├── CMakeLists.txt ├── README.md ├── cfg ├── control.cfg ├── fw_ctrl.cfg ├── manual_control.cfg ├── occlusion_detection.cfg ├── soft_constraints.cfg └── trajectory_generation.cfg ├── include └── fw_nmpc │ ├── common │ ├── helpers.h │ └── huber_constraint.h │ ├── guidance │ ├── npfg.h │ └── pwqg.h │ ├── nonlinear_mpc.h │ ├── nonlinear_mpc_objectives.h │ ├── occlusion_detector.h │ └── trajectory_generator.h ├── launch ├── nmpc.launch └── record.launch ├── msg ├── NMPCAuxOut.msg ├── NMPCControls.msg ├── NMPCInfo.msg ├── NMPCMeasurements.msg ├── NMPCObjNRef.msg ├── NMPCObjRef.msg ├── NMPCOnlineData.msg ├── NMPCStates.msg └── WindGroundTruth.msg ├── multiplot ├── air_velocity.xml ├── attitude_lowlevel.xml ├── controls.xml ├── output_errors.xml └── speeds.xml ├── package.xml ├── rviz └── nmpc_gridmap.rviz └── src ├── acado_solver ├── acado_auxiliary_functions.c ├── acado_auxiliary_functions.h ├── acado_common.h ├── acado_integrator.c ├── acado_qpoases_interface.cpp ├── acado_qpoases_interface.hpp ├── acado_solver.c ├── lsq_objective.c └── qpoases │ ├── EXAMPLES │ ├── example1.cpp │ └── example1b.cpp │ ├── INCLUDE │ ├── Bounds.hpp │ ├── Constants.hpp │ ├── Constraints.hpp │ ├── CyclingManager.hpp │ ├── EXTRAS │ │ └── SolutionAnalysis.hpp │ ├── Indexlist.hpp │ ├── MessageHandling.hpp │ ├── QProblem.hpp │ ├── QProblemB.hpp │ ├── SubjectTo.hpp │ ├── Types.hpp │ └── Utils.hpp │ ├── LICENSE.txt │ ├── README.txt │ ├── SRC │ ├── Bounds.cpp │ ├── Bounds.ipp │ ├── Constraints.cpp │ ├── Constraints.ipp │ ├── CyclingManager.cpp │ ├── CyclingManager.ipp │ ├── EXTRAS │ │ └── SolutionAnalysis.cpp │ ├── Indexlist.cpp │ ├── Indexlist.ipp │ ├── MessageHandling.cpp │ ├── MessageHandling.ipp │ ├── QProblem.cpp │ ├── QProblem.ipp │ ├── QProblemB.cpp │ ├── QProblemB.ipp │ ├── SubjectTo.cpp │ ├── SubjectTo.ipp │ ├── Utils.cpp │ └── Utils.ipp │ └── VERSIONS.txt ├── common ├── helpers.cpp └── huber_constraint.cpp ├── guidance ├── npfg.cpp └── pwqg.cpp ├── nonlinear_mpc.cpp 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