcnet/launch/ballbot_mpcnet.launch:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
11 |
12 |
13 |
14 |
15 |
17 |
18 |
20 |
21 |
--------------------------------------------------------------------------------
/ocs2_mpcnet/ocs2_ballbot_mpcnet/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_ballbot_mpcnet
4 | 0.0.0
5 | The ocs2_ballbot_mpcnet package
6 |
7 | Alexander Reske
8 |
9 | Farbod Farshidian
10 | Alexander Reske
11 |
12 | BSD-3
13 |
14 | catkin
15 |
16 | cmake_clang_tools
17 |
18 | ocs2_ballbot
19 | ocs2_ballbot_ros
20 | ocs2_mpcnet_core
21 |
22 |
23 |
--------------------------------------------------------------------------------
/ocs2_mpcnet/ocs2_ballbot_mpcnet/policy/ballbot.onnx:
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/ocs2_mpcnet/ocs2_ballbot_mpcnet/policy/ballbot.pt:
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/ocs2_mpcnet/ocs2_ballbot_mpcnet/python/ocs2_ballbot_mpcnet/__init__.py:
--------------------------------------------------------------------------------
1 | from ocs2_ballbot_mpcnet.BallbotMpcnetPybindings import MpcnetInterface
2 | from ocs2_ballbot_mpcnet.mpcnet import BallbotMpcnet
3 |
--------------------------------------------------------------------------------
/ocs2_mpcnet/ocs2_ballbot_mpcnet/setup.py:
--------------------------------------------------------------------------------
1 | #!/usr/bin/env python
2 |
3 | from setuptools import setup
4 | from catkin_pkg.python_setup import generate_distutils_setup
5 |
6 | setup_args = generate_distutils_setup(packages=["ocs2_ballbot_mpcnet"], package_dir={"": "python"})
7 |
8 | setup(**setup_args)
9 |
--------------------------------------------------------------------------------
/ocs2_mpcnet/ocs2_legged_robot_mpcnet/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_legged_robot_mpcnet
4 | 0.0.0
5 | The ocs2_legged_robot_mpcnet package
6 |
7 | Alexander Reske
8 |
9 | Farbod Farshidian
10 | Alexander Reske
11 |
12 | BSD-3
13 |
14 | catkin
15 |
16 | cmake_clang_tools
17 |
18 | ocs2_legged_robot
19 | ocs2_legged_robot_raisim
20 | ocs2_legged_robot_ros
21 | ocs2_mpcnet_core
22 |
23 |
24 |
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/ocs2_mpcnet/ocs2_legged_robot_mpcnet/policy/legged_robot.onnx:
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/ocs2_mpcnet/ocs2_legged_robot_mpcnet/policy/legged_robot.pt:
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/ocs2_mpcnet/ocs2_legged_robot_mpcnet/python/ocs2_legged_robot_mpcnet/__init__.py:
--------------------------------------------------------------------------------
1 | from ocs2_legged_robot_mpcnet.LeggedRobotMpcnetPybindings import MpcnetInterface
2 | from ocs2_legged_robot_mpcnet.mpcnet import LeggedRobotMpcnet
3 |
--------------------------------------------------------------------------------
/ocs2_mpcnet/ocs2_legged_robot_mpcnet/setup.py:
--------------------------------------------------------------------------------
1 | #!/usr/bin/env python
2 |
3 | from setuptools import setup
4 | from catkin_pkg.python_setup import generate_distutils_setup
5 |
6 | setup_args = generate_distutils_setup(packages=["ocs2_legged_robot_mpcnet"], package_dir={"": "python"})
7 |
8 | setup(**setup_args)
9 |
--------------------------------------------------------------------------------
/ocs2_mpcnet/ocs2_mpcnet/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | cmake_minimum_required(VERSION 3.0.2)
2 | project(ocs2_mpcnet)
3 | find_package(catkin REQUIRED)
4 | catkin_metapackage()
5 |
--------------------------------------------------------------------------------
/ocs2_mpcnet/ocs2_mpcnet/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_mpcnet
4 | 0.0.0
5 | The ocs2_mpcnet metapackage
6 |
7 | Alexander Reske
8 |
9 | Farbod Farshidian
10 | Alexander Reske
11 |
12 | BSD-3
13 |
14 | catkin
15 |
16 | ocs2_mpcnet_core
17 | ocs2_ballbot_mpcnet
18 | ocs2_legged_robot_mpcnet
19 |
20 |
21 |
22 |
23 |
24 |
25 |
--------------------------------------------------------------------------------
/ocs2_mpcnet/ocs2_mpcnet_core/misc/onnxruntime/cmake/onnxruntimeVersion.cmake:
--------------------------------------------------------------------------------
1 | # Custom cmake version file
2 |
3 | set(PACKAGE_VERSION "1.7.0")
4 |
5 | # Check whether the requested PACKAGE_FIND_VERSION is compatible
6 | if("${PACKAGE_VERSION}" VERSION_LESS "${PACKAGE_FIND_VERSION}")
7 | set(PACKAGE_VERSION_COMPATIBLE FALSE)
8 | else()
9 | set(PACKAGE_VERSION_COMPATIBLE TRUE)
10 | if("${PACKAGE_VERSION}" VERSION_EQUAL "${PACKAGE_FIND_VERSION}")
11 | set(PACKAGE_VERSION_EXACT TRUE)
12 | endif()
13 | endif()
14 |
--------------------------------------------------------------------------------
/ocs2_mpcnet/ocs2_mpcnet_core/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_mpcnet_core
4 | 0.0.0
5 | The ocs2_mpcnet_core package
6 |
7 | Alexander Reske
8 |
9 | Farbod Farshidian
10 | Alexander Reske
11 |
12 | BSD-3
13 |
14 | catkin
15 |
16 | cmake_clang_tools
17 |
18 | pybind11_catkin
19 |
20 | ocs2_mpc
21 | ocs2_python_interface
22 | ocs2_ros_interfaces
23 |
24 |
25 |
--------------------------------------------------------------------------------
/ocs2_mpcnet/ocs2_mpcnet_core/python/ocs2_mpcnet_core/__init__.py:
--------------------------------------------------------------------------------
1 | from ocs2_mpcnet_core.MpcnetPybindings import size_array, scalar_array, vector_array, matrix_array
2 | from ocs2_mpcnet_core.MpcnetPybindings import ScalarFunctionQuadraticApproximation
3 | from ocs2_mpcnet_core.MpcnetPybindings import SystemObservation, SystemObservationArray
4 | from ocs2_mpcnet_core.MpcnetPybindings import ModeSchedule, ModeScheduleArray
5 | from ocs2_mpcnet_core.MpcnetPybindings import TargetTrajectories, TargetTrajectoriesArray
6 | from ocs2_mpcnet_core.MpcnetPybindings import DataPoint, DataArray
7 | from ocs2_mpcnet_core.MpcnetPybindings import Metrics, MetricsArray
8 |
--------------------------------------------------------------------------------
/ocs2_mpcnet/ocs2_mpcnet_core/python/ocs2_mpcnet_core/loss/__init__.py:
--------------------------------------------------------------------------------
1 | from .base import BaseLoss
2 | from .behavioral_cloning import BehavioralCloningLoss
3 | from .cross_entropy import CrossEntropyLoss
4 | from .hamiltonian import HamiltonianLoss
5 |
6 | __all__ = ["BaseLoss", "BehavioralCloningLoss", "CrossEntropyLoss", "HamiltonianLoss"]
7 |
--------------------------------------------------------------------------------
/ocs2_mpcnet/ocs2_mpcnet_core/python/ocs2_mpcnet_core/memory/__init__.py:
--------------------------------------------------------------------------------
1 | from .base import BaseMemory
2 | from .circular import CircularMemory
3 |
4 | __all__ = ["BaseMemory", "CircularMemory"]
5 |
--------------------------------------------------------------------------------
/ocs2_mpcnet/ocs2_mpcnet_core/python/ocs2_mpcnet_core/policy/__init__.py:
--------------------------------------------------------------------------------
1 | from .base import BasePolicy
2 | from .linear import LinearPolicy
3 | from .mixture_of_linear_experts import MixtureOfLinearExpertsPolicy
4 | from .mixture_of_nonlinear_experts import MixtureOfNonlinearExpertsPolicy
5 | from .nonlinear import NonlinearPolicy
6 |
7 | __all__ = [
8 | "BasePolicy",
9 | "LinearPolicy",
10 | "MixtureOfLinearExpertsPolicy",
11 | "MixtureOfNonlinearExpertsPolicy",
12 | "NonlinearPolicy",
13 | ]
14 |
--------------------------------------------------------------------------------
/ocs2_mpcnet/ocs2_mpcnet_core/requirements.txt:
--------------------------------------------------------------------------------
1 | #
2 | ####### requirements.txt #######
3 | #
4 | ###### Requirements without version specifiers ######
5 | black
6 | numpy
7 | pyyaml
8 | tensorboard
9 | torch
10 | #
11 | ###### Requirements with version specifiers ######
12 | #
13 | ###### Refer to other requirements files ######
14 | #
--------------------------------------------------------------------------------
/ocs2_mpcnet/ocs2_mpcnet_core/setup.py:
--------------------------------------------------------------------------------
1 | #!/usr/bin/env python
2 |
3 | from setuptools import setup
4 | from catkin_pkg.python_setup import generate_distutils_setup
5 |
6 | setup_args = generate_distutils_setup(packages=["ocs2_mpcnet_core"], package_dir={"": "python"})
7 |
8 | setup(**setup_args)
9 |
--------------------------------------------------------------------------------
/ocs2_msgs/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | cmake_minimum_required(VERSION 3.0.2)
2 | project(ocs2_msgs)
3 |
4 | find_package(catkin REQUIRED
5 | COMPONENTS
6 | std_msgs
7 | message_generation
8 | )
9 |
10 | add_message_files(
11 | FILES
12 | mpc_state.msg
13 | mpc_input.msg
14 | mode_schedule.msg
15 | mpc_observation.msg
16 | mpc_performance_indices.msg
17 | mpc_target_trajectories.msg
18 | controller_data.msg
19 | mpc_flattened_controller.msg
20 | lagrangian_metrics.msg
21 | multiplier.msg
22 | constraint.msg
23 | )
24 |
25 | add_service_files(
26 | FILES
27 | reset.srv
28 | )
29 |
30 | generate_messages(
31 | DEPENDENCIES
32 | std_msgs
33 | )
34 |
35 | catkin_package(
36 | CATKIN_DEPENDS
37 | std_msgs
38 | message_runtime
39 | )
40 |
--------------------------------------------------------------------------------
/ocs2_msgs/msg/constraint.msg:
--------------------------------------------------------------------------------
1 | # MPC constraint
2 |
3 | float32 time
4 | float32[] value
--------------------------------------------------------------------------------
/ocs2_msgs/msg/controller_data.msg:
--------------------------------------------------------------------------------
1 | float32[] data
2 |
--------------------------------------------------------------------------------
/ocs2_msgs/msg/lagrangian_metrics.msg:
--------------------------------------------------------------------------------
1 | # MPC Lagrangian metrics
2 |
3 | float32 time
4 | float32 penalty
5 | float32[] constraint
--------------------------------------------------------------------------------
/ocs2_msgs/msg/mode_schedule.msg:
--------------------------------------------------------------------------------
1 | # MPC mode sequence
2 |
3 | float64[] eventTimes # event times: its size is equal to the size of phaseSequence minus one
4 | int8[] modeSequence # mode sequence: e.g., for a quadrupedal robot, it is in the set {0, 1,..., 15}
--------------------------------------------------------------------------------
/ocs2_msgs/msg/mpc_flattened_controller.msg:
--------------------------------------------------------------------------------
1 | # Flattened controller: A serialized controller
2 |
3 | # define controllerType Enum values
4 | uint8 CONTROLLER_UNKNOWN=0 # safety mechanism: message initalization to zero
5 | uint8 CONTROLLER_FEEDFORWARD=1
6 | uint8 CONTROLLER_LINEAR=2
7 |
8 | uint8 controllerType # what type of controller is this
9 |
10 | mpc_observation initObservation # plan initial observation
11 |
12 | mpc_target_trajectories planTargetTrajectories # target trajectory in cost function
13 | mpc_state[] stateTrajectory # optimized state trajectory from planner
14 | mpc_input[] inputTrajectory # optimized input trajectory from planner
15 | float64[] timeTrajectory # time trajectory for stateTrajectory and inputTrajectory
16 | uint16[] postEventIndices # array of indices indicating the index of post-event time in the trajectories
17 | mode_schedule modeSchedule # optimal/predefined MPC mode sequence and event times
18 |
19 | controller_data[] data # the actual payload from flatten method: one vector of data per time step
20 |
21 | mpc_performance_indices performanceIndices # solver performance indices
22 |
--------------------------------------------------------------------------------
/ocs2_msgs/msg/mpc_input.msg:
--------------------------------------------------------------------------------
1 | # MPC internal model input vector
2 |
3 | float32[] value
--------------------------------------------------------------------------------
/ocs2_msgs/msg/mpc_observation.msg:
--------------------------------------------------------------------------------
1 | # MPC observation
2 | float64 time # Current time
3 | mpc_state state # Current state
4 | mpc_input input # Current input
5 | int8 mode # Current mode
6 |
--------------------------------------------------------------------------------
/ocs2_msgs/msg/mpc_performance_indices.msg:
--------------------------------------------------------------------------------
1 | # MPC performance indices
2 | float32 initTime
3 | float32 merit
4 | float32 cost
5 | float32 dynamicsViolationSSE
6 | float32 equalityConstraintsSSE
7 | float32 equalityLagrangian
8 | float32 inequalityLagrangian
9 |
--------------------------------------------------------------------------------
/ocs2_msgs/msg/mpc_state.msg:
--------------------------------------------------------------------------------
1 | # MPC internal model state vector
2 | float32[] value
3 |
--------------------------------------------------------------------------------
/ocs2_msgs/msg/mpc_target_trajectories.msg:
--------------------------------------------------------------------------------
1 | # MPC target trajectories
2 |
3 | float64[] timeTrajectory # MPC target time trajectory
4 | mpc_state[] stateTrajectory # MPC target state trajectory
5 | mpc_input[] inputTrajectory # MPC target input trajectory
6 |
7 |
--------------------------------------------------------------------------------
/ocs2_msgs/msg/multiplier.msg:
--------------------------------------------------------------------------------
1 | # MPC multiplier
2 |
3 | float32 time
4 | float32 penalty
5 | float32[] lagrangian
--------------------------------------------------------------------------------
/ocs2_msgs/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 |
5 | ocs2_msgs
6 | 0.0.0
7 | OCS2 message and service definitions.
8 |
9 | TODO
10 | Farbod Farshidian
11 | Jan Carius
12 | Ruben Grandia
13 |
14 | catkin
15 |
16 | message_generation
17 |
18 | std_msgs
19 |
20 | message_runtime
21 |
22 |
23 |
--------------------------------------------------------------------------------
/ocs2_msgs/srv/reset.srv:
--------------------------------------------------------------------------------
1 | # Reset service
2 | bool reset
3 | mpc_target_trajectories targetTrajectories
4 | ---
5 | bool done
--------------------------------------------------------------------------------
/ocs2_oc/include/ocs2_oc/rollout/RootFinderType.h:
--------------------------------------------------------------------------------
1 | #pragma once
2 |
3 | namespace ocs2 {
4 |
5 | /**
6 | * Enum class for specifying root finding algorithm type.
