├── .gitignore
├── CMakeLists.txt
├── LICENSE
├── README.md
├── cmake
    ├── FindCASADI.cmake
    ├── FindIPOPT.cmake
    └── Qt5CoreConfig.cmake
├── common
    ├── CMakeLists.txt
    ├── DownloadProject.CMakeLists.cmake.in
    ├── DownloadProject.cmake
    ├── FootstepPlanner
    │   ├── CMakeLists.txt
    │   ├── GraphSearch.cpp
    │   └── GraphSearch.h
    ├── include
    │   ├── Collision
    │   │   ├── Collision.h
    │   │   ├── CollisionBox.h
    │   │   ├── CollisionMesh.h
    │   │   ├── CollisionPlane.h
    │   │   ├── ContactConstraint.h
    │   │   ├── ContactImpulse.h
    │   │   └── ContactSpringDamper.h
    │   ├── ControlParameters
    │   │   ├── ControlParameterInterface.h
    │   │   ├── ControlParameters.h
    │   │   ├── RobotParameters.h
    │   │   └── SimulatorParameters.h
    │   ├── Controllers
    │   │   ├── ContactEstimator.h
    │   │   ├── DesiredStateCommand.h
    │   │   ├── FootSwingTrajectory.h
    │   │   ├── GaitScheduler.h
    │   │   ├── LegController.h
    │   │   ├── OrientationEstimator.h
    │   │   ├── PositionVelocityEstimator.h
    │   │   └── StateEstimatorContainer.h
    │   ├── Dynamics
    │   │   ├── ActuatorModel.h
    │   │   ├── Cheetah3.h
    │   │   ├── DynamicsSimulator.h
    │   │   ├── FloatingBaseModel.h
    │   │   ├── MiniCheetah.h
    │   │   ├── Quadruped.h
    │   │   ├── SpatialInertia.h
    │   │   └── spatial.h
    │   ├── Math
    │   │   ├── FirstOrderIIRFilter.h
    │   │   ├── Interpolation.h
    │   │   ├── MathUtilities.h
    │   │   └── orientation_tools.h
    │   ├── SimUtilities
    │   │   ├── GamepadCommand.h
    │   │   ├── IMUTypes.h
    │   │   ├── ImuSimulator.h
    │   │   ├── SimulatorMessage.h
    │   │   ├── SpineBoard.h
    │   │   ├── VisualizationData.h
    │   │   └── ti_boardcontrol.h
    │   ├── SparseCMPC
    │   │   └── SparseCMPC.h
    │   ├── Types.h
    │   ├── Utilities
    │   │   ├── BSplineBasic.h
    │   │   ├── BezierCurve.h
    │   │   ├── EdgeTrigger.h
    │   │   ├── PeriodicTask.h
    │   │   ├── SegfaultHandler.h
    │   │   ├── SharedMemory.h
    │   │   ├── Timer.h
    │   │   ├── Utilities_print.h
    │   │   ├── filters.h
    │   │   ├── pseudoInverse.h
    │   │   ├── save_file.h
    │   │   └── utilities.h
    │   ├── cTypes.h
    │   └── cppTypes.h
    ├── src
    │   ├── Collision
    │   │   ├── CollisionBox.cpp
    │   │   ├── CollisionMesh.cpp
    │   │   ├── CollisionPlane.cpp
    │   │   ├── ContactConstraint.cpp
    │   │   ├── ContactImpulse.cpp
    │   │   └── ContactSpringDamper.cpp
    │   ├── ControlParameters
    │   │   ├── ControlParameterInterface.cpp
    │   │   └── ControlParameters.cpp
    │   ├── Controllers
    │   │   ├── ContactEstimator.cpp
    │   │   ├── DesiredStateCommand.cpp
    │   │   ├── FootSwingTrajectory.cpp
    │   │   ├── GaitScheduler.cpp
    │   │   ├── LegController.cpp
    │   │   ├── OrientationEstimator.cpp
    │   │   └── PositionVelocityEstimator.cpp
    │   ├── Dynamics
    │   │   ├── DynamicsSimulator.cpp
    │   │   ├── FloatingBaseModel.cpp
    │   │   └── Quadruped.cpp
    │   ├── SimUtilities
    │   │   ├── ImuSimulator.cpp
    │   │   ├── SpineBoard.cpp
    │   │   └── ti_boardcontrol.cpp
    │   ├── SparseCMPC
    │   │   ├── OsqpTriples.cpp
    │   │   ├── SparseCMPC.cpp
    │   │   └── SparseCMPC_Math.cpp
    │   └── Utilities
    │   │   ├── PeriodicTask.cpp
    │   │   ├── SegfaultHandler.cpp
    │   │   ├── Utilities_print.cpp
    │   │   ├── filters.cpp
    │   │   ├── save_file.cpp
    │   │   └── utilities.cpp
    └── test
    │   ├── python_plot
    │       ├── plot_curve.py
    │       ├── plot_spline.py
    │       ├── plot_spline_1d.py
    │       └── plot_spline_opt.py
    │   ├── test_ControlParameters.cpp
    │   ├── test_ImuSimulator.cpp
    │   ├── test_JCQP.cpp
    │   ├── test_LegController.cpp
    │   ├── test_actuatorModel.cpp
    │   ├── test_casadi.cpp
    │   ├── test_cheetah3_model.cpp
    │   ├── test_dynamics.cpp
    │   ├── test_filters.cpp
    │   ├── test_footswing.cpp
    │   ├── test_goldfarb.cpp
    │   ├── test_math.cpp
    │   ├── test_mini_cheetah_model.cpp
    │   ├── test_orientation_tools.cpp
    │   ├── test_osqp.cpp
    │   ├── test_periodic_tasks.cpp
    │   ├── test_sharedMemory.cpp
    │   ├── test_spatial.cpp
    │   ├── test_utilities.cpp
    │   ├── test_yaml.cpp
    │   └── wo_test_spline.cpp
├── config.h.cmake
├── config
    ├── c3-jpos-user-parameters.yaml
    ├── cheetah-3-defaults.yaml
