├── .gitignore ├── CITATION.cff ├── LICENSE ├── README.md ├── examples ├── double_int_var_dilate │ ├── main.m │ ├── plot_solution.m │ ├── problem_data.m │ ├── recent_solution.mat │ ├── result.eps │ ├── result.fig │ └── sys_cnstr_cost.m ├── rocket_6DoF_time_dilate │ ├── main.m │ ├── plot_solution.m │ ├── problem_data.m │ ├── recent_solution.mat │ └── sys_cnstr_cost.m └── rocket_6DoF_var_dilate │ ├── main.m │ ├── plot_solution.m │ ├── problem_data.m │ ├── recent_solution.mat │ └── sys_cnstr_cost.m ├── mutil ├── +disc │ ├── TODO.md │ ├── compute_fbp_noparam_v3.m │ ├── compute_fbp_noparam_v3_parallel.m │ ├── compute_foh_noparam_v1.m │ ├── compute_foh_noparam_v2.m │ ├── compute_foh_noparam_v3.m │ ├── compute_foh_noparam_v3_parallel.m │ ├── compute_foh_v1.m │ ├── compute_foh_v2.m │ ├── compute_foh_v3.m │ ├── compute_impulse_noparam_v3.m │ ├── compute_impulse_noparam_v3_parallel.m │ ├── compute_zoh_noparam_v1.m │ ├── compute_zoh_noparam_v3.m │ ├── compute_zoh_noparam_v3_parallel.m │ ├── compute_zoh_v1.m │ ├── rk4_march.m │ ├── rk4_nocontrol.m │ ├── simulate_dyn.m │ ├── stm_ltv.m │ ├── test │ │ ├── README.md │ │ ├── rocket_6DoF │ │ │ └── main.m │ │ └── vdp_mod │ │ │ ├── README.md │ │ │ ├── main.m │ │ │ ├── vdp_mod.m │ │ │ ├── vdp_mod_linearize.m │ │ │ └── vdp_mod_linearize_noparam.m │ ├── time_grid.m │ ├── time_grid_via_b.m │ ├── time_of_maneuver.m │ ├── time_of_maneuver_via_b.m │ ├── u_fbp.m │ ├── u_foh.m │ └── u_zoh.m ├── +geom │ ├── README.md │ ├── construct_box.m │ ├── construct_warped_box.m │ ├── project_ellip2dims.m │ ├── project_ellip2dims_tpr.m │ ├── project_halfspace.m │ ├── project_polyhed2dims.m │ ├── rot_mat_2D.m │ ├── sign_dist_ellip_ext.m │ ├── sign_dist_ellip_solveKKT.m │ ├── sign_dist_ellip_solveNLP.m │ ├── sign_dist_polyhed.m │ ├── sign_dist_polyhed_lean.m │ └── test │ │ ├── test_KKT_gradient.m │ │ ├── test_ellip_projection.m │ │ ├── test_polyhed_projection.m │ │ └── test_sign_dist_solveNLP.m ├── +grid │ ├── cosinespace.m │ ├── ends2interp.m │ ├── generate_grid.m │ ├── sinespace.m │ └── test_ends2interp.m ├── +linalg │ ├── gsog.m │ ├── mat_normalize.m │ ├── matcat.m │ ├── mgsog.m │ └── sltimes.m ├── +misc │ ├── column_func.m │ ├── compute_vec_norm.m │ ├── create_initialization.m │ ├── generate_miscl_jacobian.m │ ├── generate_scaling.m │ ├── generate_varscaling.m │ ├── num_jacobian.m │ ├── omega_cross_term_jacobian.m │ ├── q_skew_star_jacobian_times_q.m │ ├── row_func.m │ ├── softplus.m │ ├── softplus_derv.m │ ├── test │ │ └── test_yalmip_optimizer.m │ └── time_cnstr.m ├── +plant │ ├── +doubleint │ │ ├── compute_linearization.m │ │ ├── dyn_func.m │ │ └── validate_jacobian.m │ ├── +doubleint_ltv │ │ ├── Amat.m │ │ ├── Bmat.m │ │ ├── compute_linearization.m │ │ ├── dyn_func.m │ │ └── validate_jacobian.m │ ├── +rocket6DoF │ │ ├── README.md │ │ ├── compute_A.m │ │ ├── compute_AoA.m │ │ ├── compute_B.m │ │ ├── compute_S.m │ │ ├── compute_bodyaxis.m │ │ ├── compute_dragdir.m │ │ ├── compute_linearization.m │ │ ├── compute_thrustdir.m │ │ ├── definitions.m │ │ ├── dyn_expr.m │ │ ├── dyn_func.m │ │ ├── dyn_func_naive.m │ │ ├── jacob_expr.m │ │ ├── plot_vehicle_forces.m │ │ ├── q_aoa_cnstr.m │ │ ├── set_assumptions.m │ │ ├── sym_data │ │ │ ├── sym_dyn.mat │ │ │ ├── sym_param.mat │ │ │ ├── sym_var.mat │ │ │ └── sym_var_obj.mat │ │ └── validate_dyn_func_linearization.m │ └── +util │ │ ├── assemble_ltv_back_reach_polytopes.m │ │ └── construct_back_reach_polytopes.m ├── +plt │ ├── plot_cone.m │ ├── plot_ellip2D.m │ ├── plot_ellip3D.m │ ├── plot_polyhed.m │ ├── plot_vec_nrm.m │ └── setfig.m ├── +qlib │ ├── generate_q_dcm_jacobian.m │ ├── ned2seu.m │ ├── q_conj.m │ ├── q_cross.m │ ├── q_cross_star.m │ ├── q_dcm.m │ ├── q_dcm_jacobian.m │ ├── q_dcm_transpose_jacobian.m │ ├── q_from_dcm.m │ ├── q_inv.m │ ├── q_mul.m │ ├── q_rand_unit.m │ ├── q_skew.m │ ├── q_skew_star.m │ ├── q_slerp.m │ ├── q_to_eulzyx.m │ ├── skew.m │ └── test │ │ ├── test_q_slerp.m │ │ ├── test_q_to_eulzyx.m │ │ └── test_q_tofro_dcm.m ├── +scp │ ├── TODO.md 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