7 | */
8 | enum class RootFinderType { ANDERSON_BJORCK, PEGASUS, ILLINOIS, REGULA_FALSI };
9 |
10 | } // namespace ocs2
11 |
--------------------------------------------------------------------------------
/ocs2_oc/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_oc
4 | 0.0.0
5 | The ocs2_oc package
6 |
7 | Farbod Farshidian
8 | Jan Carius
9 | Ruben Grandia
10 |
11 | BSD
12 |
13 | catkin
14 | cmake_modules
15 | cmake_clang_tools
16 | ocs2_core
17 |
18 |
19 |
20 |
--------------------------------------------------------------------------------
/ocs2_ocs2/src/lintTarget.cpp:
--------------------------------------------------------------------------------
1 | // // sensitivity_equations
2 | // #include
3 | // #include
4 | // #include
5 | // #include
6 |
7 | // // upper_level_op
8 | // #include
9 | // #include
10 |
11 | // // ocs2_ocs2
12 | // // #include
13 | // // #include
14 | // #include
15 | // //#include
16 | // //#include
17 | // // #include
18 | // //#include
19 |
20 | // dummy target for clang toolchain
21 | int main() {
22 | return 0;
23 | }
24 |
--------------------------------------------------------------------------------
/ocs2_perceptive/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_perceptive
4 | 0.0.0
5 | The ocs2_perceptive package
6 |
7 | Farbod Farshidian
8 |
9 | BSD
10 |
11 | catkin
12 | cmake_clang_tools
13 | ocs2_core
14 | ocs2_robotic_tools
15 |
16 |
17 |
--------------------------------------------------------------------------------
/ocs2_pinocchio/ocs2_centroidal_model/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_centroidal_model
4 | 0.0.0
5 | The ocs2_centroidal_model package
6 |
7 | Jean-Pierre Sleiman
8 | Michael Spieler
9 | Farbod Farshidian
10 |
11 | TODO
12 |
13 | catkin
14 | cmake_clang_tools
15 |
16 | ocs2_core
17 | ocs2_robotic_tools
18 | ocs2_robotic_assets
19 | ocs2_pinocchio_interface
20 | pinocchio
21 |
--------------------------------------------------------------------------------
/ocs2_pinocchio/ocs2_centroidal_model/test/cppad_generated/.gitignore:
--------------------------------------------------------------------------------
1 | # Ignore everything in this directory
2 | *
3 | # Except this file
4 | !.gitignore
5 |
--------------------------------------------------------------------------------
/ocs2_pinocchio/ocs2_pinocchio/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | cmake_minimum_required(VERSION 3.0.2)
2 | project(ocs2_pinocchio)
3 | find_package(catkin REQUIRED)
4 | catkin_metapackage()
5 |
--------------------------------------------------------------------------------
/ocs2_pinocchio/ocs2_pinocchio/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_pinocchio
4 | 1.0.0
5 | Metapackage for OCS2 tools using the pinocchio rigid body dynamics library
6 |
7 | Farbod Farshidian
8 | Jan Carius
9 | Ruben Grandia
10 | TODO
11 |
12 | catkin
13 | ocs2_centroidal_model
14 | ocs2_pinocchio_interface
15 | ocs2_self_collision
16 | ocs2_self_collision_visualization
17 |
18 |
19 |
20 |
21 |
22 |
23 |
--------------------------------------------------------------------------------
/ocs2_pinocchio/ocs2_pinocchio_interface/cmake/pinocchio_config.cmake:
--------------------------------------------------------------------------------
1 | # Add pinocchio library to the linker's search path
2 | link_directories(
3 | ${pinocchio_LIBRARY_DIRS}
4 | )
5 |
6 | # Add pinocchio flags
7 | set(OCS2_PINOCCHIO_FLAGS
8 | ${OCS2_CXX_FLAGS}
9 | ${pinocchio_CFLAGS_OTHER}
10 | -Wno-ignored-attributes
11 | -Wno-invalid-partial-specialization # to silence warning with unsupported Eigen Tensor
12 | -DPINOCCHIO_URDFDOM_TYPEDEF_SHARED_PTR
13 | -DPINOCCHIO_URDFDOM_USE_STD_SHARED_PTR
14 | )
--------------------------------------------------------------------------------
/ocs2_pinocchio/ocs2_pinocchio_interface/include/ocs2_pinocchio_interface/pinocchio_forward_declaration.h:
--------------------------------------------------------------------------------
1 | #pragma once
2 |
3 | /* Forward declaration of main pinocchio types */
4 | namespace pinocchio {
5 | template
6 | struct JointCollectionDefaultTpl;
7 | template class JointCollectionTpl>
8 | struct ModelTpl;
9 | template class JointCollectionTpl>
10 | struct DataTpl;
11 | template class JointCollectionTpl>
12 | struct JointModelTpl;
13 | } // namespace pinocchio
14 |
--------------------------------------------------------------------------------
/ocs2_pinocchio/ocs2_pinocchio_interface/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_pinocchio_interface
4 | 0.0.0
5 | The ocs2_pinocchio_interface package
6 |
7 | Michael Spieler
8 | Perry Franklin
9 |
10 | TODO
11 |
12 | catkin
13 | cmake_clang_tools
14 |
15 | ocs2_core
16 | ocs2_robotic_tools
17 | pinocchio
18 |
19 |
20 |
--------------------------------------------------------------------------------
/ocs2_pinocchio/ocs2_pinocchio_interface/test/testPinocchioInterface.cpp:
--------------------------------------------------------------------------------
1 | #include
2 |
3 | #include
4 | #include
5 | #include "CartPoleUrdf.h"
6 |
7 | TEST(testPinocchioInterface, buildFromXml) {
8 | auto pinocchio = ocs2::getPinocchioInterfaceFromUrdfString(cartPoleUrdf);
9 | std::cout << pinocchio;
10 | }
11 |
--------------------------------------------------------------------------------
/ocs2_pinocchio/ocs2_self_collision/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_self_collision
4 | 0.0.0
5 | The ocs2_self_collision package
6 |
7 | Michael Spieler
8 | Perry Franklin
9 |
10 | TODO
11 |
12 | catkin
13 | cmake_clang_tools
14 |
15 | ocs2_core
16 | ocs2_robotic_tools
17 | ocs2_pinocchio_interface
18 | pinocchio
19 |
20 |
21 |
--------------------------------------------------------------------------------
/ocs2_pinocchio/ocs2_self_collision_visualization/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_self_collision_visualization
4 | 0.0.0
5 | The ocs2_self_collision_visualization package
6 |
7 | Mayank Mittal
8 |
9 | TODO
10 |
11 | catkin
12 | cmake_clang_tools
13 |
14 | roscpp
15 | std_msgs
16 | geometry_msgs
17 | visualization_msgs
18 | ocs2_core
19 | ocs2_robotic_tools
20 | ocs2_pinocchio_interface
21 | ocs2_ros_interfaces
22 | ocs2_self_collision
23 |
24 |
--------------------------------------------------------------------------------
/ocs2_pinocchio/ocs2_sphere_approximation/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_sphere_approximation
4 | 0.0.0
5 | The ocs2_sphere_approximation package
6 |
7 | Jia-Ruei Chiu
8 |
9 | TODO
10 |
11 | catkin
12 | cmake_clang_tools
13 |
14 | ocs2_core
15 | ocs2_robotic_tools
16 | ocs2_pinocchio_interface
17 | ocs2_robotic_assets
18 | pinocchio
19 |
--------------------------------------------------------------------------------
/ocs2_python_interface/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_python_interface
4 | 0.0.0
5 | The ocs2_python_interface package
6 |
7 | Farbod Farshidian
8 | Jan Carius
9 | Ruben Grandia
10 |
11 | TODO
12 |
13 | catkin
14 |
15 | cmake_modules
16 | cmake_clang_tools
17 |
18 | ocs2_mpc
19 | ocs2_ddp
20 | ocs2_robotic_tools
21 |
22 |
23 |
--------------------------------------------------------------------------------
/ocs2_python_interface/setup.py:
--------------------------------------------------------------------------------
1 | #!/usr/bin/env python
2 |
3 | from setuptools import setup
4 | from catkin_pkg.python_setup import generate_distutils_setup
5 |
6 | setup_args = generate_distutils_setup(
7 | packages=['ocs2_python_interface'],
8 | package_dir={'': 'src'}
9 | )
10 |
11 | setup(**setup_args)
12 |
--------------------------------------------------------------------------------
/ocs2_raisim/ocs2_legged_robot_raisim/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_legged_robot_raisim
4 | 0.0.1
5 | The ocs2_legged_robot_raisim package
6 |
7 | Alexander Reske
8 |
9 | Farbod Farshidian
10 | Alexander Reske
11 |
12 | BSD-3
13 |
14 | catkin
15 |
16 | cmake_clang_tools
17 |
18 | ocs2_legged_robot
19 | ocs2_legged_robot_ros
20 | ocs2_raisim_core
21 | ocs2_raisim_ros
22 |
23 |
24 |
--------------------------------------------------------------------------------
/ocs2_raisim/ocs2_raisim/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | cmake_minimum_required(VERSION 3.0.2)
2 | project(ocs2_raisim)
3 | find_package(catkin REQUIRED)
4 | catkin_metapackage()
5 |
--------------------------------------------------------------------------------
/ocs2_raisim/ocs2_raisim/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_raisim
4 | 0.0.1
5 | The ocs2_raisim metapackage
6 |
7 | Alexander Reske
8 |
9 | Farbod Farshidian
10 | Alexander Reske
11 |
12 | BSD
13 |
14 | catkin
15 |
16 | ocs2_raisim_core
17 | ocs2_raisim_ros
18 | ocs2_legged_robot_raisim
19 |
20 |
21 |
22 |
23 |
24 |
25 |
--------------------------------------------------------------------------------
/ocs2_raisim/ocs2_raisim_core/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_raisim_core
4 | 0.0.1
5 | The ocs2_raisim_core package
6 |
7 | Farbod Farshidian
8 | Jan Carius
9 | Ruben Grandia
10 |
11 | BSD
12 |
13 | Jan Carius
14 |
15 | catkin
16 | cmake_modules
17 | cmake_clang_tools
18 |
19 | ocs2_core
20 | ocs2_oc
21 |
22 |
23 |
--------------------------------------------------------------------------------
/ocs2_raisim/ocs2_raisim_ros/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_raisim_ros
4 | 0.0.1
5 | This package provides ROS functionality to the ocs2_raisim_core package
6 |
7 | Farbod Farshidian
8 | Jan Carius
9 | Ruben Grandia
10 |
11 | BSD
12 |
13 | Jan Carius
14 |
15 | catkin
16 | cmake_modules
17 | cmake_clang_tools
18 |
19 | roscpp
20 | ocs2_raisim_core
21 | grid_map_msgs
22 |
23 | grid_map_rviz_plugin
24 |
25 |
26 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_ballbot/auto_generated/.gitignore:
--------------------------------------------------------------------------------
1 | # Ignore everything in this directory
2 | *
3 | # Except this file
4 | !.gitignore
5 |
6 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_ballbot/include/ocs2_ballbot/generated/declarations.h:
--------------------------------------------------------------------------------
1 | #ifndef IIT_ROBOT_BALLBOT_DECLARATIONS_H_
2 | #define IIT_ROBOT_BALLBOT_DECLARATIONS_H_
3 |
4 | #include
5 |
6 | namespace iit {
7 | namespace Ballbot {
8 |
9 | static const int JointSpaceDimension = 5;
10 | static const int jointsCount = 5;
11 | /** The total number of rigid bodies of this robot, including the base */
12 | static const int linksCount = 6;
13 |
14 | namespace tpl {
15 | template
16 | using Column5d = iit::rbd::PlainMatrix;
17 |
18 | template
19 | using JointState = Column5d;
20 | }
21 |
22 | using Column5d = tpl::Column5d;
23 | typedef Column5d JointState;
24 |
25 | enum JointIdentifiers {
26 | JBALL_X = 0
27 | , JBALL_Y
28 | , JBASE_Z
29 | , JBASE_Y
30 | , JBASE_X
31 | };
32 |
33 | enum LinkIdentifiers {
34 | WORLD = 0
35 | , DUMMY_BALL1
36 | , BALL
37 | , DUMMY_BASE1
38 | , DUMMY_BASE2
39 | , BASE
40 | };
41 |
42 | static const JointIdentifiers orderedJointIDs[jointsCount] =
43 | {JBALL_X,JBALL_Y,JBASE_Z,JBASE_Y,JBASE_X};
44 |
45 | static const LinkIdentifiers orderedLinkIDs[linksCount] =
46 | {WORLD,DUMMY_BALL1,BALL,DUMMY_BASE1,DUMMY_BASE2,BASE};
47 |
48 | }
49 | }
50 | #endif
51 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_ballbot/include/ocs2_ballbot/generated/default_dynparams_getter.h:
--------------------------------------------------------------------------------
1 | #ifndef _BALLBOT_DEFAULT_GETTER_INERTIA_PARAMETERS_
2 | #define _BALLBOT_DEFAULT_GETTER_INERTIA_PARAMETERS_
3 |
4 | #include "dynamics_parameters.h"
5 |
6 | namespace iit {
7 | namespace Ballbot {
8 | namespace dyn {
9 |
10 | class DefaultParamsGetter : public RuntimeParamsGetter
11 | {
12 | public:
13 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW
14 | DefaultParamsGetter() {
15 | resetDefaults();
16 | }
17 | ~DefaultParamsGetter() {};
18 |
19 | public:
20 | void resetDefaults() {
21 | }
22 |
23 | private:
24 | RuntimeInertiaParams values;
25 | };
26 |
27 | }
28 | }
29 | }
30 | #endif
31 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_ballbot/include/ocs2_ballbot/generated/jacobians.h:
--------------------------------------------------------------------------------
1 | #ifndef BALLBOT_JACOBIANS_H_
2 | #define BALLBOT_JACOBIANS_H_
3 |
4 | #include
5 | #include
6 | #include
7 | #include "declarations.h"
8 | #include "kinematics_parameters.h"
9 |
10 | namespace iit {
11 | namespace Ballbot {
12 |
13 | template
14 | class JacobianT : public iit::rbd::JacobianBase, COLS, M>
15 | {};
16 |
17 | namespace tpl {
18 |
19 | /**
20 | *
21 | */
22 | template
23 | class Jacobians {
24 | public:
25 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW
26 |
27 | typedef typename TRAIT::Scalar Scalar;
28 | typedef iit::rbd::Core CoreS;
29 |
30 | typedef JointState JState;
31 |
32 | public:
33 | Jacobians();
34 | void updateParameters();
35 | public:
36 |
37 | protected:
38 |
39 | };
40 |
41 | } //namespace tpl
42 |
43 | using Jacobians = tpl::Jacobians;
44 |
45 | #include "jacobians.impl.h"
46 |
47 |
48 | }
49 | }
50 |
51 | #endif
52 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_ballbot/include/ocs2_ballbot/generated/jacobians.impl.h:
--------------------------------------------------------------------------------
1 |
2 | template
3 | iit::Ballbot::tpl::Jacobians::Jacobians
4 | ()
5 | {
6 | updateParameters();
7 | }
8 |
9 | template
10 | void iit::Ballbot::tpl::Jacobians::updateParameters() {
11 | }
12 |
13 |
14 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_ballbot/include/ocs2_ballbot/generated/kindsl/Ballbot.dtdsl:
--------------------------------------------------------------------------------
1 | /*
2 | * Autogenerated by Urdf2RobCoGen on 2019-09-24 10:25:01
3 | * DO NOT EDIT BY HAND
4 | */
5 |
6 | Robot Ballbot
7 | Frames {
8 | fr_world
9 | }
10 | Transforms {
11 | }
12 | Jacobians {
13 | }
14 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_ballbot/include/ocs2_ballbot/generated/kinematics_parameters.h:
--------------------------------------------------------------------------------
1 | #ifndef _BALLBOT_PARAMETERS_GETTERS_
2 | #define _BALLBOT_PARAMETERS_GETTERS_
3 |
4 | namespace iit {
5 | namespace Ballbot {
6 |
7 |
8 |
9 | }
10 | }
11 | #endif
12 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_ballbot/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_ballbot
4 | 0.0.0
5 | The ocs2_ballbot package
6 |
7 | Farbod Farshidian
8 | Jan Carius
9 | Ruben Grandia
10 |
11 | TODO
12 |
13 | catkin
14 | cmake_clang_tools
15 |
16 | pybind11_catkin
17 |
18 | ocs2_core
19 | ocs2_mpc
20 | ocs2_ddp
21 | ocs2_slp
22 | ocs2_sqp
23 | ocs2_python_interface
24 | ocs2_robotic_tools
25 |
26 |
27 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_ballbot/setup.py:
--------------------------------------------------------------------------------
1 | #!/usr/bin/env python
2 |
3 | from setuptools import setup
4 | from catkin_pkg.python_setup import generate_distutils_setup
5 |
6 | setup_args = generate_distutils_setup(
7 | packages=['ocs2_ballbot'],
8 | package_dir={'': 'src'}
9 | )
10 |
11 | setup(**setup_args)
12 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_ballbot/src/ocs2_ballbot/__init__.py:
--------------------------------------------------------------------------------
1 | from ocs2_ballbot.BallbotPyBindings import mpc_interface
2 | from ocs2_ballbot.BallbotPyBindings import scalar_array, vector_array, matrix_array, TargetTrajectories
3 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_ballbot/src/pyBindModule.cpp:
--------------------------------------------------------------------------------
1 | #include
2 | #include
3 |
4 | CREATE_ROBOT_PYTHON_BINDINGS(ocs2::ballbot::BallbotPyBindings, BallbotPyBindings)
5 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_ballbot_ros/launch/ballbot_ddp.launch:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
11 |
12 |
13 |
14 |
16 |
17 |
19 |
20 |
22 |
23 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_ballbot_ros/launch/ballbot_mpc_mrt.launch:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
11 |
12 |
14 |
15 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_ballbot_ros/launch/ballbot_slp.launch:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
11 |
12 |
13 |
14 |
16 |
17 |
19 |
20 |
22 |
23 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_ballbot_ros/launch/ballbot_sqp.launch:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