    ├── default-terrain.yaml
    ├── default-user-parameters-file.yaml
    ├── front_jump_data.dat
    ├── front_jump_extend_legs.dat
    ├── front_jump_pitchup.dat
    ├── front_jump_pitchup_v2.dat
    ├── front_jump_pitchup_v2_too_much.dat
    ├── front_jump_v3.dat
    ├── front_jump_v4.dat
    ├── front_jump_v5.dat
    ├── heightmap.txt
    ├── heightmap_demo.txt
    ├── initial_jpos_ctrl.yaml
    ├── mc-mit-ctrl-user-parameters.yaml
    ├── mc_flip.dat
    ├── mini-cheetah-defaults.yaml
    ├── no-parameters.yaml
    ├── simulator-defaults.yaml
    └── test-yaml.yaml
├── documentation
    ├── doxygen
    │   ├── Doxyfile
    │   └── README.md
    ├── getting_started.md
    └── running_mini_cheetah.md
├── lcm-types
    ├── cheetah_visualization_lcmt.lcm
    ├── control_parameter_lcmt.lcm
    ├── ecat_command_t.lcm
    ├── ecat_data_t.lcm
    ├── gamepad_lcmt.lcm
    ├── heightmap_t.lcm
    ├── leg_control_command_lcmt.lcm
    ├── leg_control_data_lcmt.lcm
    ├── localization_lcmt.lcm
    ├── microstrain_lcmt.lcm
    ├── obstacle_visual_t.lcm
    ├── old_types
    │   ├── InterfaceLCMTypes
    │   ├── InterfaceToQPControlCommands
    │   ├── README.md
    │   ├── cheetah_graphics_t.lcm
    │   ├── contact_estimate_t.lcm
    │   ├── debug_trot_info_t.lcm
    │   ├── error_t.lcm
    │   ├── file_list.txt
    │   ├── full_state_measurement_t.lcm
    │   ├── full_state_t.lcm
    │   ├── gui_contact_detection_settings_t.lcm
    │   ├── gui_controller_balance_settings_t.lcm
    │   ├── gui_controller_mpc_settings_t.lcm
    │   ├── gui_controller_prmpc_settings_t.lcm
    │   ├── gui_controller_swing_leg_settings_t.lcm
    │   ├── gui_environment_settings_t.lcm
    │   ├── gui_gait_settings_t.lcm
    │   ├── gui_interesting_t.lcm
    │   ├── gui_main_control_settings_t.lcm
    │   ├── gui_mode_settings_t.lcm
    │   ├── gui_state_estimator_settings_t.lcm
    │   ├── gui_time_settings_t.lcm
    │   ├── imu_data_t.lcm
    │   ├── loop_counter_t.lcm
    │   ├── monitor_info_t.lcm
    │   ├── prmpc_data_t.lcm
    │   ├── qp_controller_data_t.lcm
    │   ├── rc_channels_t.lcm
    │   ├── sim_command_t.lcm
    │   ├── sim_graphics_t.lcm
    │   ├── sim_torque_t.lcm
    │   ├── spi_command_t.lcm
    │   ├── spi_data_t.lcm
    │   ├── spi_torque_t.lcm
    │   ├── state_estimate_t.lcm
    │   ├── user_command_t.lcm
    │   ├── user_debug_steam_t.lcm
    │   ├── user_debug_t.lcm
    │   ├── vectornav_data_t.lcm
    │   ├── windows_controller_data_t.lcm
    │   └── xbee_command_t.lcm
    ├── qp_controller_data_t.lcm
    ├── rc_channels_t.lcm
    ├── rpc_data_clean_t.lcm
    ├── rpc_data_t.lcm
    ├── rpc_inputs_t.lcm
    ├── rpc_outputs_t.lcm
    ├── rs_pointcloud_t.lcm
    ├── sim_command_t.lcm
    ├── simulator_lcmt.lcm
    ├── spi_command_t.lcm
    ├── spi_data_t.lcm
    ├── spi_torque_t.lcm
    ├── state_estimator_lcmt.lcm
    ├── traversability_map_t.lcm
    ├── two_contact_stand_data_t.lcm
    ├── vectornav_lcmt.lcm
    ├── velocity_visual_t.lcm
    ├── vision_data_t.lcm
    └── wbc_test_data_t.lcm
├── lcm_data
    ├── exp_data_convert.sh
    ├── matlab_plot
    │   ├── functions
    │   │   ├── fn_open_figures.m
    │   │   ├── fn_read_file.m
    │   │   └── octave-workspace
    │   ├── imu_data.m
    │   ├── leg_data.m
    │   ├── plot_wbc_data.m
    │   ├── two_leg_balance.m
    │   ├── two_leg_balance_robot.m
    │   └── two_leg_balance_wbc.m
    └── sim_data_convert.sh
├── rc_test
    ├── CMakeLists.txt
    └── rc_test_main.cpp
├── resources
    ├── c3_body.obj
    ├── c3_lower_link.obj
    ├── c3_upper_link.obj
    ├── cube.obj
    ├── mini_abad.obj
    ├── mini_body.obj
    ├── mini_lower_link.obj
    ├── mini_upper_link.obj
    └── sphere.obj
├── robot
    ├── CMakeLists.txt
    ├── include
    │   ├── HardwareBridge.h
    │   ├── JPosInitializer.h
    │   ├── RobotController.h
    │   ├── RobotRunner.h
    │   ├── SimulationBridge.h
    │   ├── main_helper.h
    │   └── rt
    │   │   ├── rt_ethercat.h
    │   │   ├── rt_rc_interface.h
    │   │   ├── rt_sbus.h
    │   │   ├── rt_serial.h
    │   │   ├── rt_spi.h
    │   │   └── rt_vectornav.h
    └── src
    │   ├── HardwareBridge.cpp
    │   ├── JPosInitializer.cpp
    │   ├── RobotRunner.cpp
    │   ├── SimulationBridge.cpp
    │   ├── main_helper.cpp
    │   └── rt
    │       ├── rt_ethercat.cpp
    │       ├── rt_rc_interface.cpp
    │       ├── rt_sbus.cpp
    │       ├── rt_serial.cpp
    │       ├── rt_spi.cpp
    │       └── rt_vectornav.cpp
