├── .git-blame-ignore-revs ├── .github ├── ISSUE_TEMPLATE │ ├── bug_report.md │ └── feature-request.md ├── dependabot.yml └── workflows │ ├── changelog.yaml │ ├── conda-ci.yml │ ├── conda │ └── conda-env.yml │ ├── nix-ci.yml │ ├── ros2-ci.yaml │ └── update-flake-lock.yml ├── .gitignore ├── .gitlab-ci.yml ├── .gitmodules ├── .pre-commit-config.yaml ├── .yapfignore ├── CHANGELOG.md ├── CMakeLists.txt ├── CONTRIBUTING.md ├── LICENSE ├── PUBLICATIONS.md ├── README.md ├── benchmark ├── CMakeLists.txt ├── all_robots.cpp ├── arm_manipulation_optctrl.cpp ├── arm_manipulation_optctrl.py ├── arm_manipulation_timings.cpp ├── bipedal_timings.cpp ├── bipedal_walk_optctrl.py ├── boxqp.cpp ├── factory │ ├── arm-kinova.hpp │ ├── arm.hpp │ ├── legged-robots.hpp │ └── robot-ee-names.hpp ├── lqr_optctrl.cpp ├── lqr_optctrl.py ├── quadrupedal_gaits_optctrl.cpp ├── quadrupedal_gaits_optctrl.py ├── read_csv.py ├── unicycle_optctrl.cpp └── unicycle_optctrl.py ├── bindings ├── CMakeLists.txt └── python │ └── crocoddyl │ ├── CMakeLists.txt │ ├── __init__.py │ ├── __init__.py.in │ ├── core │ ├── action-base.cpp.in │ ├── action-base.hpp │ ├── actions │ │ ├── diff-lqr.cpp.in │ │ ├── lqr.cpp.in │ │ └── unicycle.cpp.in │ ├── activation-base.cpp.in │ ├── activation-base.hpp │ ├── activations │ │ ├── 2norm-barrier.cpp.in │ │ ├── quadratic-barrier.cpp.in │ │ ├── quadratic-flat-exp.cpp.in │ │ ├── quadratic-flat-log.cpp.in │ │ ├── quadratic.cpp.in │ │ ├── smooth-1norm.cpp.in │ │ ├── smooth-2norm.cpp.in │ │ ├── weighted-quadratic-barrier.cpp.in │ │ └── weighted-quadratic.cpp.in │ ├── actuation-base.cpp.in │ ├── actuation-base.hpp │ ├── actuation │ │ ├── actuation-squashing.cpp.in │ │ ├── squashing-base.cpp.in │ │ ├── squashing-base.hpp │ │ └── squashing │ │ │ └── smooth-sat.cpp.in │ ├── codegen │ │ └── action.cpp.in │ ├── constraint-base.cpp.in │ ├── constraint-base.hpp │ ├── constraints │ │ ├── constraint-manager.cpp.in │ │ └── residual.cpp.in │ ├── control-base.cpp.in │ ├── control-base.hpp │ ├── controls │ │ ├── poly-one.cpp.in │ │ ├── poly-two-rk.cpp.in │ │ └── poly-zero.cpp.in │ ├── core.cpp │ ├── core.hpp │ ├── cost-base.cpp.in │ ├── cost-base.hpp │ ├── costs │ │ ├── cost-sum.cpp.in │ │ └── residual.cpp.in │ ├── data-collector-base.cpp.in │ ├── data │ │ ├── actuation.cpp.in │ │ └── joint.cpp.in │ ├── diff-action-base.cpp.in │ ├── diff-action-base.hpp │ ├── integ-action-base.cpp.in │ ├── integ-action-base.hpp │ ├── integrator │ │ ├── euler.cpp.in │ │ └── rk.cpp.in │ ├── numdiff │ │ ├── action.cpp.in │ │ ├── activation.cpp.in │ │ ├── diff-action.cpp.in │ │ └── state.cpp.in │ ├── optctrl │ │ └── shooting.cpp.in │ ├── residual-base.cpp.in │ ├── residual-base.hpp │ ├── residuals │ │ ├── control.cpp.in │ │ ├── joint-acceleration.cpp.in │ │ └── joint-effort.cpp.in │ ├── solver-base.cpp.in │ ├── solver-base.hpp │ ├── solvers │ │ ├── box-ddp.cpp.in │ │ ├── box-fddp.cpp.in │ │ ├── box-qp.cpp.in │ │ ├── ddp.cpp.in │ │ ├── fddp.cpp.in │ │ ├── intro.cpp.in │ │ ├── ipopt.cpp.in │ │ └── kkt.cpp.in │ ├── state-base.cpp.in │ ├── state-base.hpp │ ├── states │ │ └── euclidean.cpp.in │ └── utils │ │ ├── callbacks.cpp.in │ │ ├── exception.cpp.in │ │ ├── exception.hpp │ │ ├── stop-watch.cpp.in │ │ └── stop-watch.hpp │ ├── crocoddyl.cpp.in │ ├── crocoddyl.launch │ ├── crocoddyl.rviz │ ├── deprecated.py │ ├── fwd.hpp │ ├── multibody │ ├── actions │ │ ├── contact-fwddyn.cpp.in │ │ ├── contact-invdyn.cpp.in │ │ ├── free-fwddyn.cpp.in │ │ ├── free-invdyn.cpp.in │ │ └── impulse-fwddyn.cpp.in │ ├── actuations │ │ ├── floating-base-propellers.cpp.in │ │ ├── floating-base.cpp.in │ │ └── full.cpp.in │ ├── contact-base.cpp.in │ ├── contact-base.hpp │ ├── contacts │ │ ├── contact-1d.cpp.in │ │ ├── contact-2d.cpp.in │ │ ├── contact-3d.cpp.in │ │ ├── contact-6d.cpp.in │ │ └── multiple-contacts.cpp.in │ ├── cop-support.cpp.in │ ├── data │ │ ├── contacts.cpp.in │ │ ├── impulses.cpp.in │ │ └── multibody.cpp.in │ ├── force-base.cpp.in │ ├── friction-cone.cpp.in │ ├── impulse-base.cpp.in │ ├── impulse-base.hpp │ ├── impulses │ │ ├── impulse-3d.cpp.in │ │ ├── impulse-6d.cpp.in │ │ └── multiple-impulses.cpp.in │ ├── multibody.cpp.in │ ├── multibody.hpp │ ├── residuals │ │ ├── centroidal-momentum.cpp.in │ │ ├── com-position.cpp.in │ │ ├── contact-control-gravity.cpp.in │ │ ├── contact-cop-position.cpp.in │ │ ├── contact-force.cpp.in │ │ ├── contact-friction-cone.cpp.in │ │ ├── contact-wrench-cone.cpp.in │ │ ├── control-gravity.cpp.in │ │ ├── frame-placement.cpp.in │ │ ├── frame-rotation.cpp.in │ │ ├── frame-translation.cpp.in │ │ ├── frame-velocity.cpp.in │ │ ├── impulse-com.cpp.in │ │ ├── pair-collision.cpp.in │ │ └── state.cpp.in │ ├── states │ │ └── multibody.cpp.in │ └── wrench-cone.cpp.in │ └── utils │ ├── __init__.py │ ├── biped.py │ ├── cast.hpp │ ├── copyable.hpp │ ├── deprecate.hpp │ ├── map-converter.hpp │ ├── namespace.hpp │ ├── pendulum.py │ ├── printable.hpp │ ├── quadruped.py │ ├── scalar.hpp │ ├── set-converter.hpp │ ├── set_indexing_suite.hpp │ └── vector-converter.hpp ├── crocoddyl.cmake ├── dependencies.rosinstall ├── doc ├── Doxyfile.extra.in ├── Overview.md ├── bib │ ├── budhiraja-ichr18.bib │ ├── carpentier-rss18.bib │ ├── mastalli-icra20.bib │ └── tassa-icra14.bib ├── customdoxygen.css ├── header.html ├── images │ ├── crocoddyl_logo.png │ ├── crocoddyl_logo.svg │ ├── crocoddyl_thumb.png │ └── crocoddyl_thumb.svg ├── references.bib └── reports │ └── fddp │ ├── Makefile │ └── root.tex ├── examples ├── CMakeLists.txt ├── __init__.py ├── arm_manipulation_fwddyn.py ├── arm_manipulation_invdyn.py ├── bipedal_gaits_fwddyn.py ├── bipedal_gaits_invdyn.py ├── bipedal_walk_ubound.py ├── boxfddp_vs_boxddp.py ├── double_pendulum_fwddyn.py ├── double_pendulum_invdyn.py ├── humanoid_manipulation.py ├── humanoid_manipulation_ubound.py ├── humanoid_taichi.py ├── log │ ├── arm_manipulation_fwddyn.log │ ├── arm_manipulation_invdyn.log │ ├── bipedal_gaits_fwddyn.log │ ├── bipedal_gaits_invdyn.log │ ├── bipedal_walk_ubound.log │ ├── boxfddp_vs_boxddp.log │ ├── check_logfiles.sh │ ├── double_pendulum_fwddyn.log │ ├── double_pendulum_invdyn.log │ ├── humanoid_manipulation.log │ ├── humanoid_manipulation_ubound.log │ ├── humanoid_taichi.log │ ├── quadrotor_fwddyn.log │ ├── quadrotor_invdyn.log │ ├── quadrotor_ubound.log │ ├── quadrupedal_gaits_fwddyn.log │ ├── quadrupedal_gaits_invdyn.log │ ├── quadrupedal_walk_ubound.log │ └── update_logfiles.sh ├── quadrotor_fwddyn.py ├── quadrotor_invdyn.py ├── quadrotor_ubound.py ├── quadrupedal_gaits_fwddyn.py ├── quadrupedal_gaits_invdyn.py └── quadrupedal_walk_ubound.py ├── flake.lock ├── flake.nix ├── include └── crocoddyl │ ├── core │ ├── action-base.hpp │ ├── action-base.hxx │ ├── actions │ │ ├── diff-lqr.hpp │ │ ├── diff-lqr.hxx │ │ ├── lqr.hpp │ │ ├── lqr.hxx │ │ ├── unicycle.hpp │ │ └── unicycle.hxx │ ├── activation-base.hpp │ ├── activations │ │ ├── 2norm-barrier.hpp │ │ ├── quadratic-barrier.hpp │ │ ├── quadratic-flat-exp.hpp │ │ ├── quadratic-flat-log.hpp │ │ ├── quadratic.hpp │ │ ├── smooth-1norm.hpp │ │ ├── smooth-2norm.hpp │ │ ├── smooth-abs.hpp │ │ ├── weighted-quadratic-barrier.hpp │ │ └── weighted-quadratic.hpp │ ├── actuation-base.hpp │ ├── actuation-base.hxx │ ├── actuation │ │ ├── actuation-squashing.hpp │ │ ├── squashing-base.hpp │ │ └── squashing │ │ │ └── smooth-sat.hpp │ ├── codegen │ │ ├── action-base.hpp │ │ ├── action.hpp │ │ └── action.hxx │ ├── constraint-base.hpp │ ├── constraint-base.hxx │ ├── constraints │ │ ├── constraint-manager.hpp │ │ ├── constraint-manager.hxx │ │ ├── residual.hpp │ │ └── residual.hxx │ ├── control-base.hpp │ ├── control-base.hxx │ ├── controls │ │ ├── poly-one.hpp │ │ ├── poly-one.hxx │ │ ├── poly-two-rk.hpp │ │ ├── poly-two-rk.hxx │ │ ├── poly-zero.hpp │ │ └── poly-zero.hxx │ ├── cost-base.hpp │ ├── cost-base.hxx │ ├── costs │ │ ├── cost-sum.hpp │ │ ├── cost-sum.hxx │ │ ├── residual.hpp │ │ └── residual.hxx │ ├── data-collector-base.hpp │ ├── data │ │ ├── actuation.hpp │ │ └── joint.hpp │ ├── diff-action-base.hpp │ ├── diff-action-base.hxx │ ├── fwd.hpp │ ├── integ-action-base.hpp │ ├── integ-action-base.hxx │ ├── integrator │ │ ├── euler.hpp │ │ ├── euler.hxx │ │ ├── rk.hpp │ │ └── rk.hxx │ ├── macros.hpp │ ├── mathbase.hpp │ ├── numdiff │ │ ├── action.hpp │ │ ├── action.hxx │ │ ├── activation.hpp │ │ ├── activation.hxx │ │ ├── actuation.hpp │ │ ├── actuation.hxx │ │ ├── constraint.hpp │ │ ├── constraint.hxx │ │ ├── control.hpp │ │ ├── control.hxx │ │ ├── cost.hpp │ │ ├── cost.hxx │ │ ├── diff-action.hpp │ │ ├── diff-action.hxx │ │ ├── residual.hpp │ │ ├── residual.hxx │ │ ├── state.hpp │ │ └── state.hxx │ ├── optctrl │ │ ├── shooting.hpp │ │ └── shooting.hxx │ ├── pch.hpp │ ├── residual-base.hpp │ ├── residual-base.hxx │ ├── residuals │ │ ├── control.hpp │ │ ├── control.hxx │ │ ├── joint-acceleration.hpp │ │ ├── joint-acceleration.hxx │ │ ├── joint-effort.hpp │ │ └── joint-effort.hxx │ ├── solver-base.hpp │ ├── solvers │ │ ├── box-ddp.hpp │ │ ├── box-fddp.hpp │ │ ├── box-kkt.hpp │ │ ├── box-qp.hpp │ │ ├── ddp.hpp │ │ ├── fddp.hpp │ │ ├── intro.hpp │ │ ├── ipopt.hpp │ │ ├── ipopt │ │ │ └── ipopt-iface.hpp │ │ └── kkt.hpp │ ├── state-base.hpp │ ├── state-base.hxx │ ├── states │ │ ├── euclidean.hpp │ │ └── euclidean.hxx │ └── utils │ │ ├── callbacks.hpp │ │ ├── conversions.hpp │ │ ├── deprecate.hpp │ │ ├── exception.hpp │ │ ├── file-io.hpp │ │ ├── math.hpp │ │ ├── motion-display.hpp │ │ ├── robot-loader.hpp │ │ ├── scalar.hpp │ │ ├── solution-plot.hpp │ │ ├── stop-watch.hpp │ │ ├── timer.hpp │ │ └── version.hpp │ └── multibody │ ├── actions │ ├── contact-fwddyn.hpp │ ├── contact-fwddyn.hxx │ ├── contact-invdyn.hpp │ ├── contact-invdyn.hxx │ ├── free-fwddyn.hpp │ ├── free-fwddyn.hxx │ ├── free-invdyn.hpp │ ├── free-invdyn.hxx │ ├── impulse-fwddyn.hpp │ └── impulse-fwddyn.hxx │ ├── actuations │ ├── floating-base-thrusters.hpp │ ├── floating-base.hpp │ └── full.hpp │ ├── codegen │ └── pinocchio_cast.hpp │ ├── contact-base.hpp │ ├── contact-base.hxx │ ├── contacts │ ├── contact-1d.hpp │ ├── contact-1d.hxx │ ├── contact-2d.hpp │ ├── contact-2d.hxx │ ├── contact-3d.hpp │ ├── contact-3d.hxx │ ├── contact-6d.hpp │ ├── contact-6d.hxx │ ├── multiple-contacts.hpp │ └── multiple-contacts.hxx │ ├── cop-support.hpp │ ├── cop-support.hxx │ ├── cost-base.hpp │ ├── data │ ├── contacts.hpp │ ├── impulses.hpp │ └── multibody.hpp │ ├── force-base.hpp │ ├── friction-cone.hpp │ ├── friction-cone.hxx │ ├── fwd.hpp │ ├── impulse-base.hpp │ ├── impulse-base.hxx │ ├── impulses │ ├── impulse-3d.hpp │ ├── impulse-3d.hxx │ ├── impulse-6d.hpp │ ├── impulse-6d.hxx │ ├── multiple-impulses.hpp │ └── multiple-impulses.hxx │ ├── numdiff │ ├── contact.hpp │ ├── contact.hxx │ └── cost.hpp │ ├── pch.hpp │ ├── residuals │ ├── centroidal-momentum.hpp │ ├── centroidal-momentum.hxx │ ├── com-position.hpp │ ├── com-position.hxx │ ├── contact-control-gravity.hpp │ ├── contact-control-gravity.hxx │ ├── contact-cop-position.hpp │ ├── contact-cop-position.hxx │ ├── contact-force.hpp │ ├── contact-force.hxx │ ├── contact-friction-cone.hpp │ ├── contact-friction-cone.hxx │ ├── contact-wrench-cone.hpp │ ├── contact-wrench-cone.hxx │ ├── control-gravity.hpp │ ├── control-gravity.hxx │ ├── frame-placement.hpp │ ├── frame-placement.hxx │ ├── frame-rotation.hpp │ ├── frame-rotation.hxx │ ├── frame-translation.hpp │ ├── frame-translation.hxx │ ├── frame-velocity.hpp │ ├── frame-velocity.hxx │ ├── impulse-com.hpp │ ├── impulse-com.hxx │ ├── pair-collision.hpp │ ├── pair-collision.hxx │ ├── state.hpp │ └── state.hxx │ ├── states │ ├── multibody.hpp │ └── multibody.hxx │ ├── utils │ └── quadruped-gaits.hpp │ ├── wrench-cone.hpp │ └── wrench-cone.hxx ├── notebooks ├── 01_introduction_to_crocoddyl.ipynb ├── 02_optimizing_a_cartpole_swingup.ipynb ├── 03_optimizing_an_unicycle.ipynb ├── 04_actuating_an_acrobot.ipynb ├── 