11 |
12 |
13 |
14 |
16 |
17 |
19 |
20 |
22 |
23 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_ballbot_ros/launch/multiplot.launch:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 |
5 |
6 |
7 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_ballbot_ros/launch/visualize.launch:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
11 |
12 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_ballbot_ros/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_ballbot_ros
4 | 0.0.0
5 | The ocs2_ballbot_ros package
6 |
7 | Farbod Farshidian
8 | Jan Carius
9 | Ruben Grandia
10 |
11 | TODO
12 |
13 | catkin
14 | cmake_clang_tools
15 |
16 | tf
17 | urdf
18 | kdl_parser
19 | robot_state_publisher
20 | visualization_msgs
21 |
22 | ocs2_core
23 | ocs2_oc
24 | ocs2_ddp
25 | ocs2_mpc
26 | ocs2_sqp
27 | ocs2_slp
28 | ocs2_ros_interfaces
29 | ocs2_ballbot
30 | ocs2_robotic_tools
31 | ocs2_robotic_assets
32 |
33 |
34 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_cartpole/auto_generated/.gitignore:
--------------------------------------------------------------------------------
1 | # Ignore everything in this directory
2 | *
3 | # Except this file
4 | !.gitignore
5 |
6 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_cartpole/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_cartpole
4 | 0.0.0
5 | The ocs2_cartpole package
6 |
7 | Farbod Farshidian
8 | Jan Carius
9 | Ruben Grandia
10 |
11 | TODO
12 |
13 | catkin
14 |
15 | roslib
16 | cmake_clang_tools
17 |
18 | ocs2_core
19 | ocs2_ddp
20 | ocs2_mpc
21 | ocs2_robotic_tools
22 |
23 |
24 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_cartpole_ros/launch/cartpole.launch:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
11 |
12 |
13 |
14 |
16 |
17 |
19 |
20 |
21 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_cartpole_ros/launch/multiplot.launch:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 |
5 |
6 |
9 |
10 |
13 |
14 |
15 |
16 |
17 |
18 |
19 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_cartpole_ros/launch/visualize.launch:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
11 |
12 |
13 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_cartpole_ros/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_cartpole_ros
4 | 0.0.0
5 | The ocs2_cartpole_ros package
6 |
7 | Farbod Farshidian
8 | Jan Carius
9 | Ruben Grandia
10 |
11 | TODO
12 |
13 | catkin
14 |
15 | roslib
16 | cmake_clang_tools
17 |
18 | ocs2_core
19 | ocs2_ddp
20 | ocs2_mpc
21 | ocs2_ros_interfaces
22 | ocs2_robotic_tools
23 | ocs2_cartpole
24 | robot_state_publisher
25 | ocs2_robotic_assets
26 |
27 |
28 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_double_integrator/auto_generated/.gitignore:
--------------------------------------------------------------------------------
1 | # Ignore everything in this directory
2 | *
3 | # Except this file
4 | !.gitignore
5 |
6 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_double_integrator/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_double_integrator
4 | 0.0.0
5 | The ocs2_double_integrator package
6 |
7 | Farbod Farshidian
8 | Jan Carius
9 | Ruben Grandia
10 |
11 | TODO
12 |
13 | catkin
14 |
15 | cmake_clang_tools
16 |
17 | roslib
18 | pybind11_catkin
19 |
20 | ocs2_core
21 | ocs2_mpc
22 | ocs2_ddp
23 | ocs2_python_interface
24 | ocs2_robotic_tools
25 |
26 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_double_integrator/setup.py:
--------------------------------------------------------------------------------
1 | #!/usr/bin/env python
2 |
3 | from setuptools import setup
4 | from catkin_pkg.python_setup import generate_distutils_setup
5 |
6 | setup_args = generate_distutils_setup(
7 | packages=['ocs2_double_integrator'],
8 | package_dir={'': 'src'}
9 | )
10 |
11 | setup(**setup_args)
12 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_double_integrator/src/ocs2_double_integrator/__init__.py:
--------------------------------------------------------------------------------
1 | from ocs2_double_integrator.DoubleIntegratorPyBindings import mpc_interface
2 | from ocs2_double_integrator.DoubleIntegratorPyBindings import scalar_array, vector_array, matrix_array, TargetTrajectories
3 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_double_integrator/src/pyBindModule.cpp:
--------------------------------------------------------------------------------
1 | #include
2 | #include
3 |
4 | CREATE_ROBOT_PYTHON_BINDINGS(ocs2::double_integrator::DoubleIntegratorPyBindings, DoubleIntegratorPyBindings)
5 |
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/ocs2_robotic_examples/ocs2_double_integrator_ros/launch/double_integrator.launch:
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/ocs2_robotic_examples/ocs2_double_integrator_ros/launch/multiplot.launch:
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/ocs2_robotic_examples/ocs2_double_integrator_ros/launch/visualize.launch:
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/ocs2_robotic_examples/ocs2_double_integrator_ros/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_double_integrator_ros
4 | 0.0.0
5 | The ocs2_double_integrator_ros package
6 |
7 | Farbod Farshidian
8 | Jan Carius
9 | Ruben Grandia
10 |
11 | TODO
12 |
13 | catkin
14 |
15 | cmake_clang_tools
16 |
17 | roslib
18 | pybind11_catkin
19 |
20 | ocs2_core
21 | ocs2_ddp
22 | ocs2_mpc
23 | ocs2_ros_interfaces
24 | ocs2_double_integrator
25 | ocs2_robotic_tools
26 | ocs2_robotic_assets
27 |
28 |
29 |
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/ocs2_robotic_examples/ocs2_legged_robot/auto_generated/.gitignore:
--------------------------------------------------------------------------------
1 | # Ignore everything in this directory
2 | *
3 | # Except this file
4 | !.gitignore
5 |
6 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_legged_robot/config/command/reference.info:
--------------------------------------------------------------------------------
1 | targetDisplacementVelocity 0.5;
2 | targetRotationVelocity 0.3;
3 |
4 | comHeight 0.575
5 |
6 | defaultJointState
7 | {
8 | (0,0) -0.25 ; LF_HAA
9 | (1,0) 0.60 ; LF_HFE
10 | (2,0) -0.85 ; LF_KFE
11 | (3,0) -0.25 ; LH_HAA
12 | (4,0) -0.60 ; LH_HFE
13 | (5,0) 0.85 ; LH_KFE
14 | (6,0) 0.25 ; RF_HAA
15 | (7,0) 0.60 ; RF_HFE
16 | (8,0) -0.85 ; RF_KFE
17 | (9,0) 0.25 ; RH_HAA
18 | (10,0) -0.60 ; RH_HFE
19 | (11,0) 0.85 ; RH_KFE
20 | }
21 |
22 | initialModeSchedule
23 | {
24 | modeSequence
25 | {
26 | [0] STANCE
27 | [1] STANCE
28 | }
29 | eventTimes
30 | {
31 | [0] 0.5
32 | }
33 | }
34 |
35 | defaultModeSequenceTemplate
36 | {
37 | modeSequence
38 | {
39 | [0] STANCE
40 | }
41 | switchingTimes
42 | {
43 | [0] 0.0
44 | [1] 1.0
45 | }
46 | }
47 |
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/ocs2_robotic_examples/ocs2_legged_robot/package.xml:
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1 |
2 |
3 | ocs2_legged_robot
4 | 0.0.1
5 | The ocs2_legged_robot package
6 |
7 | Farbod Farshidian
8 | Ruben Grandia
9 | Jean-Pierre Sleiman
10 |
11 | BSD-3
12 |
13 | catkin
14 |
15 | ocs2_core
16 | ocs2_oc
17 | ocs2_ddp
18 | ocs2_mpc
19 | ocs2_sqp
20 | ocs2_ipm
21 | ocs2_robotic_assets
22 | ocs2_robotic_tools
23 | ocs2_pinocchio_interface
24 | ocs2_centroidal_model
25 | pinocchio
26 |
27 |
28 |
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/ocs2_robotic_examples/ocs2_legged_robot_ros/launch/multiplot.launch:
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1 |
2 |
3 |
4 |
5 |
6 |
9 |
10 |
11 |
12 |
13 |
14 |
15 |
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/ocs2_robotic_examples/ocs2_legged_robot_ros/package.xml:
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1 |
2 |
3 | ocs2_legged_robot_ros
4 | 0.0.1
5 | The ocs2_legged_robot_ros package
6 |
7 | Farbod Farshidian
8 | Ruben Grandia
9 | Jean-Pierre Sleiman
10 |
11 | BSD-3
12 |
13 | catkin
14 |
15 | roslib
16 | tf
17 | urdf
18 | kdl_parser
19 | robot_state_publisher
20 | cmake_modules
21 |
22 | ocs2_core
23 | ocs2_oc
24 | ocs2_ddp
25 | ocs2_mpc
26 | ocs2_sqp
27 | ocs2_ipm
28 | ocs2_robotic_tools
29 | ocs2_pinocchio_interface
30 | ocs2_centroidal_model
31 | ocs2_robotic_assets
32 | ocs2_msgs
33 | ocs2_legged_robot
34 | ocs2_ros_interfaces
35 |
36 | pinocchio
37 |
38 |
39 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_mobile_manipulator/auto_generated/.gitignore:
--------------------------------------------------------------------------------
1 | # Ignore everything in this directory
2 | *
3 | # Except this file
4 | !.gitignore
5 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_mobile_manipulator/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_mobile_manipulator
4 | 0.0.0
5 | The ocs2_mobile_manipulator package
6 |
7 | Michael Spieler
8 | Perry Franklin
9 | Mayank Mittal
10 |
11 | TODO
12 |
13 | catkin
14 | cmake_clang_tools
15 |
16 | ocs2_core
17 | ocs2_ddp
18 | ocs2_mpc
19 | ocs2_robotic_tools
20 | ocs2_robotic_assets
21 | ocs2_pinocchio_interface
22 | ocs2_self_collision
23 | pinocchio
24 |
25 |
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/ocs2_robotic_examples/ocs2_mobile_manipulator_ros/launch/include/mobile_manipulator_distance.launch:
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/ocs2_robotic_examples/ocs2_mobile_manipulator_ros/launch/include/visualize.launch:
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/ocs2_robotic_examples/ocs2_mobile_manipulator_ros/launch/manipulator_franka.launch:
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/ocs2_robotic_examples/ocs2_mobile_manipulator_ros/launch/manipulator_kinova_j2n6.launch:
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/ocs2_robotic_examples/ocs2_mobile_manipulator_ros/launch/manipulator_kinova_j2n7.launch:
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/ocs2_robotic_examples/ocs2_mobile_manipulator_ros/launch/manipulator_mabi_mobile.launch:
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/ocs2_robotic_examples/ocs2_mobile_manipulator_ros/launch/manipulator_pr2.launch:
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/ocs2_robotic_examples/ocs2_mobile_manipulator_ros/launch/manipulator_ridgeback_ur5.launch:
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/ocs2_robotic_examples/ocs2_mobile_manipulator_ros/package.xml:
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1 |
2 |
3 | ocs2_mobile_manipulator_ros
4 | 0.0.0
5 | The ocs2_mobile_manipulator_ros package
6 |
7 | Farbod Farshidian
8 | Michael Spieler
9 | Perry Franklin
10 | Mayank Mittal
11 |
12 | BSD3
13 |
14 | catkin
15 | cmake_clang_tools
16 |
17 | roslib
18 | tf
19 | urdf
20 | kdl_parser
21 | robot_state_publisher
22 | visualization_msgs
23 | geometry_msgs
24 | ocs2_core
25 | ocs2_ddp
26 | ocs2_mpc
27 | ocs2_robotic_tools
28 | ocs2_robotic_assets
29 | ocs2_ros_interfaces
30 | ocs2_pinocchio_interface
31 | ocs2_self_collision
32 | ocs2_self_collision_visualization
33 | ocs2_mobile_manipulator
34 | pinocchio
35 |
36 |
37 |
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/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | cmake_minimum_required(VERSION 3.0)
2 | project(ocs2_anymal)
3 | find_package(catkin REQUIRED)
4 | catkin_metapackage()
5 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_anymal
4 | 0.0.0
5 | The ocs2_anymal metapackage
6 |
7 | Farbod Farshidian
8 | Jan Carius
9 | Ruben Grandia
10 |
11 | TODO
12 |
13 | catkin
14 |
15 | ocs2_anymal_mpc
16 | ocs2_anymal_loopshaping_mpc
17 |
18 |
19 |
20 |
21 |
22 |
23 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_commands/config/motions.info:
--------------------------------------------------------------------------------
1 | dt 0.05;
2 |
3 | motionList
4 | {
5 | [0] walking
6 | [1] demo_motion
7 | }
8 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_commands/include/ocs2_anymal_commands/ModeSequenceKeyboard.h:
--------------------------------------------------------------------------------
1 | /*
2 | * ModeSequence_Keyboard_Quadruped.h
3 | *
4 | * Created on: Oct 11, 2018
5 | * Author: farbod
6 | */
7 |
8 | #pragma once
9 |
10 | #include
11 | #include
12 |
13 | #include
14 |
15 | #include
16 | #include
17 |
18 | namespace switched_model {
19 |
20 | /** This class implements ModeSequence communication using ROS. */
21 | class ModeSequenceKeyboard {
22 | public:
23 | ModeSequenceKeyboard(ros::NodeHandle nodeHandle, const std::string& gaitFile, const std::string& robotName, bool verbose = false);
24 |
25 | /** Prints the command line interface and responds to user input. Function returns after one user input. */
26 | void getKeyboardCommand();
27 |
28 | private:
29 | /** Prints the list of available gaits. */
30 | void printGaitList(const std::vector& gaitList) const;
31 |
32 | /** Publishes the mode sequence template. */
33 | void publishModeSequenceTemplate(const ModeSequenceTemplate& modeSchedule);
34 |
35 | std::vector gaitList_;
36 | std::map gaitMap_;
37 |
38 | ros::Publisher modeSequenceTemplatePublisher_;
39 | };
40 |
41 | } // end of namespace switched_model
42 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_commands/include/ocs2_anymal_commands/MotionCommandController.h:
--------------------------------------------------------------------------------
1 | //
2 | // Created by rgrandia on 14.10.21.
3 | //
4 |
5 | #pragma once
6 |
7 | #include "ocs2_anymal_commands/MotionCommandInterface.h"
8 |
9 | #include
10 |
11 | #include
12 | #include
13 | #include
14 |
15 | namespace switched_model {
16 |
17 | class MotionCommandController : public MotionCommandInterface {
18 | public:
19 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW
20 | MotionCommandController(ros::NodeHandle& nodeHandle, const std::string& configFile, const std::string& controllerName);
21 | ~MotionCommandController() override = default;
22 |
23 | void publishMotion(const std::pair& motion) override;
24 |
25 | private:
26 | ros::ServiceClient client;
27 | };
28 |
29 | } // namespace switched_model
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_commands/include/ocs2_anymal_commands/MotionCommandDummy.h:
--------------------------------------------------------------------------------
1 | //
2 | // Created by rgrandia on 14.10.21.
3 | //
4 |
5 | #pragma once
6 |
7 | #include "ocs2_anymal_commands/MotionCommandInterface.h"
8 |
9 | #include
10 |
11 | #include
12 | #include
13 | #include
14 |
15 | namespace switched_model {
16 |
17 | class MotionCommandDummy : public MotionCommandInterface {
18 | public:
19 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW
20 | MotionCommandDummy(ros::NodeHandle& nodeHandle, const std::string& configFile, const std::string& robotName);
21 | ~MotionCommandDummy() override = default;
22 |
23 | void publishMotion(const std::pair& motion) override;
24 |
25 | private:
26 | void observationCallback(const ocs2_msgs::mpc_observation::ConstPtr& msg);
27 |
28 | void terrainCallback(const visualization_msgs::Marker::ConstPtr& msg);
29 |
30 | ros::Publisher targetTrajectoryPublisher_;
31 | ros::Publisher gaitSequencePublisher_;
32 |
33 | ros::Subscriber observationSubscriber_;
34 | std::mutex observationMutex_;
35 | std::unique_ptr observationPtr_;
36 |
37 | ros::Subscriber terrainSubscriber_;
38 | std::mutex terrainMutex_;
39 | TerrainPlane localTerrain_;
40 | };
41 |
42 | } // namespace switched_model
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_commands/include/ocs2_anymal_commands/MotionCommandInterface.h:
--------------------------------------------------------------------------------
1 | //
2 | // Created by Timon Kaufmann in June 2021
3 | //
4 |
5 | #pragma once
6 |
7 | #include
8 | #include
9 |
10 | #include
11 |
12 | #include
13 | #include
14 |
15 | namespace switched_model {
16 |
17 | class MotionCommandInterface {
18 | public:
19 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW
20 | explicit MotionCommandInterface(const std::string& configFile);
21 | virtual ~MotionCommandInterface() = default;
22 |
23 | virtual void publishMotion(const std::pair& motion) = 0;
24 |
25 | void getKeyboardCommand();
26 |
27 | private:
28 | void printAnimationList() const;
29 |
30 | std::unordered_map> motionData_;
31 | };
32 |
33 | } // namespace switched_model
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_commands/include/ocs2_anymal_commands/PoseCommandToCostDesiredRos.h:
--------------------------------------------------------------------------------
1 | //
2 | // Created by rgrandia on 04.05.20.