├── scripts
    ├── autostart.sh
    ├── config_network_lcm.sh
    ├── find_qt_path.sh
    ├── launch_lcm_spy.sh
    ├── launch_lcm_spy_jdk_fix.sh
    ├── lcm-log2smat
    │   ├── .gitignore
    │   ├── CMakeLists.txt
    │   ├── LICENSE
    │   ├── Makefile
    │   ├── README.md
    │   ├── cmake
    │   │   └── pods.cmake
    │   └── python
    │   │   └── lcmlog2smat
    │   │       ├── __init__.py
    │   │       ├── log_to_smat.py
    │   │       └── scan_for_lcmtypes.py
    ├── log_convert.sh
    ├── make_types.sh
    ├── make_types_no_java.sh
    ├── network_config.py
    ├── run_clang_format.sh
    ├── run_mc.sh
    ├── run_mc_2.sh
    ├── run_mc_2_autostart.sh
    ├── run_mc_autostart.sh
    ├── run_mc_debug.sh
    ├── run_rc_test.sh
    ├── send_to_mini_cheetah.sh
    └── setup_network_mc.py
├── sim
    ├── CMakeLists.txt
    ├── include
    │   ├── Checkerboard.h
    │   ├── Colors.h
    │   ├── DrawList.h
    │   ├── GameController.h
    │   ├── Graphics3D.h
    │   ├── JoystickTest.h
    │   ├── RobotInterface.h
    │   ├── SimControlPanel.h
    │   ├── Simulation.h
    │   ├── obj_loader.h
    │   └── sim_utilities.h
    └── src
    │   ├── Checkerboard.cpp
    │   ├── DrawList.cpp
    │   ├── GameController.cpp
    │   ├── Graphics3D.cpp
    │   ├── JoystickTest.cpp
    │   ├── JoystickTest.ui
    │   ├── MiniCheetahDebug.cpp
    │   ├── MiniCheetahDebug.h
    │   ├── MiniCheetahDebug.ui
    │   ├── RobotInterface.cpp
    │   ├── SimControlPanel.cpp
    │   ├── SimControlPanel.ui
    │   ├── Simulation.cpp
    │   ├── main.cpp
    │   ├── obj_loader.cpp
    │   └── sim_utilities.cpp
├── third-party
    ├── CMakeLists.txt
    ├── Goldfarb_Optimizer
    │   ├── Array.cc
    │   ├── Array.hh
    │   ├── CMakeLists.txt
    │   ├── LICENSE.txt
    │   ├── QuadProg++.cc
    │   └── QuadProg++.hh
    ├── JCQP
    │   ├── CMakeLists.txt
    │   ├── CholeskyDenseSolver.cpp
    │   ├── CholeskyDenseSolver.h
    │   ├── CholeskySparseSolver.cpp
    │   ├── CholeskySparseSolver.h
    │   ├── LICENSE.txt
    │   ├── OsqpTest.cpp
    │   ├── OsqpTest.h
    │   ├── ProblemGenerator.cpp
    │   ├── ProblemGenerator.h
    │   ├── QpProblem.cpp
    │   ├── QpProblem.h
    │   ├── SparseMatrixMath.cpp
    │   ├── SparseMatrixMath.h
    │   ├── Timer.h
    │   ├── amd
    │   │   ├── LICENSE
    │   │   ├── include
    │   │   │   ├── SuiteSparse_config.h
    │   │   │   ├── amd.h
    │   │   │   ├── amd_internal.h
    │   │   │   ├── glob_opts.h
    │   │   │   └── osqp_configure.h
    │   │   └── src
    │   │   │   ├── SuiteSparse_config.c
    │   │   │   ├── amd_1.c
    │   │   │   ├── amd_2.c
    │   │   │   ├── amd_aat.c
    │   │   │   ├── amd_control.c
    │   │   │   ├── amd_defaults.c
    │   │   │   ├── amd_info.c
    │   │   │   ├── amd_order.c
    │   │   │   ├── amd_post_tree.c
    │   │   │   ├── amd_postorder.c
    │   │   │   ├── amd_preprocess.c
    │   │   │   └── amd_valid.c
    │   ├── eigenvalues.cpp
    │   ├── eigenvalues.h
    │   ├── main.cpp
    │   ├── qpOASES.cpp
    │   ├── qpOASES.h
    │   └── types.h
    ├── ParamHandler
    │   ├── CMakeLists.txt
    │   ├── LICENSE.txt
    │   ├── ParamHandler.cpp
    │   ├── ParamHandler.hpp
    │   ├── README.md
    │   ├── dynacore_yaml-cpp
    │   │   ├── anchor.h
    │   │   ├── binary.h
    │   │   ├── contrib
    │   │   │   ├── anchordict.h
    │   │   │   └── graphbuilder.h
    │   │   ├── dll.h
    │   │   ├── emitfromevents.h
    │   │   ├── emitter.h
    │   │   ├── emitterdef.h
    │   │   ├── emittermanip.h
    │   │   ├── emitterstyle.h
    │   │   ├── eventhandler.h
    │   │   ├── exceptions.h
    │   │   ├── mark.h
    │   │   ├── node
    │   │   │   ├── convert.h
    │   │   │   ├── detail
    │   │   │   │   ├── bool_type.h
    │   │   │   │   ├── impl.h
    │   │   │   │   ├── iterator.h
    │   │   │   │   ├── iterator_fwd.h
    │   │   │   │   ├── memory.h
    │   │   │   │   ├── node.h
    │   │   │   │   ├── node_data.h
    │   │   │   │   ├── node_iterator.h
    │   │   │   │   └── node_ref.h
    │   │   │   ├── emit.h
    │   │   │   ├── impl.h
    │   │   │   ├── iterator.h
    │   │   │   ├── node.h
    │   │   │   ├── parse.h
    │   │   │   ├── ptr.h
    │   │   │   └── type.h
    │   │   ├── noncopyable.h
    │   │   ├── null.h
    │   │   ├── ostream_wrapper.h
    │   │   ├── parser.h
    │   │   ├── stlemitter.h
    │   │   ├── traits.h
    │   │   └── yaml.h
    │   └── src