05_codegenerating_a_cartpole.ipynb ├── 06_scaling_to_robotics.ipynb ├── 07_targetting_in_aerial_manipulation.ipynb ├── 08_backflips_in_humanoids.ipynb ├── CMakeLists.txt ├── arm_manipulation.ipynb ├── bipedal_walking.ipynb ├── cartpole_utils.py ├── p2p.py ├── run_notebook.py ├── solutions │ ├── cartpole_analytical_derivatives.py │ ├── cartpole_ddp.py │ ├── cartpole_dyn.py │ ├── cartpole_fxfu.py │ ├── cartpole_integration.py │ └── cartpole_tuning.py ├── unicycle_towards_origin.ipynb ├── unicycle_towards_origin.py ├── unicycle_utils.py └── whole_body_manipulation.ipynb ├── package.xml ├── pyproject.toml ├── src ├── core │ ├── action-base.cpp.in │ ├── actions │ │ ├── diff-lqr.cpp.in │ │ ├── lqr.cpp.in │ │ └── unicycle.cpp.in │ ├── activation-base.cpp.in │ ├── activations │ │ ├── 2norm-barrier.cpp.in │ │ ├── quadratic-barrier.cpp.in │ │ ├── quadratic-flat-exp.cpp.in │ │ ├── quadratic-flat-log.cpp.in │ │ ├── quadratic.cpp.in │ │ ├── smooth-1norm.cpp.in │ │ ├── smooth-2norm.cpp.in │ │ ├── smooth-abs.cpp.in │ │ ├── weighted-quadratic-barrier.cpp.in │ │ └── weighted-quadratic.cpp.in │ ├── actuation-base.cpp.in │ ├── actuation │ │ ├── actuation-squashing.cpp.in │ │ ├── squashing-base.cpp.in │ │ └── squashing │ │ │ └── smooth-sat.cpp.in │ ├── codegen │ │ └── action.cpp_fptype.in │ ├── constraint-base.cpp.in │ ├── constraints │ │ ├── constraint-manager.cpp.in │ │ └── residual.cpp.in │ ├── control-base.cpp.in │ ├── controls │ │ ├── poly-one.cpp.in │ │ ├── poly-two-rk.cpp.in │ │ └── poly-zero.cpp.in │ ├── cost-base.cpp.in │ ├── costs │ │ ├── cost-sum.cpp.in │ │ └── residual.cpp.in │ ├── data-collector-base.cpp.in │ ├── data │ │ ├── actuation.cpp.in │ │ └── joint.cpp.in │ ├── diff-action-base.cpp.in │ ├── integ-action-base.cpp.in │ ├── integrator │ │ ├── euler.cpp.in │ │ └── rk.cpp.in │ ├── numdiff │ │ ├── action.cpp.in │ │ ├── activation.cpp.in │ │ ├── cost.cpp.in │ │ ├── diff-action.cpp.in │ │ └── state.cpp.in │ ├── optctrl │ │ └── shooting.cpp_fptype.in │ ├── residual-base.cpp.in │ ├── residuals │ │ ├── control.cpp.in │ │ ├── joint-acceleration.cpp.in │ │ └── joint-effort.cpp.in │ ├── solver-base.cpp │ ├── solvers │ │ ├── box-ddp.cpp │ │ ├── box-fddp.cpp │ │ ├── box-qp.cpp │ │ ├── ddp.cpp │ │ ├── fddp.cpp │ │ ├── intro.cpp │ │ ├── ipopt.cpp │ │ ├── ipopt │ │ │ └── ipopt-iface.cpp │ │ └── kkt.cpp │ ├── state-base.cpp.in │ ├── states │ │ └── euclidean.cpp.in │ └── utils │ │ ├── callbacks.cpp │ │ ├── exception.cpp │ │ └── stop-watch.cpp └── multibody │ ├── actions │ ├── contact-fwddyn.cpp.in │ ├── contact-invdyn.cpp.in │ ├── free-fwddyn.cpp.in │ ├── free-invdyn.cpp.in │ └── impulse-fwddyn.cpp.in │ ├── actuations │ ├── floating-base-thrusters.cpp.in │ ├── floating-base.cpp.in │ └── full.cpp.in │ ├── contact-base.cpp.in │ ├── contacts │ ├── contact-1d.cpp.in │ ├── contact-2d.cpp.in │ ├── contact-3d.cpp.in │ ├── contact-6d.cpp.in │ └── multiple-contacts.cpp.in │ ├── cop-support.cpp.in │ ├── data │ ├── contacts.cpp.in │ ├── impulses.cpp.in │ └── multibody.cpp.in │ ├── force-base.cpp.in │ ├── friction-cone.cpp.in │ ├── impulse-base.cpp.in │ ├── impulses │ ├── impulse-3d.cpp.in │ ├── impulse-6d.cpp.in │ └── multiple-impulses.cpp.in │ ├── residuals │ ├── centroidal-momentum.cpp.in │ ├── com-position.cpp.in │ ├── contact-control-gravity.cpp.in │ ├── contact-cop-position.cpp.in │ ├── contact-force.cpp.in │ ├── contact-friction-cone.cpp.in │ ├── contact-wrench-cone.cpp.in │ ├── control-gravity.cpp.in │ ├── frame-placement.cpp.in │ ├── frame-rotation.cpp.in │ ├── frame-translation.cpp.in │ ├── frame-velocity.cpp.in │ ├── impulse-com.cpp.in │ └── state.cpp.in │ ├── states │ └── multibody.cpp.in │ ├── utils │ └── quadruped-gaits.cpp │ └── wrench-cone.cpp.in └── unittest ├── CMakeLists.txt ├── bindings ├── CMakeLists.txt ├── factory.py ├── test_actions.py ├── test_actuations.py ├── test_contacts.py ├── test_copy.py ├── test_costs.py ├── test_impulses.py ├── test_shooting.py ├── test_solvers.py ├── test_squashing.py ├── test_states.py └── test_utils.py ├── factory ├── action.cpp ├── action.hpp ├── activation.cpp ├── activation.hpp ├── actuation.cpp ├── actuation.hpp ├── actuation.hxx ├── constraint.cpp ├── constraint.hpp ├── contact.cpp ├── contact.hpp ├── contact_constraint.cpp ├── contact_constraint.hpp ├── contact_cost.cpp ├── contact_cost.hpp ├── control.cpp ├── control.hpp ├── cost.cpp ├── cost.hpp ├── diff_action.cpp ├── diff_action.hpp ├── impulse.cpp ├── impulse.hpp ├── impulse_constraint.cpp ├── impulse_constraint.hpp ├── impulse_cost.cpp ├── impulse_cost.hpp ├── integrator.cpp ├── integrator.hpp ├── pinocchio_model.cpp ├── pinocchio_model.hpp ├── pinocchio_model.hxx ├── residual.cpp ├── residual.hpp ├── solver.cpp ├── solver.hpp ├── state.cpp └── state.hpp ├── random_generator.hpp ├── test_actions.cpp ├── test_activations.cpp ├── test_actuation.cpp ├── test_boxqp.cpp ├── test_codegen.cpp ├── test_constraint_manager.cpp ├── test_constraints.cpp ├── test_contact_constraints.cpp ├── test_contact_costs.cpp ├── test_contacts.cpp ├── test_controls.cpp ├── test_cop_support.cpp ├── test_cost_sum.cpp ├── test_costs.cpp ├── test_costs_collision.cpp ├── test_costs_noFF.cpp ├── test_diff_actions.cpp ├── test_friction_cone.cpp ├── test_impulse_constraints.cpp ├── test_impulse_costs.cpp ├── test_impulses.cpp ├── test_multiple_contacts.cpp ├── test_multiple_impulses.cpp ├── test_problem.cpp ├── test_residuals.cpp ├── test_solvers.cpp ├── test_states.cpp ├── test_wrench_cone.cpp ├── testutils.py └── unittest_common.hpp /.git-blame-ignore-revs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/loco-3d/crocoddyl/HEAD/.git-blame-ignore-revs -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/bug_report.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/loco-3d/crocoddyl/HEAD/.github/ISSUE_TEMPLATE/bug_report.md -------------------------------------------------------------------------------- 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