3 | //
4 |
5 | #pragma once
6 |
7 | #include
8 |
9 | #include
10 | #include
11 |
12 | #include
13 | #include
14 |
15 | #include
16 | #include
17 |
18 | namespace switched_model {
19 |
20 | class PoseCommandToCostDesiredRos {
21 | public:
22 | scalar_t targetDisplacementVelocity;
23 | scalar_t targetRotationVelocity;
24 | scalar_t comHeight;
25 | joint_coordinate_t defaultJointState;
26 |
27 | PoseCommandToCostDesiredRos(::ros::NodeHandle& nodeHandle, const std::string& configFile);
28 |
29 | ocs2::TargetTrajectories commandLineToTargetTrajectories(const vector_t& commadLineTarget, const ocs2::SystemObservation& observation) const;
30 |
31 | private:
32 | scalar_t desiredTimeToTarget(scalar_t dyaw, scalar_t dx, scalar_t dy) const;
33 |
34 | void terrainCallback(const visualization_msgs::Marker::ConstPtr& msg);
35 |
36 | TerrainPlane localTerrain_;
37 | mutable std::mutex terrainMutex_;
38 | ros::Subscriber terrainSubscriber_;
39 | };
40 |
41 | }
42 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_commands/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_anymal_commands
4 | 0.0.0
5 | The ocs2_anymal_commands package
6 |
7 | Farbod Farshidian
8 | Jan Carius
9 | Ruben Grandia
10 |
11 | TODO
12 |
13 | catkin
14 |
15 | roslib
16 | ocs2_ros_interfaces
17 | ocs2_robotic_tools
18 | ocs2_switched_model_interface
19 | grid_map_filters_rsl
20 |
21 |
22 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_commands/src/AnymalGaitNode.cpp:
--------------------------------------------------------------------------------
1 | /*
2 | * AnymalModeSequenceCommand.cpp
3 | *
4 | * Created on: Oct 11, 2018
5 | * Author: farbod
6 | */
7 |
8 | #include
9 |
10 | #include "ocs2_anymal_commands/ModeSequenceKeyboard.h"
11 |
12 | int main(int argc, char* argv[]) {
13 | const std::string robotName = "anymal";
14 | std::string gaitFile = ros::package::getPath("ocs2_anymal_commands") + "/config/gait.info";
15 | std::cerr << "Loading gait file: " << gaitFile << std::endl;
16 |
17 | ros::init(argc, argv, robotName + "_mpc_mode_sequence");
18 | ros::NodeHandle nodeHandle;
19 |
20 | switched_model::ModeSequenceKeyboard modeSequenceCommand(nodeHandle, gaitFile, robotName, true);
21 |
22 | while (ros::ok() && ros::master::check()) {
23 | modeSequenceCommand.getKeyboardCommand();
24 | }
25 |
26 | // Successful exit
27 | return 0;
28 | }
29 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_commands/src/MotionCommandController.cpp:
--------------------------------------------------------------------------------
1 | //
2 | // Created by Timon Kaufmann in June 2021
3 | //
4 |
5 | #include "ocs2_anymal_commands/MotionCommandController.h"
6 |
7 | #include
8 | #include
9 | #include
10 | #include
11 |
12 | namespace switched_model {
13 |
14 | MotionCommandController::MotionCommandController(ros::NodeHandle& nodeHandle, const std::string& configFile,
15 | const std::string& controllerName)
16 | : MotionCommandInterface(configFile),
17 | client(nodeHandle.serviceClient(controllerName + "/trajectory_request")) {}
18 |
19 | void MotionCommandController::publishMotion(const std::pair& motion) {
20 | Gait stance;
21 | stance.duration = 1.0;
22 | stance.modeSequence = {15};
23 |
24 | ocs2_switched_model_msgs::trajectory_request srv;
25 | srv.request.trajectory = ocs2::ros_msg_conversions::createTargetTrajectoriesMsg(motion.first);
26 | srv.request.gaitSequence = switched_model::ros_msg_conversions::toMessage({motion.second, stance});
27 |
28 | client.call(srv);
29 | }
30 |
31 | } // namespace switched_model
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_commands/test/data/testCsv.txt:
--------------------------------------------------------------------------------
1 | t, x0,x1
2 | 0.0, 1, 2.0
3 | 1.0, 2.0,3.0
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_loopshaping_mpc/config/c_series/frame_declaration.info:
--------------------------------------------------------------------------------
1 | root base
2 |
3 | left_front {
4 | root LF_HAA
5 | tip LF_FOOT
6 | joints {
7 | [0] LF_HAA
8 | [1] LF_HFE
9 | [2] LF_KFE
10 | }
11 | }
12 |
13 | right_front {
14 | root RF_HAA
15 | tip RF_FOOT
16 | joints {
17 | [0] RF_HAA
18 | [1] RF_HFE
19 | [2] RF_KFE
20 | }
21 | }
22 |
23 | left_hind {
24 | root LH_HAA
25 | tip LH_FOOT
26 | joints {
27 | [0] LH_HAA
28 | [1] LH_HFE
29 | [2] LH_KFE
30 | }
31 | }
32 |
33 | right_hind {
34 | root RH_HAA
35 | tip RH_FOOT
36 | joints {
37 | [0] RH_HAA
38 | [1] RH_HFE
39 | [2] RH_KFE
40 | }
41 | }
42 |
43 | collisions {
44 | collisionSpheres {
45 | [0] "LF_KFE, 0.08"
46 | [1] "RF_KFE, 0.08"
47 | [2] "LH_KFE, 0.08"
48 | [3] "RH_KFE, 0.08"
49 | }
50 | collisionOffsets {
51 | (0,0) -0.055
52 | (0,1) 0.0
53 | (0,2) 0.0
54 | (1,0) -0.055
55 | (1,1) 0.0
56 | (1,2) 0.0
57 | (2,0) -0.055
58 | (2,1) 0.0
59 | (2,2) 0.0
60 | (3,0) -0.055
61 | (3,1) 0.0
62 | (3,2) 0.0
63 | }
64 | }
65 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_loopshaping_mpc/config/c_series/loopshaping.info:
--------------------------------------------------------------------------------
1 | s_inv_filter
2 | {
3 | numFilters 2;
4 |
5 | Filter0; Filter for forces
6 | {
7 | numRepeats 12;
8 | numPoles 1;
9 | numZeros 1;
10 | scaling 4;
11 | zeros
12 | {
13 | (0) 0.0;
14 | }
15 | poles
16 | {
17 | (0) -100.0;
18 | }
19 | }
20 |
21 | Filter1; Filter for joint velocities
22 | {
23 | numRepeats 12;
24 | numPoles 1;
25 | numZeros 1;
26 | scaling 3;
27 | zeros
28 | {
29 | (0) 0.0;
30 | }
31 | poles
32 | {
33 | (0) -50.0;
34 | }
35 | }
36 | }
37 |
38 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_loopshaping_mpc/config/c_series/multiple_shooting.info:
--------------------------------------------------------------------------------
1 | multiple_shooting
2 | {
3 | dt 0.015
4 | alpha_min 1e-2 ; = 7 tries before terminating
5 | sqpIteration 1
6 | deltaTol 1e-4
7 | g_max 1e-2
8 | g_min 1e-5
9 | inequalityConstraintMu 0.1
10 | inequalityConstraintDelta 5.0
11 | projectStateInputEqualityConstraints true
12 | printSolverStatistics true
13 | printSolverStatus false
14 | printLinesearch false
15 | enableLogging true
16 | logSize 50000
17 | useFeedbackPolicy true
18 | integratorType RK2
19 | nThreads 4
20 | threadPriority 50
21 | }
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_loopshaping_mpc/data/demo_terrain.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/leggedrobotics/ocs2/164c26b46bed5d24cd03d90588db8980d03a4951/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_loopshaping_mpc/data/demo_terrain.png
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/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_loopshaping_mpc/data/gaps.png:
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/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_loopshaping_mpc/include/ocs2_anymal_loopshaping_mpc/AnymalLoopshapingInterface.h:
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1 | //
2 | // Created by rgrandia on 13.02.20.
3 | //
4 |
5 | #pragma once
6 |
7 | #include
8 | #include
9 |
10 | namespace anymal {
11 |
12 | std::unique_ptr getAnymalLoopshapingInterface(const std::string& urdf,
13 | const std::string& configFolder);
14 |
15 | std::unique_ptr getAnymalLoopshapingInterface(
16 | const std::string& urdf, switched_model::QuadrupedInterface::Settings settings, const FrameDeclaration& frameDeclaration,
17 | std::shared_ptr loopshapingDefinition);
18 |
19 | std::string getConfigFolderLoopshaping(const std::string& configName);
20 |
21 | std::string getTaskFilePathLoopshaping(const std::string& configName);
22 |
23 | } // end of namespace anymal
24 |
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/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_loopshaping_mpc/launch/anymal_c.launch:
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1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
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/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_loopshaping_mpc/launch/camel.launch:
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1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
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/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_loopshaping_mpc/package.xml:
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1 |
2 |
3 | ocs2_anymal_loopshaping_mpc
4 | 0.0.0
5 | ocs2_anymal_loopshaping_mpc
6 |
7 | ruben
8 | TODO
9 |
10 | catkin
11 |
12 | roslib
13 | ocs2_anymal_mpc
14 | ocs2_quadruped_loopshaping_interface
15 |
16 |
17 |
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/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_loopshaping_mpc/src/AnymalLoopshapingDummyMrt.cpp:
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1 | //
2 | // Created by rgrandia on 13.02.20.
3 | //
4 |
5 | #include
6 | #include
7 | #include
8 |
9 | #include "ocs2_anymal_loopshaping_mpc/AnymalLoopshapingInterface.h"
10 |
11 | int main(int argc, char* argv[]) {
12 | std::vector programArgs{};
13 | ::ros::removeROSArgs(argc, argv, programArgs);
14 | if (programArgs.size() < 3) {
15 | throw std::runtime_error("No robot name and config folder specified. Aborting.");
16 | }
17 | const std::string descriptionName(programArgs[1]);
18 | const std::string configName(programArgs[2]);
19 |
20 | // Initialize ros node
21 | ros::init(argc, argv, "anymal_loopshaping_mrt");
22 | ros::NodeHandle nodeHandle;
23 |
24 | std::string urdfString;
25 | nodeHandle.getParam(descriptionName, urdfString);
26 |
27 | auto anymalInterface = anymal::getAnymalLoopshapingInterface(urdfString, anymal::getConfigFolderLoopshaping(configName));
28 | const auto mpcSettings = ocs2::mpc::loadSettings(anymal::getTaskFilePathLoopshaping(configName));
29 | quadrupedLoopshapingDummyNode(nodeHandle, *anymalInterface, mpcSettings.mrtDesiredFrequency_, mpcSettings.mpcDesiredFrequency_);
30 |
31 | return 0;
32 | }
33 |
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/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_models/include/ocs2_anymal_models/.gitignore:
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1 | # Ignore generated file
2 | package_path.h
3 |
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/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_models/include/ocs2_anymal_models/FrameDeclaration.h:
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1 | //
2 | // Created by rgrandia on 27.04.22.
3 | //
4 |
5 | #pragma once
6 |
7 | #include
8 |
9 | namespace anymal {
10 |
11 | struct CollisionDeclaration {
12 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW
13 | std::string link;
14 | switched_model::scalar_t radius;
15 | switched_model::vector3_t offset;
16 | };
17 |
18 | struct LimbFrames {
19 | std::string root;
20 | std::string tip;
21 | std::vector joints;
22 | };
23 |
24 | struct FrameDeclaration {
25 | std::string root;
26 | switched_model::feet_array_t legs;
27 | std::vector collisions;
28 | };
29 |
30 | std::vector getJointNames(const FrameDeclaration& frameDeclaration);
31 |
32 | LimbFrames limbFramesFromFile(const std::string& file, const std::string& field);
33 |
34 | FrameDeclaration frameDeclarationFromFile(const std::string& file);
35 |
36 | } // namespace anymal
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/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_models/launch/load_urdf.launch:
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1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
11 |
12 |
13 |
14 |
15 |
16 |
17 |
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/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_models/launch/vizualize_urdf.launch:
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1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
11 |
12 |
13 |
14 |
15 |
16 |
17 |
18 |
19 |
20 |
21 |
22 |
23 |
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/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_models/package.xml:
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1 |
2 |
3 | ocs2_anymal_models
4 | 0.0.1
5 | The ocs2_anymal_models package
6 |
7 | Farbod Farshidian
8 | Jan Carius
9 | Ruben Grandia
10 |
11 | TODO
12 |
13 | catkin
14 |
15 | ocs2_switched_model_interface
16 | ocs2_pinocchio_interface
17 | ocs2_robotic_assets
18 | ocs2_robotic_tools
19 | roslib
20 |
21 |
22 |
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/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_models/test/camel/generated/default_dynparams_getter.h:
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1 | #ifndef _CAMEL_DEFAULT_GETTER_INERTIA_PARAMETERS_
2 | #define _CAMEL_DEFAULT_GETTER_INERTIA_PARAMETERS_
3 |
4 | #include "dynamics_parameters.h"
5 |
6 | namespace iit {
7 | namespace camel {
8 | namespace dyn {
9 |
10 | class DefaultParamsGetter : public RuntimeParamsGetter
11 | {
12 | public:
13 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW
14 | DefaultParamsGetter() {
15 | resetDefaults();
16 | }
17 | ~DefaultParamsGetter() {};
18 |
19 | public:
20 | void resetDefaults() {
21 | }
22 |
23 | private:
24 | RuntimeInertiaParams values;
25 | };
26 |
27 | }
28 | }
29 | }
30 | #endif
31 |
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/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_models/test/camel/generated/kinematics_parameters.h:
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1 | #ifndef _CAMEL_PARAMETERS_GETTERS_
2 | #define _CAMEL_PARAMETERS_GETTERS_
3 |
4 | namespace iit {
5 | namespace camel {
6 |
7 |
8 |
9 | }
10 | }
11 | #endif
12 |
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/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_models/urdf/frame_declaration_anymal_c.info:
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1 | root base
2 |
3 | left_front {
4 | root LF_HAA
5 | tip LF_FOOT
6 | joints {
7 | [0] LF_HAA
8 | [1] LF_HFE
9 | [2] LF_KFE
10 | }
11 | }
12 |
13 | right_front {
14 | root RF_HAA
15 | tip RF_FOOT
16 | joints {
17 | [0] RF_HAA
18 | [1] RF_HFE
19 | [2] RF_KFE
20 | }
21 | }
22 |
23 | left_hind {
24 | root LH_HAA
25 | tip LH_FOOT
26 | joints {
27 | [0] LH_HAA
28 | [1] LH_HFE
29 | [2] LH_KFE
30 | }
31 | }
32 |
33 | right_hind {
34 | root RH_HAA
35 | tip RH_FOOT
36 | joints {
37 | [0] RH_HAA
38 | [1] RH_HFE
39 | [2] RH_KFE
40 | }
41 | }
42 |
43 | collisions {
44 | collisionSpheres {
45 | [0] "LF_KFE, 0.08"
46 | [1] "RF_KFE, 0.08"
47 | [2] "LH_KFE, 0.08"
48 | [3] "RH_KFE, 0.08"
49 | }
50 | collisionOffsets {
51 | (0,0) -0.055
52 | (0,1) 0.0
53 | (0,2) 0.0
54 | (1,0) -0.055
55 | (1,1) 0.0
56 | (1,2) 0.0
57 | (2,0) -0.055
58 | (2,1) 0.0
59 | (2,2) 0.0
60 | (3,0) -0.055
61 | (3,1) 0.0
62 | (3,2) 0.0
63 | }
64 | }
65 |
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/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_mpc/config/c_series/frame_declaration.info:
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1 | root base
2 |
3 | left_front {
4 | root LF_HAA
5 | tip LF_FOOT
6 | joints {
7 | [0] LF_HAA
8 | [1] LF_HFE
9 | [2] LF_KFE
10 | }
11 | }
12 |
13 | right_front {
14 | root RF_HAA
15 | tip RF_FOOT
16 | joints {
17 | [0] RF_HAA
18 | [1] RF_HFE
19 | [2] RF_KFE
20 | }
21 | }
22 |
23 | left_hind {
24 | root LH_HAA
25 | tip LH_FOOT
26 | joints {
27 | [0] LH_HAA
28 | [1] LH_HFE
29 | [2] LH_KFE
30 | }
31 | }
32 |
33 | right_hind {
34 | root RH_HAA
35 | tip RH_FOOT
36 | joints {
37 | [0] RH_HAA
38 | [1] RH_HFE
39 | [2] RH_KFE
40 | }
41 | }
42 |
43 | collisions {
44 | collisionSpheres {
45 | [0] "LF_KFE, 0.08"
46 | [1] "RF_KFE, 0.08"
47 | [2] "LH_KFE, 0.08"
48 | [3] "RH_KFE, 0.08"
49 | }
50 | collisionOffsets {
51 | (0,0) -0.055
52 | (0,1) 0.0
53 | (0,2) 0.0
54 | (1,0) -0.055
55 | (1,1) 0.0
56 | (1,2) 0.0
57 | (2,0) -0.055
58 | (2,1) 0.0
59 | (2,2) 0.0
60 | (3,0) -0.055
61 | (3,1) 0.0
62 | (3,2) 0.0
63 | }
64 | }
65 |
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/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_mpc/config/c_series/multiple_shooting.info:
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1 | multiple_shooting
2 | {
3 | dt 0.015
4 | sqpIteration 1
5 | deltaTol 1e-4
6 | g_max 1e-2
7 | g_min 1e-6
8 | inequalityConstraintMu 0.1
9 | inequalityConstraintDelta 5.0
10 | projectStateInputEqualityConstraints true
11 | printSolverStatistics true
12 | printSolverStatus false
13 | printLinesearch false
14 | useFeedbackPolicy true
15 | integratorType RK2
16 | nThreads 4
17 | threadPriority 50
18 | }
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/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_mpc/config/c_series/targetCommand.info:
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1 | targetDisplacementVelocity 0.5;
2 | targetRotationVelocity 0.3;
3 |
4 | comHeight 0.57;
5 |
6 | defaultJointState
7 | {
8 | (0,0) -0.25; LF_HAA
9 | (1,0) 0.60; LF_HFE
10 | (2,0) -0.85; LF_KFE
11 | (3,0) 0.25; RF_HAA
12 | (4,0) 0.60; RF_HFE
13 | (5,0) -0.85; RF_KFE
14 | (6,0) -0.25; LH_HAA
15 | (7,0) -0.60; LH_HFE
16 | (8,0) 0.85; LH_KFE
17 | (9,0) 0.25; RH_HAA
18 | (10,0) -0.60; RH_HFE
19 | (11,0) 0.85; RH_KFE
20 | }
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/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_mpc/include/ocs2_anymal_mpc/AnymalInterface.h:
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1 | //
2 | // Created by rgrandia on 17.02.20.