    │   │   ├── binary.cpp
    │   │   ├── collectionstack.h
    │   │   ├── contrib
    │   │       ├── graphbuilder.cpp
    │   │       ├── graphbuilderadapter.cpp
    │   │       └── graphbuilderadapter.h
    │   │   ├── convert.cpp
    │   │   ├── directives.cpp
    │   │   ├── directives.h
    │   │   ├── emit.cpp
    │   │   ├── emitfromevents.cpp
    │   │   ├── emitter.cpp
    │   │   ├── emitterstate.cpp
    │   │   ├── emitterstate.h
    │   │   ├── emitterutils.cpp
    │   │   ├── emitterutils.h
    │   │   ├── exceptions.cpp
    │   │   ├── exp.cpp
    │   │   ├── exp.h
    │   │   ├── indentation.h
    │   │   ├── memory.cpp
    │   │   ├── node.cpp
    │   │   ├── node_data.cpp
    │   │   ├── nodebuilder.cpp
    │   │   ├── nodebuilder.h
    │   │   ├── nodeevents.cpp
    │   │   ├── nodeevents.h
    │   │   ├── null.cpp
    │   │   ├── ostream_wrapper.cpp
    │   │   ├── parse.cpp
    │   │   ├── parser.cpp
    │   │   ├── ptr_vector.h
    │   │   ├── regex_yaml.cpp
    │   │   ├── regex_yaml.h
    │   │   ├── regeximpl.h
    │   │   ├── scanner.cpp
    │   │   ├── scanner.h
    │   │   ├── scanscalar.cpp
    │   │   ├── scanscalar.h
    │   │   ├── scantag.cpp
    │   │   ├── scantag.h
    │   │   ├── scantoken.cpp
    │   │   ├── setting.h
    │   │   ├── simplekey.cpp
    │   │   ├── singledocparser.cpp
    │   │   ├── singledocparser.h
    │   │   ├── stream.cpp
    │   │   ├── stream.h
    │   │   ├── streamcharsource.h
    │   │   ├── stringsource.h
    │   │   ├── tag.cpp
    │   │   ├── tag.h
    │   │   └── token.h
    ├── SOEM
    │   ├── CMakeLists.txt
    │   ├── osal
    │   │   ├── linux
    │   │   │   ├── osal.c
    │   │   │   └── osal_defs.h
    │   │   └── osal.h
    │   ├── oshw
    │   │   └── linux
    │   │   │   ├── nicdrv.c
    │   │   │   ├── nicdrv.h
    │   │   │   ├── oshw.c
    │   │   │   └── oshw.h
    │   └── soem
    │   │   ├── ethercat.h
    │   │   ├── ethercatbase.c
    │   │   ├── ethercatbase.h
    │   │   ├── ethercatcoe.c
    │   │   ├── ethercatcoe.h
    │   │   ├── ethercatconfig.c
    │   │   ├── ethercatconfig.h
    │   │   ├── ethercatconfiglist.h
    │   │   ├── ethercatdc.c
    │   │   ├── ethercatdc.h
    │   │   ├── ethercatfoe.c
    │   │   ├── ethercatfoe.h
    │   │   ├── ethercatmain.c
    │   │   ├── ethercatmain.h
    │   │   ├── ethercatprint.c
    │   │   ├── ethercatprint.h
    │   │   ├── ethercatsoe.c
    │   │   ├── ethercatsoe.h
    │   │   └── ethercattype.h
    ├── inih
    │   ├── CMakeLists.txt
    │   ├── INIReader.cpp
    │   ├── INIReader.h
    │   ├── LICENSE.txt
    │   ├── ini.c
    │   └── ini.h
    ├── lord_imu
    │   ├── CMakeLists.txt
    │   ├── Include
    │   │   ├── byteswap_utilities.h
    │   │   ├── mainpage.h
    │   │   ├── mip.h
    │   │   ├── mip_gx3_35.h
    │   │   ├── mip_gx3_45.h
    │   │   ├── mip_gx4_15.h
    │   │   ├── mip_gx4_25.h
    │   │   ├── mip_gx4_45.h
    │   │   ├── mip_gx4_imu.h
    │   │   ├── mip_rq1.h
    │   │   ├── mip_rq1_imu.h
    │   │   ├── mip_sdk.h
    │   │   ├── mip_sdk_3dm.h
    │   │   ├── mip_sdk_ahrs.h
    │   │   ├── mip_sdk_base.h
    │   │   ├── mip_sdk_config.h
    │   │   ├── mip_sdk_filter.h
    │   │   ├── mip_sdk_gps.h
    │   │   ├── mip_sdk_interface.h
    │   │   ├── mip_sdk_system.h
    │   │   ├── mip_sdk_user_functions.h
    │   │   ├── mip_types.h
    │   │   └── ring_buffer.h
    │   ├── LordImu.cpp
    │   ├── LordImu.h
    │   ├── Source
    │   │   ├── byteswap_utilities.c
    │   │   ├── mip.c
    │   │   ├── mip_sdk_3dm.c
    │   │   ├── mip_sdk_ahrs.c
    │   │   ├── mip_sdk_base.c
    │   │   ├── mip_sdk_filter.c
    │   │   ├── mip_sdk_gps.c
    │   │   ├── mip_sdk_inteface.c
    │   │   ├── mip_sdk_system.c
    │   │   ├── mip_sdk_user_functions.c
    │   │   └── ring_buffer.c
    │   └── test
    │   │   └── lord_test.cpp
    ├── osqp
    │   ├── .bumpversion.cfg
    │   ├── .editorconfig
    │   ├── .gitattributes
    │   ├── .gitignore
    │   ├── .gitmodules
    │   ├── .travis.yml
    │   ├── CHANGELOG.md
    │   ├── CMakeLists.txt
    │   ├── LICENSE
    │   ├── NOTICE
    │   ├── README.md
    │   ├── ROADMAP.md
    │   ├── appveyor.yml
    │   ├── ci
    │   │   ├── appveyor
    │   │   │   ├── deploy.cmd
    │   │   │   ├── install.cmd
    │   │   │   └── script.cmd
    │   │   └── travis
    │   │   │   ├── deploy.sh
    │   │   │   ├── docs.sh
    │   │   │   ├── install.sh
    │   │   │   └── script.sh
    │   ├── configure
