├── LICENSE ├── _config.yml ├── cortex_a9 ├── install.md └── t_renderer ├── design ├── casadi_mpc_cover.jpg ├── step1.png ├── step2.png ├── step3_1.png ├── step3_2.png ├── step4.png ├── step5.png └── step6.png ├── google6c54bbb9fe6d9d62.html ├── how_to_run.md ├── readme.md ├── src ├── chapter3.ipynb ├── chapter4.ipynb ├── chapter5.ipynb ├── chapter5_fatrop.ipynb ├── chapter6_collocation_cartpole.ipynb ├── chapter6_collocation_stiff.ipynb ├── chapter6_limit_iteration.ipynb ├── chapter6_single_shooting.ipynb ├── chapter6_warm_start_experiment_solution_time.ipynb ├── chapter7_2d_quadrotor.ipynb ├── chapter7_chain_of_masses.ipynb ├── chapter7_mass_spring_damper.ipynb ├── chapter8_CSTR.ipynb ├── chapter8_LIB.ipynb ├── chapterB_acados_getting_started.ipynb ├── chapterB_codegen_function_object.ipynb ├── chapterB_codegen_solver_interface.ipynb ├── chapterB_discrete_actuator.ipynb ├── func_obj_sample.c ├── func_obj_sample.h ├── func_obj_sample_O3.so ├── images │ ├── chap3_NLP_2D.png │ ├── chap3_NLP_packing_1.png │ ├── chap3_NLP_packing_2.png │ ├── chap3_QP_2D.png │ ├── chap3_integ.png │ ├── chap4_mpc.png │ ├── chap4_mpc_no_control.png │ ├── chap5_cart_pole.gif │ ├── chap5_mpc.png │ ├── chap6_collocation_control_trajectory.png │ ├── chap6_collocation_stiff_equation.png │ ├── chap6_limit_iter_experiment_sol_time.png │ ├── chap6_limit_iter_experiment_total_cost.png │ ├── chap6_multiple_shooting_cartpole.png │ ├── chap6_single_shooting_cartpole.png │ ├── chap6_warm_start_experiment_control.png │ ├── chap6_warm_start_experiment_solution_time.png │ ├── chap7_2d_quad_mpc_comparison.png │ ├── chap7_2d_quad_mpc_osqp.png │ ├── chap7_2d_quadrotor.gif │ ├── chap7_chain_of_mass.gif │ ├── chap7_nlp_free.png │ ├── chap7_nlp_ipopt.png │ ├── chap7_nlp_ipopt_time.png │ ├── chap7_nlp_ipopt_time_without_init.png │ ├── chap7_nlp_ipopt_without_init.png │ ├── chap7_nlp_qrsqp.png │ ├── chap7_nlp_qrsqp_time.png │ ├── chap7_nlp_time_comparison.png │ ├── chap7_qp_ipopt.png │ ├── chap7_qp_ipopt_time.png │ ├── chap7_qp_osqp.png │ ├── chap7_qp_osqp_time.png │ ├── chap7_qp_time_comparison.png │ ├── chap8_CSTR_MHE.png │ ├── chap8_CSTR_MPCxMHE.png │ ├── chap8_CSTR_mpc.png │ ├── chap8_LIB_MHE.png │ ├── chap8_LIB_MHE_current_est.png │ └── chapB_minlp.png ├── nlp.c ├── nlp.so └── pinocchio_example │ ├── CMakeLists.txt │ ├── csfn_forward_dynamics.casadi │ ├── csfn_inverse_dynamics.casadi │ ├── src │ └── get_casadi_fn_using_pinocchio.cpp │ ├── test_casadi_fn_by_pinocchio.py │ └── urdf │ └── panda.urdf ├── suppl ├── .gitignore ├── ocp_structured_qp.pdf ├── ocp_structured_qp.tex └── ref.bib ├── 正誤表『PythonとCasADiで学ぶモデル予測制御』（第1刷用）.pdf ├── 正誤表『PythonとCasADiで学ぶモデル予測制御』（第1刷用）ver2.pdf └── 正誤表『PythonとCasADiで学ぶモデル予測制御』（第2刷用）.pdf /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/proxima-technology/casadi_mpc_nyuumon/HEAD/LICENSE -------------------------------------------------------------------------------- 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