3 | //
4 |
5 | #pragma once
6 |
7 | #include
8 |
9 | #include
10 | #include
11 |
12 | namespace anymal {
13 |
14 | std::unique_ptr getAnymalInterface(const std::string& urdf, const std::string& taskFolder);
15 |
16 | std::unique_ptr getAnymalInterface(const std::string& urdf,
17 | switched_model::QuadrupedInterface::Settings settings,
18 | const FrameDeclaration& frameDeclaration);
19 |
20 | std::string getConfigFolder(const std::string& configName);
21 |
22 | std::string getTaskFilePath(const std::string& configName);
23 |
24 | } // end of namespace anymal
25 |
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/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_mpc/launch/camel.launch:
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1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
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/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_mpc/package.xml:
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1 |
2 |
3 | ocs2_anymal_mpc
4 | 0.0.0
5 | The ocs2_anymal_mpc package
6 |
7 | farbod
8 |
9 | TODO
10 |
11 | catkin
12 |
13 | roslib
14 | ocs2_anymal_models
15 | ocs2_quadruped_interface
16 |
17 | ocs2_anymal_commands
18 |
19 |
20 |
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/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_anymal_mpc/src/AnymalDummyMRT.cpp:
--------------------------------------------------------------------------------
1 | /*
2 | * DummyMRT.cpp
3 | *
4 | * Created on: Apr 10, 2018
5 | * Author: farbod
6 | */
7 |
8 | #include
9 | #include
10 |
11 | #include
12 | #include "ocs2_anymal_mpc/AnymalInterface.h"
13 |
14 | int main(int argc, char* argv[]) {
15 | std::vector programArgs{};
16 | ros::removeROSArgs(argc, argv, programArgs);
17 | if (programArgs.size() < 3) {
18 | throw std::runtime_error("No robot name and config folder specified. Aborting.");
19 | }
20 | const std::string descriptionName(programArgs[1]);
21 | const std::string configName(programArgs[2]);
22 |
23 | // Initialize ros node
24 | ros::init(argc, argv, "anymal_mrt");
25 | ros::NodeHandle nodeHandle;
26 |
27 | std::string urdfString;
28 | nodeHandle.getParam(descriptionName, urdfString);
29 |
30 | auto anymalInterface = anymal::getAnymalInterface(urdfString, anymal::getConfigFolder(configName));
31 | const auto mpcSettings = ocs2::mpc::loadSettings(anymal::getTaskFilePath(configName));
32 | quadrupedDummyNode(nodeHandle, *anymalInterface, &anymalInterface->getRollout(), mpcSettings.mrtDesiredFrequency_,
33 | mpcSettings.mpcDesiredFrequency_);
34 |
35 | return 0;
36 | }
37 |
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/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_quadruped_interface/include/ocs2_quadruped_interface/QuadrupedDummyNode.h:
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1 | //
2 | // Created by rgrandia on 17.02.20.
3 | //
4 |
5 | #pragma once
6 |
7 | #include
8 |
9 | #include "QuadrupedInterface.h"
10 |
11 | namespace switched_model {
12 |
13 | void quadrupedDummyNode(ros::NodeHandle& nodeHandle, const QuadrupedInterface& quadrupedInterface, const ocs2::RolloutBase* rolloutPtr,
14 | double mrtDesiredFrequency, double mpcDesiredFrequency);
15 | }
16 |
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/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_quadruped_interface/include/ocs2_quadruped_interface/QuadrupedMpc.h:
--------------------------------------------------------------------------------
1 | //
2 | // Created by rgrandia on 06.07.21.
3 | //
4 |
5 | #pragma once
6 |
7 | #include
8 | #include
9 | #include
10 | #include
11 |
12 | #include "ocs2_quadruped_interface/QuadrupedInterface.h"
13 |
14 | namespace switched_model {
15 |
16 | /** Constructs an DDP MPC object */
17 | std::unique_ptr getDdpMpc(const QuadrupedInterface& quadrupedInterface, const ocs2::mpc::Settings& mpcSettings,
18 | const ocs2::ddp::Settings& ddpSettings);
19 |
20 | /** Constructs an SQP MPC object */
21 | std::unique_ptr getSqpMpc(const QuadrupedInterface& quadrupedInterface, const ocs2::mpc::Settings& mpcSettings,
22 | const ocs2::sqp::Settings& sqpSettings);
23 |
24 | } // namespace switched_model
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/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_quadruped_interface/include/ocs2_quadruped_interface/QuadrupedMpcNode.h:
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1 | //
2 | // Created by rgrandia on 17.02.20.
3 | //
4 |
5 | #pragma once
6 |
7 | #include
8 |
9 | #include
10 |
11 | #include "QuadrupedInterface.h"
12 |
13 | namespace switched_model {
14 |
15 | void quadrupedMpcNode(ros::NodeHandle& nodeHandle, const QuadrupedInterface& quadrupedInterface, std::unique_ptr mpcPtr);
16 | }
17 |
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/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_quadruped_interface/include/ocs2_quadruped_interface/TerrainReceiver.h:
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1 | //
2 | // Created by rgrandia on 28.09.20.
3 | //
4 |
5 | #pragma once
6 |
7 | #include
8 | #include
9 |
10 | #include
11 | #include
12 |
13 | #include
14 |
15 | #include
16 |
17 | namespace switched_model {
18 |
19 | class TerrainReceiverSynchronizedModule : public ocs2::SolverSynchronizedModule {
20 | public:
21 | TerrainReceiverSynchronizedModule(ocs2::Synchronized& terrainModel, ros::NodeHandle& nodeHandle);
22 | ~TerrainReceiverSynchronizedModule() override = default;
23 |
24 | void preSolverRun(scalar_t initTime, scalar_t finalTime, const vector_t& currentState,
25 | const ocs2::ReferenceManagerInterface& referenceManager) override;
26 |
27 | void postSolverRun(const ocs2::PrimalSolution& primalSolution) override{};
28 |
29 | private:
30 | ocs2::Synchronized* terrainModelPtr_;
31 | std::unique_ptr segmentedPlanesRos_;
32 | };
33 |
34 | } // namespace switched_model
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/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_quadruped_interface/launch/visualization.launch:
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1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
11 |
12 |
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/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_quadruped_interface/package.xml:
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1 |
2 |
3 | ocs2_quadruped_interface
4 | 0.0.0
5 | The ocs2_quadruped_interface package
6 |
7 | Farbod Farshidian
8 | Jan Carius
9 | Ruben Grandia
10 |
11 | TODO
12 |
13 | catkin
14 |
15 | ocs2_core
16 | ocs2_ddp
17 | ocs2_ocs2
18 | ocs2_mpc
19 | ocs2_sqp
20 | ocs2_ros_interfaces
21 | ocs2_robotic_tools
22 | ocs2_switched_model_interface
23 | ocs2_anymal_commands
24 | roscpp
25 | tf
26 | kdl_parser
27 | robot_state_publisher
28 | segmented_planes_terrain_model
29 |
30 |
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/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_quadruped_interface/src/TerrainReceiver.cpp:
--------------------------------------------------------------------------------
1 | //
2 | // Created by rgrandia on 28.09.20.
3 | //
4 |
5 | #include "ocs2_quadruped_interface/TerrainReceiver.h"
6 |
7 | namespace switched_model {
8 |
9 | TerrainReceiverSynchronizedModule::TerrainReceiverSynchronizedModule(ocs2::Synchronized& terrainModel,
10 | ros::NodeHandle& nodeHandle)
11 | : terrainModelPtr_(&terrainModel), segmentedPlanesRos_(new switched_model::SegmentedPlanesTerrainModelRos(nodeHandle)) {}
12 |
13 | void TerrainReceiverSynchronizedModule::preSolverRun(scalar_t initTime, scalar_t finalTime, const vector_t& currentState,
14 | const ocs2::ReferenceManagerInterface& referenceManager) {
15 | if (auto newTerrain = segmentedPlanesRos_->getTerrainModel()) {
16 | terrainModelPtr_->reset(std::move(newTerrain));
17 | segmentedPlanesRos_->publish();
18 | }
19 | }
20 |
21 | } // namespace switched_model
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/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_quadruped_loopshaping_interface/include/ocs2_quadruped_loopshaping_interface/LoopshapingDimensions.h:
--------------------------------------------------------------------------------
1 | //
2 | // Created by rgrandia on 18.02.20.
3 | //
4 |
5 | #pragma once
6 |
7 | #include
8 |
9 | #include
10 |
11 | namespace switched_model_loopshaping {
12 |
13 | static constexpr size_t STATE_DIM = 48;
14 | static constexpr size_t INPUT_DIM = 24;
15 | static constexpr size_t SYSTEM_STATE_DIM = 24;
16 | static constexpr size_t SYSTEM_INPUT_DIM = 24;
17 | static constexpr size_t FILTER_STATE_DIM = 24;
18 | static constexpr size_t FILTER_INPUT_DIM = 24;
19 |
20 | using scalar_t = ocs2::scalar_t;
21 | using ad_scalar_t = ocs2::ad_scalar_t;
22 | using scalar_array_t = ocs2::scalar_array_t;
23 | using vector_t = ocs2::vector_t;
24 | using vector_array_t = ocs2::vector_array_t;
25 |
26 | template
27 | using filter_state_s_t = Eigen::Matrix;
28 | using filter_state_t = filter_state_s_t;
29 | using filter_state_ad_t = filter_state_s_t;
30 |
31 | template
32 | using filter_input_s_t = Eigen::Matrix;
33 | using filter_input_t = filter_input_s_t;
34 | using filter_input_ad_t = filter_input_s_t;
35 |
36 | } // namespace switched_model_loopshaping
37 |
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/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_quadruped_loopshaping_interface/include/ocs2_quadruped_loopshaping_interface/QuadrupedLoopshapingDummyNode.h:
--------------------------------------------------------------------------------
1 | //
2 | // Created by rgrandia on 17.02.20.
3 | //
4 |
5 | #pragma once
6 |
7 | #include
8 |
9 | #include "QuadrupedLoopshapingInterface.h"
10 |
11 | namespace switched_model_loopshaping {
12 |
13 | void quadrupedLoopshapingDummyNode(ros::NodeHandle& nodeHandle, const QuadrupedLoopshapingInterface& quadrupedInterface,
14 | double mrtDesiredFrequency, double mpcDesiredFrequency);
15 |
16 | } // namespace switched_model_loopshaping
17 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_quadruped_loopshaping_interface/include/ocs2_quadruped_loopshaping_interface/QuadrupedLoopshapingMpc.h:
--------------------------------------------------------------------------------
1 | //
2 | // Created by rgrandia on 06.07.21.
3 | //
4 |
5 | #pragma once
6 |
7 | #include
8 | #include
9 | #include
10 | #include
11 |
12 | #include "ocs2_quadruped_loopshaping_interface/QuadrupedLoopshapingInterface.h"
13 |
14 | namespace switched_model_loopshaping {
15 |
16 | /** Constructs an DDP MPC object */
17 | std::unique_ptr getDdpMpc(const QuadrupedLoopshapingInterface& quadrupedInterface, const ocs2::mpc::Settings& mpcSettings,
18 | const ocs2::ddp::Settings& ddpSettings);
19 |
20 | /** Constructs an SQP MPC object */
21 | std::unique_ptr getSqpMpc(const QuadrupedLoopshapingInterface& quadrupedInterface, const ocs2::mpc::Settings& mpcSettings,
22 | const ocs2::sqp::Settings& sqpSettings);
23 |
24 | } // namespace switched_model_loopshaping
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_quadruped_loopshaping_interface/include/ocs2_quadruped_loopshaping_interface/QuadrupedLoopshapingMpcNode.h:
--------------------------------------------------------------------------------
1 | //
2 | // Created by rgrandia on 17.02.20.
3 | //
4 |
5 | #pragma once
6 |
7 | #include
8 |
9 | #include
10 |
11 | #include "QuadrupedLoopshapingInterface.h"
12 |
13 | namespace switched_model_loopshaping {
14 |
15 | void quadrupedLoopshapingMpcNode(ros::NodeHandle& nodeHandle, const QuadrupedLoopshapingInterface& quadrupedInterface,
16 | std::unique_ptr mpcPtr);
17 |
18 | } // namespace switched_model_loopshaping
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_quadruped_loopshaping_interface/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_quadruped_loopshaping_interface
4 | 0.0.0
5 | The ocs2_quadruped_loopshaping_interface package
6 |
7 |
8 |
9 |
10 | farbod
11 |
12 |
13 | TODO
14 |
15 | catkin
16 |
17 | ocs2_quadruped_interface
18 |
19 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_switched_model_interface/include/ocs2_switched_model_interface/analytical_inverse_kinematics/AnalyticalInverseKinematics.h:
--------------------------------------------------------------------------------
1 | #pragma once
2 |
3 | #include "ocs2_switched_model_interface/analytical_inverse_kinematics/LegInverseKinematicParameters.h"
4 |
5 | namespace switched_model {
6 | namespace analytical_inverse_kinematics {
7 |
8 | /**
9 | * Computes the inverse kinematics for a single leg given the position in base frame
10 | * @param legJoints : will be filled with the resulting [HAA, HFE, KFE] joint angles
11 | * @param positionBaseToFootInBaseFrame : position of the foot in base frame to compute the IK for.
12 | * @param parameters : precomputed inverse kinematics parameters
13 | * @param limb : limb number in {LF = 0, RF, LH, RH}
14 | */
15 | void getLimbJointPositionsFromPositionBaseToFootInBaseFrame(Eigen::Vector3d& legJoints,
16 | const Eigen::Vector3d& positionBaseToFootInBaseFrame,
17 | const LegInverseKinematicParameters& parameters, size_t limb);
18 |
19 | } // namespace analytical_inverse_kinematics
20 | } // namespace switched_model
21 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_switched_model_interface/include/ocs2_switched_model_interface/core/InverseKinematicsModelBase.h:
--------------------------------------------------------------------------------
1 | //
2 | // Created by rgrandia on 02.08.22.