    │   │   ├── cmake
    │   │   │   ├── FindPythonModule.cmake
    │   │   │   ├── FindR.cmake
    │   │   │   ├── Utils.cmake
    │   │   │   └── cmake_uninstall.cmake.in
    │   │   └── osqp_configure.h.in
    │   ├── docs
    │   │   ├── Makefile
    │   │   ├── _static
    │   │   │   ├── css
    │   │   │   │   └── osqp_theme.css
    │   │   │   └── img
    │   │   │   │   ├── favicon.ico
    │   │   │   │   ├── logo.pdf
    │   │   │   │   └── logo.png
    │   │   ├── _templates
    │   │   │   └── layout.html
    │   │   ├── citing
    │   │   │   └── index.rst
    │   │   ├── codegen
    │   │   │   ├── index.rst
    │   │   │   ├── matlab.rst
    │   │   │   └── python.rst
    │   │   ├── conf.py
    │   │   ├── contributing
    │   │   │   └── index.rst
    │   │   ├── doxygen.conf
    │   │   ├── examples
    │   │   │   ├── demo.rst
    │   │   │   ├── huber.rst
    │   │   │   ├── index.rst
    │   │   │   ├── lasso.rst
    │   │   │   ├── least-squares.rst
    │   │   │   ├── mpc.rst
    │   │   │   ├── portfolio.rst
    │   │   │   └── svm.rst
    │   │   ├── get_started
    │   │   │   ├── CC++.rst
    │   │   │   ├── cutest.rst
    │   │   │   ├── index.rst
    │   │   │   ├── julia.rst
    │   │   │   ├── linear_system_solvers.rst
    │   │   │   ├── matlab.rst
    │   │   │   ├── python.rst
    │   │   │   ├── r.rst
    │   │   │   └── sources.rst
    │   │   ├── index.rst
    │   │   ├── interfaces
    │   │   │   ├── CC++.rst
    │   │   │   ├── cutest.rst
    │   │   │   ├── fortran.rst
    │   │   │   ├── index.rst
    │   │   │   ├── julia.rst
    │   │   │   ├── linear_systems_solvers.rst
    │   │   │   ├── matlab.rst
    │   │   │   ├── python.rst
    │   │   │   ├── r.rst
    │   │   │   ├── rust.rst
    │   │   │   ├── solver_settings.rst
    │   │   │   └── status_values.rst
    │   │   ├── make.bat
    │   │   ├── parsers
    │   │   │   ├── cvxpy.rst
    │   │   │   ├── index.rst
    │   │   │   ├── jump.rst
    │   │   │   └── yalmip.rst
    │   │   ├── requirements.txt
    │   │   └── solver
    │   │   │   └── index.rst
    │   ├── examples
    │   │   └── osqp_demo.c
    │   ├── include
    │   │   ├── .gitignore
    │   │   ├── auxil.h
    │   │   ├── constants.h
    │   │   ├── cs.h
    │   │   ├── ctrlc.h
    │   │   ├── glob_opts.h
    │   │   ├── kkt.h
    │   │   ├── lin_alg.h
    │   │   ├── lin_sys.h
    │   │   ├── osqp.h
    │   │   ├── osqp_configure.h
    │   │   ├── polish.h
    │   │   ├── proj.h
    │   │   ├── scaling.h
    │   │   ├── types.h
    │   │   └── util.h
    │   ├── info.txt
    │   ├── lin_sys
    │   │   ├── CMakeLists.txt
    │   │   ├── direct
    │   │   │   ├── CMakeLists.txt
    │   │   │   ├── pardiso
    │   │   │   │   ├── CMakeLists.txt
    │   │   │   │   ├── pardiso_interface.c
    │   │   │   │   ├── pardiso_interface.h
    │   │   │   │   ├── pardiso_loader.c
    │   │   │   │   └── pardiso_loader.h
    │   │   │   └── qdldl
    │   │   │   │   ├── CMakeLists.txt
    │   │   │   │   ├── amd
    │   │   │   │       ├── LICENSE
    │   │   │   │       ├── include
    │   │   │   │       │   ├── SuiteSparse_config.h
    │   │   │   │       │   ├── amd.h
    │   │   │   │       │   └── amd_internal.h
    │   │   │   │       └── src
    │   │   │   │       │   ├── SuiteSparse_config.c
    │   │   │   │       │   ├── amd_1.c
    │   │   │   │       │   ├── amd_2.c
    │   │   │   │       │   ├── amd_aat.c
    │   │   │   │       │   ├── amd_control.c
    │   │   │   │       │   ├── amd_defaults.c
    │   │   │   │       │   ├── amd_info.c
    │   │   │   │       │   ├── amd_order.c
    │   │   │   │       │   ├── amd_post_tree.c
    │   │   │   │       │   ├── amd_postorder.c
    │   │   │   │       │   ├── amd_preprocess.c
    │   │   │   │       │   └── amd_valid.c
    │   │   │   │   ├── qdldl_interface.c
    │   │   │   │   ├── qdldl_interface.h
    │   │   │   │   └── qdldl_sources
    │   │   │   │       ├── .editorconfig
    │   │   │   │       ├── .gitignore
    │   │   │   │       ├── .travis.yml
    │   │   │   │       ├── CHANGELOG.md
    │   │   │   │       ├── CMakeLists.txt
    │   │   │   │       ├── LICENSE
    │   │   │   │       ├── README.md
    │   │   │   │       ├── appveyor.yml
    │   │   │   │       ├── configure
    │   │   │   │           ├── cmake
    │   │   │   │           │   └── cmake_uninstall.cmake.in
    │   │   │   │           └── qdldl_types.h.in
    │   │   │   │       ├── examples
    │   │   │   │           ├── c
    │   │   │   │           │   └── example.c
    │   │   │   │           └── julia
    │   │   │   │           │   └── example.jl
    │   │   │   │       ├── include
    │   │   │   │           ├── .gitignore
    │   │   │   │           ├── qdldl.h
    │   │   │   │           └── qdldl_types.h
    │   │   │   │       ├── julia
    │   │   │   │           ├── QDLDL.jl
    │   │   │   │           ├── README.md
    │   │   │   │           └── example.jl
    │   │   │   │       ├── src
    │   │   │   │           └── qdldl.c
    │   │   │   │       └── tests
    │   │   │   │           ├── CMakeLists.txt
    │   │   │   │           ├── julia
    │   │   │   │               └── test.jl
    │   │   │   │           ├── minunit.h
    │   │   │   │           ├── qdldl_tester.c
    │   │   │   │           ├── test_basic.h
    │   │   │   │           ├── test_identity.h
    │   │   │   │           ├── test_osqp_kkt.h
    │   │   │   │           ├── test_rank_deficient.h
    │   │   │   │           ├── test_singleton.h
    │   │   │   │           ├── test_sym_structure.h
    │   │   │   │           ├── test_tril_structure.h
    │   │   │   │           ├── test_two_by_two.h
    │   │   │   │           └── test_zero_on_diag.h
    │   │   ├── lib_handler.c
    │   │   └── lib_handler.h
    │   ├── src
    │   │   ├── auxil.c
    │   │   ├── cs.c
    │   │   ├── ctrlc.c
    │   │   ├── kkt.c
    │   │   ├── lin_alg.c
    │   │   ├── lin_sys.c
    │   │   ├── osqp.c
    │   │   ├── polish.c
    │   │   ├── proj.c
    │   │   ├── scaling.c
    │   │   └── util.c
    │   └── tests
    │   │   ├── .gitignore
    │   │   ├── CMakeLists.txt
    │   │   ├── README.md
    │   │   ├── __init__.py
    │   │   ├── basic_qp
    │   │       ├── CMakeLists.txt
    │   │       ├── __init__.py
    │   │       ├── generate_problem.py
    │   │       └── test_basic_qp.h
    │   │   ├── basic_qp2
    │   │       ├── CMakeLists.txt
    │   │       ├── __init__.py
    │   │       ├── generate_problem.py
    │   │       └── test_basic_qp2.h
    │   │   ├── generate_tests_data.py
    │   │   ├── lin_alg
    │   │       ├── CMakeLists.txt
    │   │       ├── __init__.py
    │   │       ├── generate_problem.py
    │   │       └── test_lin_alg.h
    │   │   ├── minunit.h
    │   │   ├── non_cvx
    │   │       ├── CMakeLists.txt
    │   │       ├── __init__.py
    │   │       ├── generate_problem.py
    │   │       └── test_non_cvx.h
    │   │   ├── osqp_tester.c
    │   │   ├── osqp_tester.h
    │   │   ├── primal_dual_infeasibility
    │   │       ├── CMakeLists.txt
    │   │       ├── __init__.py
    │   │       ├── generate_problem.py
    │   │       └── test_primal_dual_infeasibility.h
    │   │   ├── primal_infeasibility
    │   │       ├── CMakeLists.txt
    │   │       ├── __init__.py
    │   │       ├── generate_problem.py
    │   │       └── test_primal_infeasibility.h
    │   │   ├── solve_linsys
    │   │       ├── CMakeLists.txt
    │   │       ├── __init__.py
    │   │       ├── generate_problem.py
    │   │       └── test_solve_linsys.h
    │   │   ├── unconstrained
    │   │       ├── CMakeLists.txt
    │   │       ├── __init__.py
    │   │       ├── generate_problem.py
    │   │       └── test_unconstrained.h
    │   │   ├── update_matrices
    │   │       ├── CMakeLists.txt
    │   │       ├── __init__.py
    │   │       ├── generate_problem.py
    │   │       └── test_update_matrices.h
    │   │   └── utils
    │   │       ├── __init__.py
    │   │       └── codegen_utils.py
    ├── qpOASES
    │   ├── AUTHORS
    │   ├── AUTHORS.txt
    │   ├── CMakeLists.txt
    │   ├── INSTALL
    │   ├── INSTALL.txt
    │   ├── LICENSE
    │   ├── LICENSE.txt
    │   ├── Makefile
    │   ├── README
    │   ├── README.txt
    │   ├── VERSIONS
    │   ├── VERSIONS.txt
    │   ├── include
    │   │   ├── qpOASES.hpp
    │   │   └── qpOASES
    │   │   │   ├── Bounds.hpp
    │   │   │   ├── Bounds.ipp
    │   │   │   ├── Constants.hpp
    │   │   │   ├── ConstraintProduct.hpp
    │   │   │   ├── Constraints.hpp
    │   │   │   ├── Constraints.ipp
    │   │   │   ├── Flipper.hpp
    │   │   │   ├── Indexlist.hpp
    │   │   │   ├── Indexlist.ipp
    │   │   │   ├── LapackBlasReplacement.hpp
    │   │   │   ├── Matrices.hpp
    │   │   │   ├── MessageHandling.hpp
    │   │   │   ├── MessageHandling.ipp
    │   │   │   ├── Options.hpp
    │   │   │   ├── QProblem.hpp
    │   │   │   ├── QProblem.ipp