3 | //
4 |
5 | #pragma once
6 |
7 | #include "ocs2_switched_model_interface/core/SwitchedModel.h"
8 |
9 | namespace switched_model {
10 |
11 | class InverseKinematicsModelBase {
12 | public:
13 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW
14 |
15 | using joint_jacobian_block_t = Eigen::Matrix;
16 |
17 | virtual ~InverseKinematicsModelBase() = default;
18 |
19 | virtual vector3_t getLimbJointPositionsFromPositionBaseToFootInBaseFrame(size_t footIndex,
20 | const vector3_t& positionBaseToFootInBaseFrame) const = 0;
21 |
22 | virtual vector3_t getLimbVelocitiesFromFootVelocityRelativeToBaseInBaseFrame(size_t footIndex,
23 | const vector3_t& footVelocityRelativeToBaseInBaseFrame,
24 | const joint_jacobian_block_t& jointJacobian,
25 | scalar_t damping) const = 0;
26 |
27 | virtual InverseKinematicsModelBase* clone() const = 0;
28 | };
29 |
30 | }; // namespace switched_model
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_switched_model_interface/include/ocs2_switched_model_interface/foot_planner/CubicSpline.h:
--------------------------------------------------------------------------------
1 | /*
2 | * CubicSpline.h
3 | *
4 | * Created on: Apr 30, 2017
5 | * Author: farbod
6 | */
7 |
8 | #pragma once
9 |
10 | #include "ocs2_switched_model_interface/core/SwitchedModel.h"
11 |
12 | namespace switched_model {
13 |
14 | class CubicSpline {
15 | public:
16 | struct Node {
17 | scalar_t time;
18 | scalar_t position;
19 | scalar_t velocity;
20 | };
21 |
22 | CubicSpline(Node start, Node end);
23 |
24 | scalar_t position(scalar_t time) const;
25 |
26 | scalar_t velocity(scalar_t time) const;
27 |
28 | scalar_t acceleration(scalar_t time) const;
29 |
30 | scalar_t startTimeDerivative(scalar_t t) const;
31 |
32 | scalar_t finalTimeDerivative(scalar_t t) const;
33 |
34 | private:
35 | scalar_t normalizedTime(scalar_t t) const;
36 |
37 | scalar_t t0_;
38 | scalar_t t1_;
39 | scalar_t dt_;
40 |
41 | scalar_t c0_;
42 | scalar_t c1_;
43 | scalar_t c2_;
44 | scalar_t c3_;
45 |
46 | scalar_t dc0_; // derivative w.r.t. dt_
47 | scalar_t dc1_; // derivative w.r.t. dt_
48 | scalar_t dc2_; // derivative w.r.t. dt_
49 | scalar_t dc3_; // derivative w.r.t. dt_
50 | };
51 |
52 | } // namespace switched_model
53 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_switched_model_interface/include/ocs2_switched_model_interface/foot_planner/SplineCpg.h:
--------------------------------------------------------------------------------
1 | /*
2 | * SplineCPG.h
3 | *
4 | * Created on: Apr 30, 2017
5 | * Author: farbod
6 | */
7 |
8 | #pragma once
9 |
10 | #include "ocs2_switched_model_interface/foot_planner/CubicSpline.h"
11 |
12 | namespace switched_model {
13 |
14 | class SplineCpg {
15 | public:
16 | SplineCpg(CubicSpline::Node liftOff, scalar_t midHeight, CubicSpline::Node touchDown);
17 |
18 | SplineCpg(CubicSpline::Node liftOff, CubicSpline::Node midNode, CubicSpline::Node touchDown);
19 |
20 | scalar_t position(scalar_t time) const;
21 |
22 | scalar_t velocity(scalar_t time) const;
23 |
24 | scalar_t acceleration(scalar_t time) const;
25 |
26 | scalar_t startTimeDerivative(scalar_t time) const;
27 |
28 | scalar_t finalTimeDerivative(scalar_t time) const;
29 |
30 | private:
31 | scalar_t midTime_;
32 | CubicSpline leftSpline_;
33 | CubicSpline rightSpline_;
34 | };
35 |
36 | } // namespace switched_model
37 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_switched_model_interface/include/ocs2_switched_model_interface/initialization/ComKinoInitializer.h:
--------------------------------------------------------------------------------
1 | #pragma once
2 |
3 | #include
4 |
5 | #include "ocs2_switched_model_interface/core/ComModelBase.h"
6 | #include "ocs2_switched_model_interface/core/SwitchedModel.h"
7 | #include "ocs2_switched_model_interface/logic/SwitchedModelModeScheduleManager.h"
8 |
9 | namespace switched_model {
10 |
11 | class ComKinoInitializer : public ocs2::Initializer {
12 | public:
13 | using com_model_t = ComModelBase;
14 |
15 | ComKinoInitializer(const com_model_t& comModel, const SwitchedModelModeScheduleManager& modeScheduleManager);
16 |
17 | ~ComKinoInitializer() override = default;
18 |
19 | ComKinoInitializer* clone() const override;
20 |
21 | void compute(scalar_t time, const vector_t& state, scalar_t nextTime, vector_t& input, vector_t& nextState) override;
22 |
23 | protected:
24 | ComKinoInitializer(const ComKinoInitializer& rhs);
25 |
26 | private:
27 | std::unique_ptr comModelPtr_;
28 | const SwitchedModelModeScheduleManager* modeScheduleManagerPtr_;
29 | };
30 |
31 | } // end of namespace switched_model
32 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_switched_model_interface/include/ocs2_switched_model_interface/terrain/PlanarSignedDistanceField.h:
--------------------------------------------------------------------------------
1 | #pragma once
2 |
3 | #include "ocs2_switched_model_interface/core/SwitchedModel.h"
4 | #include "ocs2_switched_model_interface/terrain/SignedDistanceField.h"
5 | #include "ocs2_switched_model_interface/terrain/TerrainModel.h"
6 |
7 | namespace switched_model {
8 |
9 | /**
10 | * Implements a flat terrain signed distance field
11 | */
12 | class PlanarSignedDistanceField : public SignedDistanceField {
13 | public:
14 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW
15 |
16 | explicit PlanarSignedDistanceField(TerrainPlane terrainPlane);
17 |
18 | ~PlanarSignedDistanceField() override = default;
19 | PlanarSignedDistanceField* clone() const override { return new PlanarSignedDistanceField(*this); };
20 |
21 | scalar_t value(const vector3_t& position) const override;
22 |
23 | vector3_t derivative(const vector3_t& position) const override;
24 |
25 | std::pair valueAndDerivative(const vector3_t& position) const override;
26 |
27 | protected:
28 | PlanarSignedDistanceField(const PlanarSignedDistanceField& other);
29 |
30 | private:
31 | TerrainPlane terrainPlane_;
32 | };
33 |
34 | } // namespace switched_model
35 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_switched_model_interface/include/ocs2_switched_model_interface/terrain/PlaneFitting.h:
--------------------------------------------------------------------------------
1 | //
2 | // Created by rgrandia on 27.11.20.
3 | //
4 |
5 | #pragma once
6 |
7 | #include "ocs2_switched_model_interface/core/SwitchedModel.h"
8 | #include "ocs2_switched_model_interface/terrain/TerrainPlane.h"
9 |
10 | namespace switched_model {
11 |
12 | NormalAndPosition estimatePlane(const std::vector& regressionPoints);
13 |
14 | } // namespace switched_model
15 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_switched_model_interface/include/ocs2_switched_model_interface/terrain/SignedDistanceField.h:
--------------------------------------------------------------------------------
1 | //
2 | // Created by rgrandia on 14.08.20.
3 | //
4 |
5 | #pragma once
6 |
7 | #include "ocs2_switched_model_interface/core/SwitchedModel.h"
8 |
9 | namespace switched_model {
10 |
11 | /**
12 | * This abstract class defines the interface for a signed distance field.
13 | */
14 | class SignedDistanceField {
15 | public:
16 | SignedDistanceField() = default;
17 | virtual ~SignedDistanceField() = default;
18 | SignedDistanceField(const SignedDistanceField&) = delete;
19 | SignedDistanceField& operator=(const SignedDistanceField&) = delete;
20 |
21 | virtual SignedDistanceField* clone() const = 0;
22 | virtual scalar_t value(const vector3_t& position) const = 0;
23 | virtual Eigen::Vector3d derivative(const vector3_t& position) const = 0;
24 | virtual std::pair valueAndDerivative(const vector3_t& position) const = 0;
25 | };
26 |
27 | } // namespace switched_model
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_switched_model_interface/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_switched_model_interface
4 | 0.0.0
5 | The ocs2_switched_model_interface package
6 |
7 | Farbod Farshidian
8 | Jan Carius
9 | Ruben Grandia
10 |
11 | TODO
12 |
13 | catkin
14 |
15 | cmake_clang_tools
16 |
17 | roscpp
18 | ocs2_core
19 | ocs2_oc
20 | ocs2_msgs
21 | ocs2_ros_interfaces
22 | ocs2_robotic_tools
23 | ocs2_switched_model_msgs
24 |
25 |
26 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_switched_model_interface/src/dynamics/ComKinoDynamicsParameters.cpp:
--------------------------------------------------------------------------------
1 | //
2 | // Created by rgrandia on 04.06.21.
3 | //
4 |
5 | #include "ocs2_switched_model_interface/dynamics/ComKinoDynamicsParameters.h"
6 |
7 | namespace switched_model {
8 |
9 | template
10 | ComKinoSystemDynamicsParameters::ComKinoSystemDynamicsParameters(
11 | const Eigen::Matrix& parameterVector)
12 | : externalForceInOrigin(parameterVector.template segment<3>(0)), externalTorqueInBase(parameterVector.template segment<3>(3)) {}
13 |
14 | template
15 | Eigen::Matrix ComKinoSystemDynamicsParameters::asVector() const {
16 | Eigen::Matrix parameters(ComKinoSystemDynamicsParameters::getNumParameters());
17 | parameters.template head<3>() = externalForceInOrigin;
18 | parameters.template tail<3>() = externalTorqueInBase;
19 | return parameters;
20 | }
21 |
22 | template class ComKinoSystemDynamicsParameters;
23 | template class ComKinoSystemDynamicsParameters;
24 |
25 | } // namespace switched_model
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_switched_model_interface/src/initialization/ComKinoInitializer.cpp:
--------------------------------------------------------------------------------
1 | #include "ocs2_switched_model_interface/initialization/ComKinoInitializer.h"
2 |
3 | #include "ocs2_switched_model_interface/core/SwitchedModel.h"
4 |
5 | namespace switched_model {
6 |
7 | ComKinoInitializer::ComKinoInitializer(const com_model_t& comModel, const SwitchedModelModeScheduleManager& modeScheduleManager)
8 | : comModelPtr_(comModel.clone()), modeScheduleManagerPtr_(&modeScheduleManager) {}
9 |
10 | ComKinoInitializer::ComKinoInitializer(const ComKinoInitializer& rhs)
11 | : ocs2::Initializer(rhs), comModelPtr_(rhs.comModelPtr_->clone()), modeScheduleManagerPtr_(rhs.modeScheduleManagerPtr_) {}
12 |
13 | ComKinoInitializer* ComKinoInitializer::clone() const {
14 | return new ComKinoInitializer(*this);
15 | }
16 |
17 | void ComKinoInitializer::compute(scalar_t time, const vector_t& state, scalar_t nextTime, vector_t& input, vector_t& nextState) {
18 | const comkino_state_t comkinoState = state;
19 | const auto basePose = getBasePose(comkinoState);
20 | const auto contactFlags = modeScheduleManagerPtr_->getContactFlags(time);
21 |
22 | // Initial guess
23 | input = weightCompensatingInputs(*comModelPtr_, contactFlags, getOrientation(basePose));
24 |
25 | nextState = state;
26 | }
27 |
28 | } // namespace switched_model
29 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_switched_model_interface/src/logic/DynamicsParametersSynchronizedModule.cpp:
--------------------------------------------------------------------------------
1 | #include "ocs2_switched_model_interface/logic/DynamicsParametersSynchronizedModule.h"
2 |
3 | namespace switched_model {
4 |
5 | DynamicsParametersSynchronizedModule::DynamicsParametersSynchronizedModule()
6 | : activeDynamicsParameters_(),
7 | newDynamicsParameters_(std::unique_ptr>(
8 | new ComKinoSystemDynamicsParameters(activeDynamicsParameters_))){};
9 |
10 | void DynamicsParametersSynchronizedModule::preSolverRun(scalar_t initTime, scalar_t finalTime, const vector_t& initState,
11 | const ocs2::ReferenceManagerInterface& referenceManager) {
12 | auto lockedDynamicsParameterPtr = newDynamicsParameters_.lock();
13 | activeDynamicsParameters_ = *lockedDynamicsParameterPtr; // Copy external parameters to the active parameter set
14 | }
15 |
16 | } // namespace switched_model
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_switched_model_interface/src/terrain/PlanarSignedDistanceField.cpp:
--------------------------------------------------------------------------------
1 | //
2 | // Created by rgrandia on 08.09.22.
3 | //
4 |
5 | #include "ocs2_switched_model_interface/terrain/PlanarSignedDistanceField.h"
6 |
7 | namespace switched_model {
8 |
9 | PlanarSignedDistanceField::PlanarSignedDistanceField(TerrainPlane terrainPlane) : terrainPlane_(std::move(terrainPlane)) {}
10 |
11 | PlanarSignedDistanceField::PlanarSignedDistanceField(const PlanarSignedDistanceField& other) : terrainPlane_(other.terrainPlane_) {}
12 |
13 | scalar_t PlanarSignedDistanceField::value(const vector3_t& position) const {
14 | return terrainSignedDistanceFromPositionInWorld(position, terrainPlane_);
15 | }
16 |
17 | vector3_t PlanarSignedDistanceField::derivative(const vector3_t& position) const {
18 | return surfaceNormalInWorld(terrainPlane_);
19 | }
20 |
21 | std::pair PlanarSignedDistanceField::valueAndDerivative(const vector3_t& position) const {
22 | return {value(position), derivative(position)};
23 | }
24 |
25 | } // namespace switched_model
26 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_switched_model_interface/test/constraint/testZeroForceConstraint.cpp:
--------------------------------------------------------------------------------
1 | //
2 | // Created by rgrandia on 19.09.19.
3 | //
4 |
5 | #include
6 |
7 | #include "ocs2_switched_model_interface/constraint/ZeroForceConstraint.h"
8 | #include "ocs2_switched_model_interface/logic/SwitchedModelModeScheduleManager.h"
9 | #include "ocs2_switched_model_interface/core/SwitchedModelPrecomputation.h"
10 | #include "ocs2_switched_model_interface/core/MotionPhaseDefinition.h"
11 |
12 | using namespace switched_model;
13 |
14 | TEST(TestZeroForceConstraint, evaluate) {
15 | // Mock the modeScheduleManager
16 | SwitchedModelModeScheduleManager modeScheduleManager(nullptr, nullptr, nullptr);
17 | modeScheduleManager.setModeSchedule({{},{ModeNumber::FLY}});
18 |
19 | // Mock the precomputation
20 | SwitchedModelPreComputationMockup preComp;
21 |
22 | using TestedConstraint = ZeroForceConstraint;
23 | TestedConstraint zeroForceConstraint(0, modeScheduleManager);
24 |
25 | // evaluation point
26 | double t = 0.0;
27 | input_vector_t u;
28 | state_vector_t x;
29 | u.setZero();
30 | x.setZero();
31 |
32 | auto linearApproximation = zeroForceConstraint.getLinearApproximation(t, x, u, preComp);
33 | std::cout << "h: " << linearApproximation.f.transpose() << std::endl;
34 | std::cout << "dhdx: \n" << linearApproximation.dfdx << std::endl;
35 | std::cout << "dhdu: \n" << linearApproximation.dfdu << std::endl;
36 | }
37 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_switched_model_msgs/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | cmake_minimum_required(VERSION 3.0.0)
2 | project(ocs2_switched_model_msgs)
3 |
4 | set(CATKIN_PACKAGE_DEPENDENCIES
5 | std_msgs
6 | ocs2_msgs
7 | )
8 |
9 | find_package(catkin REQUIRED COMPONENTS
10 | ${CATKIN_PACKAGE_DEPENDENCIES}
11 | message_generation
12 | )
13 |
14 | # Declare the message files to be built
15 | add_message_files(DIRECTORY msg FILES
16 | gait.msg
17 | gait_sequence.msg
18 | scheduled_gait_sequence.msg
19 | )
20 |
21 | # Declare the service files to be built
22 | add_service_files(DIRECTORY srv FILES
23 | trajectory_request.srv
24 | )
25 |
26 | # Actually generate the language-specific message and service files
27 | generate_messages(DEPENDENCIES
28 | ${CATKIN_PACKAGE_DEPENDENCIES}
29 | )
30 |
31 | # Declare that this catkin package's runtime dependencies
32 | catkin_package(CATKIN_DEPENDS
33 | ${CATKIN_PACKAGE_DEPENDENCIES}
34 | message_runtime
35 | )
36 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_switched_model_msgs/msg/gait.msg:
--------------------------------------------------------------------------------
1 | # Gait message
2 |
3 | float32[] eventPhases # event phases: length equal to modesequence's - 1. Values within [0,1]
4 | int8[] modeSequence # mode sequence: e.g., for a quadrupedal robot, it is in the set {0, 1,..., 15}
5 | float32 duration
6 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_switched_model_msgs/msg/gait_sequence.msg:
--------------------------------------------------------------------------------
1 | # Sequence of gaits
2 |
3 | gait[] gaits
4 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_switched_model_msgs/msg/scheduled_gait_sequence.msg:
--------------------------------------------------------------------------------
1 | # Scheduled list of gaits
2 |
3 | float32 startTime
4 | gait_sequence gaitSequence
5 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_switched_model_msgs/package.xml:
--------------------------------------------------------------------------------
1 |
2 | ocs2_switched_model_msgs
3 | 0.0.1
4 | Provides ocs2_switched_model_msgs
5 |
6 | Marko Bjelonic
7 | Ruben Grandia
8 | Oliver Harley
9 | Oliver Harley
10 |
11 | TODO
12 |
13 | catkin
14 | message_generation
15 | std_msgs
16 | ocs2_msgs
17 | message_runtime
18 |
19 |
20 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/ocs2_switched_model_msgs/srv/trajectory_request.srv:
--------------------------------------------------------------------------------
1 | # Trajectory request service
2 |
3 | ocs2_msgs/mpc_target_trajectories trajectory # The trajectory to track
4 | gait_sequence gaitSequence # The gait
5 | ---
6 | bool success # 1 if successful 0 if trajectory couldn't be started.
7 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/segmented_planes_terrain_model/include/segmented_planes_terrain_model/SegmentedPlanesTerrainVisualization.h:
--------------------------------------------------------------------------------
1 | //
2 | // Created by rgrandia on 24.06.20.