    │   │   │   ├── QProblemB.hpp
    │   │   │   ├── QProblemB.ipp
    │   │   │   ├── SQProblem.hpp
    │   │   │   ├── SQProblem.ipp
    │   │   │   ├── SQProblemSchur.hpp
    │   │   │   ├── SQProblemSchur.ipp
    │   │   │   ├── SparseSolver.hpp
    │   │   │   ├── SubjectTo.hpp
    │   │   │   ├── SubjectTo.ipp
    │   │   │   ├── Types.hpp
    │   │   │   ├── UnitTesting.hpp
    │   │   │   ├── Utils.hpp
    │   │   │   ├── Utils.ipp
    │   │   │   └── extras
    │   │   │       ├── OQPinterface.hpp
    │   │   │       ├── SolutionAnalysis.hpp
    │   │   │       └── SolutionAnalysis.ipp
    │   ├── make.mk
    │   ├── make_cygwin.mk
    │   ├── make_linux.mk
    │   ├── make_osx.mk
    │   ├── make_windows.mk
    │   └── src
    │   │   ├── BLASReplacement.cpp
    │   │   ├── Bounds.cpp
    │   │   ├── Constraints.cpp
    │   │   ├── Flipper.cpp
    │   │   ├── Indexlist.cpp
    │   │   ├── LAPACKReplacement.cpp
    │   │   ├── Makefile
    │   │   ├── Matrices.cpp
    │   │   ├── MessageHandling.cpp
    │   │   ├── OQPinterface.cpp
    │   │   ├── Options.cpp
    │   │   ├── QProblem.cpp
    │   │   ├── QProblemB.cpp
    │   │   ├── SQProblem.cpp
    │   │   ├── SQProblemSchur.cpp
    │   │   ├── SolutionAnalysis.cpp
    │   │   ├── SparseSolver.cpp
    │   │   ├── SubjectTo.cpp
    │   │   └── Utils.cpp
    └── vectornav
    │   ├── CMakeLists.txt
    │   ├── LICENSE.txt
    │   ├── include
    │       └── vn
    │       │   ├── bool.h
    │       │   ├── const.h
    │       │   ├── conv.h
    │       │   ├── enum.h
    │       │   ├── error.h
    │       │   ├── error_detection.h
    │       │   ├── int.h
    │       │   ├── math
    │       │       ├── matrix.h
    │       │       └── vector.h
    │       │   ├── protocol
    │       │       ├── common.h
    │       │       ├── spi.h
    │       │       ├── upack.h
    │       │       └── upackf.h
    │       │   ├── sensors.h
    │       │   ├── sensors
    │       │       ├── compositedata.h
    │       │       ├── ezasyncdata.h
    │       │       └── searcher.h
    │       │   ├── types.h
    │       │   ├── util.h
    │       │   ├── util
    │       │       ├── compiler.h
    │       │       ├── export.h
    │       │       └── port.h
    │       │   ├── vectornav.h
    │       │   └── xplat
    │       │       ├── criticalsection.h
    │       │       ├── event.h
    │       │       ├── serialport.h
    │       │       ├── thread.h
    │       │       └── time.h
    │   └── src
    │       └── vn
    │           ├── conv.c
    │           ├── error.c
    │           ├── error_detection.c
    │           ├── math
    │               ├── matrix.c
    │               └── vector.c
    │           ├── protocol
    │               ├── spi.c
    │               ├── upack.c
    │               └── upackf.c
    │           ├── sensors.c
    │           ├── sensors
    │               ├── compositedata.c
    │               ├── ezasyncdata.c
    │               └── searcher.c
    │           ├── util.c
    │           └── xplat
    │               ├── criticalsection.c
    │               ├── event.c
    │               ├── serialport.c
    │               ├── thread.c
    │               └── time.c
└── user
    ├── CMakeLists.txt
    ├── Example_Leg_InvDyn
        ├── CMakeLists.txt
        ├── Leg_InvDyn_Controller.cpp
        ├── Leg_InvDyn_Controller.hpp
        ├── Leg_InvDyn_UserParameters.h
        └── main.cpp
    ├── JPos_Controller
        ├── CMakeLists.txt
        ├── JPosUserParameters.h
        ├── JPos_Controller.cpp
        ├── JPos_Controller.hpp
        └── main.cpp
    ├── MIT_Controller
        ├── CMakeLists.txt
        ├── Controllers
        │   ├── BackFlip
        │   │   ├── BackFlipCtrl.cpp
        │   │   ├── BackFlipCtrl.hpp
        │   │   ├── DataReadCtrl.hpp
        │   │   ├── DataReadCtrl.hpp.orig
        │   │   ├── DataReader.cpp
        │   │   ├── DataReader.hpp
        │   │   ├── FrontJumpCtrl.cpp
        │   │   ├── FrontJumpCtrl.cpp.orig
        │   │   ├── FrontJumpCtrl.hpp
        │   │   └── backflip.dat
        │   ├── BalanceController
        │   │   ├── BalanceController.cpp
        │   │   ├── BalanceController.hpp
        │   │   ├── BalanceControllerVBL.cpp
        │   │   ├── BalanceControllerVBL.hpp
        │   │   ├── BalanceControllerWrapper.cpp
        │   │   ├── BalanceControllerWrapper.h
        │   │   ├── ReferenceGRF.cpp
        │   │   └── ReferenceGRF.hpp
        │   ├── VisionMPC