3 | //
4 |
5 | #pragma once
6 |
7 | #include
8 | #include
9 |
10 | #include
11 | #include
12 |
13 | namespace switched_model {
14 |
15 | visualization_msgs::MarkerArray getConvexTerrainMarkers(const ConvexTerrain& convexTerrain, ocs2::Color color, double linewidth,
16 | double normalLength);
17 |
18 | } // namespace switched_model
19 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_perceptive_anymal/segmented_planes_terrain_model/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | segmented_planes_terrain_model
4 | 0.0.0
5 | The segmented_planes_terrain_model package
6 |
7 | Ruben Grandia
8 |
9 | TODO
10 |
11 | catkin
12 | convex_plane_decomposition
13 | convex_plane_decomposition_msgs
14 | convex_plane_decomposition_ros
15 | grid_map_filters_rsl
16 | grid_map_ros
17 | grid_map_sdf
18 | ocs2_ros_interfaces
19 | ocs2_switched_model_interface
20 | roscpp
21 | sensor_msgs
22 | visualization_msgs
23 |
24 |
25 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_quadrotor/auto_generated/.gitignore:
--------------------------------------------------------------------------------
1 | # Ignore everything in this directory
2 | *
3 | # Except this file
4 | !.gitignore
5 |
6 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_quadrotor/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_quadrotor
4 | 0.0.0
5 | The ocs2_quadrotor package
6 |
7 | Farbod Farshidian
8 | Jan Carius
9 | Ruben Grandia
10 |
11 | TODO
12 |
13 | catkin
14 |
15 | roslib
16 | pybind11_catkin
17 |
18 | ocs2_mpc
19 | ocs2_ddp
20 | ocs2_robotic_tools
21 | ocs2_robotic_assets
22 | ocs2_python_interface
23 |
24 |
25 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_quadrotor/setup.py:
--------------------------------------------------------------------------------
1 | #!/usr/bin/env python
2 |
3 | from setuptools import setup
4 | from catkin_pkg.python_setup import generate_distutils_setup
5 |
6 | setup_args = generate_distutils_setup(
7 | packages=['ocs2_quadrotor'],
8 | package_dir={'': 'src'}
9 | )
10 |
11 | setup(**setup_args)
12 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_quadrotor/src/ocs2_quadrotor/__init__.py:
--------------------------------------------------------------------------------
1 | from ocs2_quadrotor.QuadrotorPyBindings import mpc_interface
2 | from ocs2_quadrotor.QuadrotorPyBindings import scalar_array, vector_array, matrix_array, TargetTrajectories
3 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_quadrotor/src/pyBindModule.cpp:
--------------------------------------------------------------------------------
1 | #include
2 | #include
3 |
4 | CREATE_ROBOT_PYTHON_BINDINGS(ocs2::quadrotor::QuadrotorPyBindings, QuadrotorPyBindings)
5 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_quadrotor_ros/launch/multiplot.launch:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 |
5 |
6 |
7 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_quadrotor_ros/launch/quadrotor.launch:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
11 |
12 |
13 |
14 |
16 |
17 |
19 |
20 |
22 |
23 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_quadrotor_ros/launch/visualize.launch:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_quadrotor_ros/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_quadrotor_ros
4 | 0.0.0
5 | The ocs2_quadrotor_ros package
6 |
7 | Farbod Farshidian
8 | Jan Carius
9 | Ruben Grandia
10 |
11 | TODO
12 |
13 | catkin
14 |
15 | roslib
16 | tf
17 |
18 | ocs2_mpc
19 | ocs2_ros_interfaces
20 | ocs2_robotic_tools
21 | ocs2_robotic_assets
22 | ocs2_quadrotor
23 |
24 |
25 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_robotic_examples/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | cmake_minimum_required(VERSION 3.0.2)
2 | project(ocs2_robotic_examples)
3 | find_package(catkin REQUIRED)
4 | catkin_metapackage()
5 |
--------------------------------------------------------------------------------
/ocs2_robotic_examples/ocs2_robotic_examples/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_robotic_examples
4 | 0.0.0
5 | The ocs2_robotic_examples metapackage
6 |
7 | Farbod Farshidian
8 | Jan Carius
9 | Ruben Grandia
10 |
11 | TODO
12 |
13 | catkin
14 |
15 | ocs2_ballbot
16 | ocs2_ballbot_ros
17 | ocs2_cartpole
18 | ocs2_cartpole_ros
19 | ocs2_double_integrator
20 | ocs2_double_integrator_ros
21 | ocs2_quadrotor
22 | ocs2_quadrotor_ros
23 | ocs2_mobile_manipulator
24 | ocs2_mobile_manipulator_ros
25 | ocs2_anymal
26 | ocs2_legged_robot
27 | ocs2_legged_robot_ros
28 | xacro
29 |
30 |
31 |
32 |
33 |
34 |
--------------------------------------------------------------------------------
/ocs2_robotic_tools/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_robotic_tools
4 | 0.0.0
5 | The ocs2_robotic_tools package
6 |
7 | Farbod Farshidian
8 | Jan Carius
9 | Ruben Grandia
10 |
11 | TODO
12 |
13 | catkin
14 |
15 | cmake_clang_tools
16 | ocs2_core
17 | ocs2_oc
18 | ocs2_core
19 | ocs2_oc
20 |
21 |
22 |
--------------------------------------------------------------------------------
/ocs2_robotic_tools/src/lintTarget.cpp:
--------------------------------------------------------------------------------
1 | #include
2 | // #include
3 | #include
4 | #include
5 |
6 | // dummy target for clang toolchain
7 | int main() {
8 | return 0;
9 | }
10 |
--------------------------------------------------------------------------------
/ocs2_ros_interfaces/launch/performance_indices.launch:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 |
6 |
7 |
9 |
10 |
--------------------------------------------------------------------------------
/ocs2_ros_interfaces/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 |
4 |
5 | ocs2_ros_interfaces
6 | 0.0.0
7 | The ocs2 communication interfaces to ROS
8 |
9 | TODO
10 | Farbod Farshidian
11 | Jan Carius
12 | Ruben Grandia
13 |
14 | catkin
15 |
16 | cmake_modules
17 | cmake_clang_tools
18 |
19 | roscpp
20 | ocs2_msgs
21 | ocs2_core
22 | ocs2_mpc
23 | std_msgs
24 | visualization_msgs
25 | geometry_msgs
26 | interactive_markers
27 | rqt_multiplot
28 |
29 |
30 |
--------------------------------------------------------------------------------
/ocs2_ros_interfaces/src/lintTarget.cpp:
--------------------------------------------------------------------------------
1 | // command
2 | #include
3 | #include
4 | #include
5 |
6 | // common
7 | #include
8 | #include
9 |
10 | // mpc
11 | #include
12 |
13 | // mrt
14 | #include
15 | #include
16 | #include
17 |
18 | // synchronized_module
19 | #include
20 | #include
21 |
22 | // dummy target for clang toolchain
23 | int main() {
24 | return 0;
25 | }
26 |
--------------------------------------------------------------------------------
/ocs2_slp/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_slp
4 | 0.0.0
5 | A numerical implementation of a first order primal-dual MPC basee on PIPG.
6 |
7 | Farbod Farshidian
8 | Zhengyu Fu
9 |
10 | BSD3
11 |
12 | catkin
13 | ocs2_core
14 | ocs2_mpc
15 | ocs2_oc
16 |
17 |
18 | ocs2_qp_solver
19 |
20 |
--------------------------------------------------------------------------------
/ocs2_sqp/blasfeo_catkin/cmake/blasfeo-extras.cmake.in:
--------------------------------------------------------------------------------
1 | # Forward BLASFEO_PATH explicitly
2 | set(BLASFEO_PATH @BLASFEO_DEVEL_PREFIX@)
3 |
--------------------------------------------------------------------------------
/ocs2_sqp/blasfeo_catkin/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | blasfeo_catkin
4 | 0.0.0
5 | Catkin wrapper for Blasfeo.
6 | Ruben Grandia
7 |
8 | See package
9 |
10 | catkin
11 |
12 |
--------------------------------------------------------------------------------
/ocs2_sqp/hpipm_catkin/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | hpipm_catkin
4 | 0.0.0
5 | Catkin wrapper for HPIPM.
6 | Ruben Grandia
7 |
8 | See package
9 |
10 | catkin
11 | ocs2_core
12 | ocs2_qp_solver
13 | blasfeo_catkin
14 |
15 |
16 |
--------------------------------------------------------------------------------
/ocs2_sqp/ocs2_sqp/README.md:
--------------------------------------------------------------------------------
1 | # OCS2 SQP
2 | This package contains a multiple-shooting, sequential-quadratic-programming solver for problems defined with the OCS2 toolbox.
3 |
4 | ## Dependencies
5 | HPIPM is used as solver for the QP subproblems. Both HPIPM and Blasfeo are automatically installed and wrapped into catkin convention
6 | in the blasfeo_catkin and hpipm_catkin packages.
--------------------------------------------------------------------------------
/ocs2_sqp/ocs2_sqp/doc/LQR_full.pdf:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/leggedrobotics/ocs2/164c26b46bed5d24cd03d90588db8980d03a4951/ocs2_sqp/ocs2_sqp/doc/LQR_full.pdf
--------------------------------------------------------------------------------
/ocs2_sqp/ocs2_sqp/doc/deduction.pdf:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/leggedrobotics/ocs2/164c26b46bed5d24cd03d90588db8980d03a4951/ocs2_sqp/ocs2_sqp/doc/deduction.pdf
--------------------------------------------------------------------------------
/ocs2_sqp/ocs2_sqp/logging/.gitignore:
--------------------------------------------------------------------------------
1 | .idea/
2 |
3 | # virtualenv
4 | venv/
--------------------------------------------------------------------------------
/ocs2_sqp/ocs2_sqp/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_sqp
4 | 0.0.0
5 | The ocs2_hpipm package
6 |
7 | huier
8 |
9 | TODO
10 |
11 | catkin
12 | ocs2_core
13 | ocs2_mpc
14 | ocs2_oc
15 | ocs2_qp_solver
16 | blasfeo_catkin
17 | hpipm_catkin
18 |
19 |
20 |
--------------------------------------------------------------------------------
/ocs2_test_tools/ocs2_qp_solver/package.xml:
--------------------------------------------------------------------------------
1 |
2 |
3 | ocs2_qp_solver
4 | 0.0.0
5 | The ocs2_qp_solver package
6 |
7 | Farbod Farshidian
8 | Jan Carius
9 | Ruben Grandia
10 |
11 | BSD
12 |
13 | catkin
14 | cmake_clang_tools
15 | ocs2_core
16 | ocs2_oc
17 |
18 |
19 |
--------------------------------------------------------------------------------
/ocs2_thirdparty/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | cmake_minimum_required(VERSION 3.0.2)
2 | project(ocs2_thirdparty)
3 |
4 | find_package(catkin)
5 |
6 | catkin_package(
7 | INCLUDE_DIRS
8 | include
9 | )
10 |
11 | install(DIRECTORY include/
12 | DESTINATION "${CATKIN_PACKAGE_INCLUDE_DESTINATION}/../")
13 |
--------------------------------------------------------------------------------
/ocs2_thirdparty/include/cppad/COPYING:
--------------------------------------------------------------------------------
1 | -----------------------------------------------------------------------------
2 | CppAD: C++ Algorithmic Differentiation: Copyright (C) 2003-18 Bradley M. Bell
3 |
4 | CppAD is distributed under the terms of the
5 | Eclipse Public License Version 2.0.
6 |
7 | This Source Code may also be made available under the following
8 | Secondary License when the conditions for such availability set forth
9 | in the Eclipse Public License, Version 2.0 are satisfied:
10 | GNU General Public License, Version 2.0 or later.
11 | -----------------------------------------------------------------------------
12 |
--------------------------------------------------------------------------------
/ocs2_thirdparty/include/cppad/Version.txt:
--------------------------------------------------------------------------------
1 | CPPAD version:
2 | repository: https://github.com/coin-or/CppAD/tree/stable/20190200
3 | tag: 20190200.5
4 | commit_hash: 6d82707ef4847d4cb3bf27a4671918ee618512fd
--------------------------------------------------------------------------------
/ocs2_thirdparty/include/cppad/authors:
--------------------------------------------------------------------------------
1 | Statement of CppAD Authorship and Copyright
2 | ===========================================
3 |
4 | Bradley M. Bell is the sole author of CppAD.
5 | While Bradley M. Bell worked for the University of Washington during
6 | the development of CppAD, the following are also true:
7 |
8 | 1. The CppAD package was not written or maintained as part of any sponsored
9 | grant at the University of Washington.
10 |
11 | 2. Bradley M. Bell was not paid by the University of Washington for the time
12 | he worked on CppAD.
13 |
14 | 3. Working on CppAD was not part of Bradley M. Bell's normal duties at for the
15 | University of Washington.
16 |
17 | Thus, in accordance with Section 2 of the University of Washington's copyright
18 | policy (see the file uw_copy_040507.html in this directory) Bradley M. Bell is
19 | the copyright holder for CppAD.
20 |
--------------------------------------------------------------------------------
/ocs2_thirdparty/include/cppad/cg.hpp:
--------------------------------------------------------------------------------
1 | #ifndef CPPAD_CG_INCLUDED
2 | #define CPPAD_CG_INCLUDED
3 | /* --------------------------------------------------------------------------
4 | * CppADCodeGen: C++ Algorithmic Differentiation with Source Code Generation:
5 | * Copyright (C) 2015 Ciengis
6 | *
7 | * CppADCodeGen is distributed under multiple licenses:
8 | *
9 | * - Eclipse Public License Version 1.0 (EPL1), and
10 | * - GNU General Public License Version 3 (GPL3).
11 | *
12 | * EPL1 terms and conditions can be found in the file "epl-v10.txt", while
13 | * terms and conditions for the GPL3 can be found in the file "gpl3.txt".
14 | * ----------------------------------------------------------------------------
15 | * Author: Joao Leal
16 | */
17 |
18 | #include
19 |
20 | #endif
--------------------------------------------------------------------------------
/ocs2_thirdparty/include/cppad/cg/AUTHORS:
--------------------------------------------------------------------------------
1 | Statement of CppADCodeGen Authorship and Copyright
2 | ==================================================
3 |
4 | CppADCodeGen source is developed by Joao Rui Leal.
5 | CppAD source code is developed by Bradley M. Bell.
6 |
7 | CppADCodeGen copyright holder is Ciengis, SA, while the original CppAD
8 | library copyright holder is Bradley M. Bell.
9 |
--------------------------------------------------------------------------------
/ocs2_thirdparty/include/cppad/cg/COPYING:
--------------------------------------------------------------------------------
1 | CppADCodeGen: C++ Algorithmic Differentiation with Source Code Generation:
2 | Copyright (C) 2018 Joao Leal
3 | Copyright (C) 2012 Ciengis
4 |
5 | CppADCodeGen is distributed under multiple licenses:
6 |
7 | - Eclipse Public License Version 1.0 (EPL1), and
8 | - GNU General Public License Version 3 (GPL3).
9 |
10 | EPL1 terms and conditions can be found in the file epl-v10.txt, while
11 | terms and conditions for the GPL3 can be found in the file gpl3.txt.
12 |
--------------------------------------------------------------------------------
/ocs2_thirdparty/include/cppad/cg/Version.txt:
--------------------------------------------------------------------------------
1 | CPPAD Codegen version:
2 | repository: https://github.com/joaoleal/CppADCodeGen
3 | commit_hash: f3680f154c32f269123e6eea1531bb9030ad40ba
--------------------------------------------------------------------------------
/ocs2_thirdparty/include/cppad/cg/debug.hpp:
--------------------------------------------------------------------------------
1 | #ifndef CPPAD_CG_DEBUG_INCLUDED
2 | #define CPPAD_CG_DEBUG_INCLUDED
3 | /* --------------------------------------------------------------------------
4 | * CppADCodeGen: C++ Algorithmic Differentiation with Source Code Generation:
5 | * Copyright (C) 2012 Ciengis
6 | *
7 | * CppADCodeGen is distributed under multiple licenses:
8 | *
9 | * - Eclipse Public License Version 1.0 (EPL1), and
10 | * - GNU General Public License Version 3 (GPL3).
11 | *
12 | * EPL1 terms and conditions can be found in the file "epl-v10.txt", while
13 | * terms and conditions for the GPL3 can be found in the file "gpl3.txt".
14 | * ----------------------------------------------------------------------------
15 | * Author: Joao Leal
16 | */
17 |
18 | #ifndef CPPADCG_DEBUG_VARIABLE_CHECKID
19 | #define CPPADCG_DEBUG_VARIABLE_CHECKID(id)
20 | #endif
21 |
22 | #endif
23 |
24 |
--------------------------------------------------------------------------------
/ocs2_thirdparty/include/cppad/cg/extra/extra.hpp:
--------------------------------------------------------------------------------
1 | #ifndef CPPAD_CG_EXTRA_INCLUDED
2 | #define CPPAD_CG_EXTRA_INCLUDED
3 | /* --------------------------------------------------------------------------
4 | * CppADCodeGen: C++ Algorithmic Differentiation with Source Code Generation:
5 | * Copyright (C) 2013 Ciengis
6 | *
7 | * CppADCodeGen is distributed under multiple licenses:
8 | *
9 | * - Eclipse Public License Version 1.0 (EPL1), and
10 | * - GNU General Public License Version 3 (GPL3).
11 | *
12 | * EPL1 terms and conditions can be found in the file "epl-v10.txt", while
13 | * terms and conditions for the GPL3 can be found in the file "gpl3.txt".
14 | * ----------------------------------------------------------------------------
15 | * Author: Joao Leal
16 | */
17 |
18 | #include
19 |
20 | #include
21 | #include
22 |
23 | #endif
24 |
--------------------------------------------------------------------------------
/ocs2_thirdparty/include/cppad/cg/lang/c/language_c_double.hpp:
--------------------------------------------------------------------------------
1 | #ifndef CPPAD_CG_LANGUAGE_C_DOUBLE_INCLUDED
2 | #define CPPAD_CG_LANGUAGE_C_DOUBLE_INCLUDED
3 | /* --------------------------------------------------------------------------
4 | * CppADCodeGen: C++ Algorithmic Differentiation with Source Code Generation:
5 | * Copyright (C) 2012 Ciengis
6 | *
7 | * CppADCodeGen is distributed under multiple licenses:
8 | *
9 | * - Eclipse Public License Version 1.0 (EPL1), and
10 | * - GNU General Public License Version 3 (GPL3).