        │   │   ├── CMakeLists.txt
        │   │   ├── VisionMPCLocomotion.cpp
        │   │   ├── VisionMPCLocomotion.h
        │   │   ├── VisionMPC_interface.cpp
        │   │   ├── VisionMPC_interface.h
        │   │   ├── VisionRobotState.cpp
        │   │   ├── VisionRobotState.h
        │   │   ├── VisionSolverMPC.cpp
        │   │   └── VisionSolverMPC.h
        │   ├── WBC
        │   │   ├── CMakeLists.txt
        │   │   ├── ContactSpec.hpp
        │   │   ├── Task.hpp
        │   │   ├── WBC.hpp
        │   │   └── WBIC
        │   │   │   ├── CMakeLists.txt
        │   │   │   ├── KinWBC.cpp
        │   │   │   ├── KinWBC.hpp
        │   │   │   ├── WBIC.cpp
        │   │   │   └── WBIC.hpp
        │   ├── WBC_Ctrl
        │   │   ├── CMakeLists.txt
        │   │   ├── ContactSet
        │   │   │   ├── FixedBodyContact.cpp
        │   │   │   ├── FixedBodyContact.hpp
        │   │   │   ├── SingleContact.cpp
        │   │   │   └── SingleContact.hpp
        │   │   ├── LocomotionCtrl
        │   │   │   ├── LocomotionCtrl.cpp
        │   │   │   └── LocomotionCtrl.hpp
        │   │   ├── TaskSet
        │   │   │   ├── BodyOriTask.cpp
        │   │   │   ├── BodyOriTask.hpp
        │   │   │   ├── BodyPosTask.cpp
        │   │   │   ├── BodyPosTask.hpp
        │   │   │   ├── BodyPostureTask.cpp
        │   │   │   ├── BodyPostureTask.hpp
        │   │   │   ├── BodyRyRzTask.cpp
        │   │   │   ├── BodyRyRzTask.hpp
        │   │   │   ├── JPosTask.cpp
        │   │   │   ├── JPosTask.hpp
        │   │   │   ├── LinkPosTask.cpp
        │   │   │   ├── LinkPosTask.hpp
        │   │   │   ├── LocalHeadPosTask.cpp
        │   │   │   ├── LocalHeadPosTask.hpp
        │   │   │   ├── LocalPosTask.cpp
        │   │   │   ├── LocalPosTask.hpp
        │   │   │   ├── LocalRollTask.cpp
        │   │   │   ├── LocalRollTask.hpp
        │   │   │   ├── LocalTailPosTask.cpp
        │   │   │   └── LocalTailPosTask.hpp
        │   │   ├── WBC_Ctrl.cpp
        │   │   └── WBC_Ctrl.hpp
        │   └── convexMPC
        │   │   ├── ConvexMPCLocomotion.cpp
        │   │   ├── ConvexMPCLocomotion.h
        │   │   ├── Gait.cpp
        │   │   ├── Gait.h
        │   │   ├── RobotState.cpp
        │   │   ├── RobotState.h
        │   │   ├── SolverMPC.cpp
        │   │   ├── SolverMPC.h
        │   │   ├── common_types.h
        │   │   ├── convexMPC_interface.cpp
        │   │   ├── convexMPC_interface.h
        │   │   ├── convexMPC_util.cpp
        │   │   └── convexMPC_util.h
        ├── FSM_States
        │   ├── ControlFSM.cpp
        │   ├── ControlFSM.h
        │   ├── ControlFSMData.h
        │   ├── FSM_State.cpp
        │   ├── FSM_State.h
        │   ├── FSM_State_BackFlip.cpp
        │   ├── FSM_State_BackFlip.h
        │   ├── FSM_State_BalanceStand.cpp
        │   ├── FSM_State_BalanceStand.h
        │   ├── FSM_State_FrontJump.cpp
        │   ├── FSM_State_FrontJump.h
        │   ├── FSM_State_ImpedanceControl.cpp
        │   ├── FSM_State_ImpedanceControl.h
        │   ├── FSM_State_JointPD.cpp
        │   ├── FSM_State_JointPD.h
        │   ├── FSM_State_Locomotion.cpp
        │   ├── FSM_State_Locomotion.h
        │   ├── FSM_State_Passive.cpp
        │   ├── FSM_State_Passive.h
        │   ├── FSM_State_RecoveryStand.cpp
        │   ├── FSM_State_RecoveryStand.h
        │   ├── FSM_State_StandUp.cpp
        │   ├── FSM_State_StandUp.h
        │   ├── FSM_State_Vision.cpp
        │   ├── FSM_State_Vision.h
        │   ├── SafetyChecker.cpp
        │   ├── SafetyChecker.h
        │   └── TransitionData.h
        ├── MIT_Controller.cpp
        ├── MIT_Controller.hpp
        ├── MIT_UserParameters.h
        └── main.cpp
    └── MiniCheetahSpi_Controller
        ├── CMakeLists.txt
        ├── MiniCheetahSpi_Controller.cpp
        ├── MiniCheetahSpi_Controller.h
        └── main.cpp


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/lcm-types/old_types/README.md:
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1 | # Cheetah-3-LCM-Types
2 | 


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/lcm-types/old_types/user_debug_t.lcm:
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1 | package cheetahlcm;
2 | 
3 | struct user_debug_t
4 | {
5 | 	double value[100];
6 | }
7 | 


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https://raw.githubusercontent.com/mit-biomimetics/Cheetah-Software/HEAD/lcm-types/wbc_test_data_t.lcm


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