11 | *
12 | * EPL1 terms and conditions can be found in the file "epl-v10.txt", while
13 | * terms and conditions for the GPL3 can be found in the file "gpl3.txt".
14 | * ----------------------------------------------------------------------------
15 | * Author: Joao Leal
16 | */
17 |
18 | namespace CppAD {
19 | namespace cg {
20 |
21 | /**
22 | * Specialization of the C language function names for doubles
23 | *
24 | * @author Joao Leal
25 | */
26 | template<>
27 | inline const std::string& LanguageC::absFuncName() {
28 | static const std::string name("fabs");
29 | return name;
30 | }
31 |
32 | template<>
33 | inline const std::string& LanguageC::getPrintfBaseFormat() {
34 | static const std::string format("%f");
35 | return format;
36 | }
37 |
38 | } // END cg namespace
39 | } // END CppAD namespace
40 |
41 | #endif
--------------------------------------------------------------------------------
/ocs2_thirdparty/include/cppad/cg/lang/dot/dot.hpp:
--------------------------------------------------------------------------------
1 | #ifndef CPPAD_CG_DOT_INCLUDED
2 | #define CPPAD_CG_DOT_INCLUDED
3 | /* --------------------------------------------------------------------------
4 | * CppADCodeGen: C++ Algorithmic Differentiation with Source Code Generation:
5 | * Copyright (C) 2016 Ciengis
6 | *
7 | * CppADCodeGen is distributed under multiple licenses:
8 | *
9 | * - Eclipse Public License Version 1.0 (EPL1), and
10 | * - GNU General Public License Version 3 (GPL3).
11 | *
12 | * EPL1 terms and conditions can be found in the file "epl-v10.txt", while
13 | * terms and conditions for the GPL3 can be found in the file "gpl3.txt".
14 | * ----------------------------------------------------------------------------
15 | * Author: Joao Leal
16 | */
17 |
18 | // ---------------------------------------------------------------------------
19 | // dot source code generation
20 | #include
21 | #include
22 | #include
23 | #include
24 |
25 | #endif
--------------------------------------------------------------------------------
/ocs2_thirdparty/include/cppad/cg/lang/latex/latex.hpp:
--------------------------------------------------------------------------------
1 | #ifndef CPPAD_CG_LATEX_INCLUDED
2 | #define CPPAD_CG_LATEX_INCLUDED
3 | /* --------------------------------------------------------------------------
4 | * CppADCodeGen: C++ Algorithmic Differentiation with Source Code Generation:
5 | * Copyright (C) 2014 Ciengis
6 | *
7 | * CppADCodeGen is distributed under multiple licenses:
8 | *
9 | * - Eclipse Public License Version 1.0 (EPL1), and
10 | * - GNU General Public License Version 3 (GPL3).
11 | *
12 | * EPL1 terms and conditions can be found in the file "epl-v10.txt", while
13 | * terms and conditions for the GPL3 can be found in the file "gpl3.txt".
14 | * ----------------------------------------------------------------------------
15 | * Author: Joao Leal
16 | */
17 |
18 | // ---------------------------------------------------------------------------
19 | // latex source code generation
20 | #include
21 | #include
22 | #include
23 | #include
24 | //#include
25 | //#include
26 | #include
27 |
28 | #endif
--------------------------------------------------------------------------------
/ocs2_thirdparty/include/cppad/cg/lang/mathml/mathml.hpp:
--------------------------------------------------------------------------------
1 | #ifndef CPPAD_CG_MATHML_INCLUDED
2 | #define CPPAD_CG_MATHML_INCLUDED
3 | /* --------------------------------------------------------------------------
4 | * CppADCodeGen: C++ Algorithmic Differentiation with Source Code Generation:
5 | * Copyright (C) 2015 Ciengis
6 | *
7 | * CppADCodeGen is distributed under multiple licenses:
8 | *
9 | * - Eclipse Public License Version 1.0 (EPL1), and
10 | * - GNU General Public License Version 3 (GPL3).
11 | *
12 | * EPL1 terms and conditions can be found in the file "epl-v10.txt", while
13 | * terms and conditions for the GPL3 can be found in the file "gpl3.txt".
14 | * ----------------------------------------------------------------------------
15 | * Author: Joao Leal
16 | */
17 |
18 | // ---------------------------------------------------------------------------
19 | // mathml source code generation
20 | #include
21 | #include
22 | #include
23 | #include
24 | #include
25 |
26 | #endif
--------------------------------------------------------------------------------
/ocs2_thirdparty/include/cppad/cg/model/dynamic_lib/archiver.hpp:
--------------------------------------------------------------------------------
1 | #ifndef CPPAD_CG_ARCHIVER_INCLUDED
2 | #define CPPAD_CG_ARCHIVER_INCLUDED
3 | /* --------------------------------------------------------------------------
4 | * CppADCodeGen: C++ Algorithmic Differentiation with Source Code Generation:
5 | * Copyright (C) 2013 Ciengis
6 | *
7 | * CppADCodeGen is distributed under multiple licenses:
8 | *
9 | * - Eclipse Public License Version 1.0 (EPL1), and
10 | * - GNU General Public License Version 3 (GPL3).
11 | *
12 | * EPL1 terms and conditions can be found in the file "epl-v10.txt", while
13 | * terms and conditions for the GPL3 can be found in the file "gpl3.txt".
14 | * ----------------------------------------------------------------------------
15 | * Author: Joao Leal
16 | */
17 |
18 | #include
19 |
20 | namespace CppAD {
21 | namespace cg {
22 |
23 | /**
24 | * A tool used to create static libraries from object files
25 | */
26 | class Archiver {
27 | public:
28 | virtual bool isVerbose() const = 0;
29 |
30 | virtual void setVerbose(bool verbose) = 0;
31 |
32 | virtual void create(const std::string& library,
33 | const std::set& objectFiles,
34 | JobTimer* timer = nullptr) = 0;
35 |
36 | inline virtual ~Archiver() {
37 | };
38 | };
39 |
40 | } // END cg namespace
41 | } // END CppAD namespace
42 |
43 | #endif
--------------------------------------------------------------------------------
/ocs2_thirdparty/include/cppad/cg/model/dynamic_lib/dynamiclib.hpp:
--------------------------------------------------------------------------------
1 | #ifndef CPPAD_CG_DYNAMICLIB_INCLUDED
2 | #define CPPAD_CG_DYNAMICLIB_INCLUDED
3 | /* --------------------------------------------------------------------------
4 | * CppADCodeGen: C++ Algorithmic Differentiation with Source Code Generation:
5 | * Copyright (C) 2012 Ciengis
6 | *
7 | * CppADCodeGen is distributed under multiple licenses:
8 | *
9 | * - Eclipse Public License Version 1.0 (EPL1), and
10 | * - GNU General Public License Version 3 (GPL3).
11 | *
12 | * EPL1 terms and conditions can be found in the file "epl-v10.txt", while
13 | * terms and conditions for the GPL3 can be found in the file "gpl3.txt".
14 | * ----------------------------------------------------------------------------
15 | * Author: Joao Leal
16 | */
17 |
18 | namespace CppAD {
19 | namespace cg {
20 |
21 | /**
22 | * Abstract class used to load compiled models in a dynamic library
23 | *
24 | * @author Joao Leal
25 | */
26 | template
27 | class DynamicLib : public FunctorModelLibrary {
28 | public:
29 |
30 | inline virtual ~DynamicLib() {
31 | }
32 |
33 | };
34 |
35 | } // END cg namespace
36 | } // END CppAD namespace
37 |
38 | #endif
--------------------------------------------------------------------------------
/ocs2_thirdparty/include/cppad/cg/model/threadpool/multi_threading_type.hpp:
--------------------------------------------------------------------------------
1 | #ifndef CPPAD_CG_MULTITHREADINGTYPE_INCLUDED
2 | #define CPPAD_CG_MULTITHREADINGTYPE_INCLUDED
3 | /* --------------------------------------------------------------------------
4 | * CppADCodeGen: C++ Algorithmic Differentiation with Source Code Generation:
5 | * Copyright (C) 2016 Ciengis
6 | *
7 | * CppADCodeGen is distributed under multiple licenses:
8 | *
9 | * - Eclipse Public License Version 1.0 (EPL1), and
10 | * - GNU General Public License Version 3 (GPL3).
11 | *
12 | * EPL1 terms and conditions can be found in the file "epl-v10.txt", while
13 | * terms and conditions for the GPL3 can be found in the file "gpl3.txt".
14 | * ----------------------------------------------------------------------------
15 | * Author: Joao Leal
16 | */
17 |
18 | namespace CppAD {
19 | namespace cg {
20 |
21 | enum class MultiThreadingType {
22 | NONE, // no multithreading
23 | OPENMP, // using the OpenMP library (does not work on dynamically loaded model libraries)
24 | PTHREADS // using the PThreads library
25 | };
26 |
27 | }
28 | }
29 |
30 | #endif
31 |
--------------------------------------------------------------------------------
/ocs2_thirdparty/include/cppad/cg/model/threadpool/thread_pool_schedule_strategy.hpp:
--------------------------------------------------------------------------------
1 | #ifndef CPPAD_CG_THREAD_POOL_SCHEDULE_STRATEGY_INCLUDED
2 | #define CPPAD_CG_THREAD_POOL_SCHEDULE_STRATEGY_INCLUDED
3 | /* --------------------------------------------------------------------------
4 | * CppADCodeGen: C++ Algorithmic Differentiation with Source Code Generation:
5 | * Copyright (C) 2016 Ciengis
6 | *
7 | * CppADCodeGen is distributed under multiple licenses:
8 | *
9 | * - Eclipse Public License Version 1.0 (EPL1), and
10 | * - GNU General Public License Version 3 (GPL3).
11 | *
12 | * EPL1 terms and conditions can be found in the file "epl-v10.txt", while
13 | * terms and conditions for the GPL3 can be found in the file "gpl3.txt".
14 | * ----------------------------------------------------------------------------
15 | * Author: Joao Leal
16 | */
17 |
18 | namespace CppAD {
19 | namespace cg {
20 |
21 | enum class ThreadPoolScheduleStrategy {
22 | STATIC = 1, // all jobs are assigned to a thread at the beginning
23 | DYNAMIC = 2, // each thread only executes a single job at a time
24 | GUIDED = 3 // each thread can execute multiple jobs before returning to the pool
25 | };
26 |
27 | }
28 | }
29 |
30 | #endif
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/ocs2_thirdparty/include/cppad/cg/nan.hpp:
--------------------------------------------------------------------------------
1 | #ifndef CPPAD_CG_NAN_HPP
2 | #define CPPAD_CG_NAN_HPP
3 | /* --------------------------------------------------------------------------
4 | * CppADCodeGen: C++ Algorithmic Differentiation with Source Code Generation:
5 | * Copyright (C) 2013 Ciengis
6 | *
7 | * CppADCodeGen is distributed under multiple licenses:
8 | *
9 | * - Eclipse Public License Version 1.0 (EPL1), and
10 | * - GNU General Public License Version 3 (GPL3).
11 | *
12 | * EPL1 terms and conditions can be found in the file "epl-v10.txt", while
13 | * terms and conditions for the GPL3 can be found in the file "gpl3.txt".
14 | * ----------------------------------------------------------------------------
15 | * Author: Joao Leal
16 | */
17 |
18 | namespace CppAD {
19 |
20 | template
21 | inline bool isnan(const cg::CG &s) {
22 | using namespace CppAD::cg;
23 |
24 | if (s.isVariable()) {
25 | return false;
26 | } else {
27 | // a parameter
28 | const Base& v = s.getValue();
29 | return (v != v);
30 | }
31 | }
32 |
33 | } // END CppAD namespace
34 |
35 | #endif
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/ocs2_thirdparty/include/cppad/cg/unary.hpp:
--------------------------------------------------------------------------------
1 | #ifndef CPPAD_CG_UNARY_INCLUDED
2 | #define CPPAD_CG_UNARY_INCLUDED
3 | /* --------------------------------------------------------------------------
4 | * CppADCodeGen: C++ Algorithmic Differentiation with Source Code Generation:
5 | * Copyright (C) 2012 Ciengis
6 | *
7 | * CppADCodeGen is distributed under multiple licenses:
8 | *
9 | * - Eclipse Public License Version 1.0 (EPL1), and
10 | * - GNU General Public License Version 3 (GPL3).
11 | *
12 | * EPL1 terms and conditions can be found in the file "epl-v10.txt", while
13 | * terms and conditions for the GPL3 can be found in the file "gpl3.txt".
14 | * ----------------------------------------------------------------------------
15 | * Author: Joao Leal
16 | */
17 |
18 | namespace CppAD {
19 | namespace cg {
20 |
21 | template
22 | inline CG CG::operator+() const {
23 | return CG (*this); // nothing to do
24 | }
25 |
26 | template
27 | inline CG CG::operator-() const {
28 | if (isParameter()) {
29 | return CG (-getValue());
30 |
31 | } else {
32 | CodeHandler& h = *getCodeHandler();
33 | CG result(*h.makeNode(CGOpCode::UnMinus, this->argument()));
34 | if (isValueDefined()) {
35 | result.setValue(-getValue());
36 | }
37 | return result;
38 | }
39 | }
40 |
41 | } // END cg namespace
42 | } // END CppAD namespace
43 |
44 | #endif
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/ocs2_thirdparty/include/cppad/core/ad_type.hpp:
--------------------------------------------------------------------------------
1 | # ifndef CPPAD_CORE_AD_TYPE_HPP
2 | # define CPPAD_CORE_AD_TYPE_HPP
3 | /* --------------------------------------------------------------------------
4 | CppAD: C++ Algorithmic Differentiation: Copyright (C) 2003-18 Bradley M. Bell
5 |
6 | CppAD is distributed under the terms of the
7 | Eclipse Public License Version 2.0.
8 |
9 | This Source Code may also be made available under the following
10 | Secondary License when the conditions for such availability set forth
11 | in the Eclipse Public License, Version 2.0 are satisfied:
12 | GNU General Public License, Version 2.0 or later.
13 | ---------------------------------------------------------------------------- */
14 |
15 | namespace CppAD { // BEGIN_CPPAD_NAMESPACE
16 | /*!
17 | \file ad_type.hpp
18 | Define the enum type ad_type_enum
19 | */
20 |
21 | /// The ad_type_enum type
22 | typedef enum {
23 | constant_enum,
24 | dynamic_enum,
25 | variable_enum
26 | }
27 | ad_type_enum;
28 |
29 | } // END_CPPAD_NAMESPACE
30 | # endif
31 |
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/ocs2_thirdparty/include/cppad/core/arithmetic.hpp:
--------------------------------------------------------------------------------
1 | # ifndef CPPAD_CORE_ARITHMETIC_HPP
2 | # define CPPAD_CORE_ARITHMETIC_HPP
3 | /* --------------------------------------------------------------------------
4 | CppAD: C++ Algorithmic Differentiation: Copyright (C) 2003-17 Bradley M. Bell
5 |
6 | CppAD is distributed under the terms of the
7 | Eclipse Public License Version 2.0.
8 |
9 | This Source Code may also be made available under the following
10 | Secondary License when the conditions for such availability set forth
11 | in the Eclipse Public License, Version 2.0 are satisfied:
12 | GNU General Public License, Version 2.0 or later.
13 | ---------------------------------------------------------------------------- */
14 |
15 | /*
16 | -------------------------------------------------------------------------------
17 | $begin Arithmetic$$
18 | $spell
19 | Op
20 | const
21 | $$
22 |
23 |
24 |
25 | $section AD Arithmetic Operators and Compound Assignments$$
26 |
27 | $childtable%
28 | include/cppad/core/unary_plus.hpp%
29 | include/cppad/core/unary_minus.hpp%
30 | include/cppad/core/ad_binary.hpp%
31 | include/cppad/core/compound_assign.hpp
32 | %$$
33 |
34 | $end
35 | -------------------------------------------------------------------------------
36 | */
37 | # include
38 | # include
39 | # include
40 | # include
41 |
42 | # endif
43 |
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/ocs2_thirdparty/include/cppad/core/drivers.hpp:
--------------------------------------------------------------------------------
1 | # ifndef CPPAD_CORE_DRIVERS_HPP
2 | # define CPPAD_CORE_DRIVERS_HPP
3 | /* --------------------------------------------------------------------------
4 | CppAD: C++ Algorithmic Differentiation: Copyright (C) 2003-17 Bradley M. Bell
5 |
6 | CppAD is distributed under the terms of the
7 | Eclipse Public License Version 2.0.
8 |
9 | This Source Code may also be made available under the following
10 | Secondary License when the conditions for such availability set forth
11 | in the Eclipse Public License, Version 2.0 are satisfied:
12 | GNU General Public License, Version 2.0 or later.
13 | ---------------------------------------------------------------------------- */
14 |
15 | # include
16 | # include
17 | # include
18 | # include