├── .gitignore ├── .travis.yml ├── CHANGELOG.rst ├── CMakeLists.txt ├── COPYING.md ├── LICENSE ├── README.md ├── docs ├── Doxyfile.config └── rosdoc.yaml ├── package.xml └── src ├── .clang-format ├── CMakeLists.txt ├── cmake ├── control_box_rstConfig.cmake ├── cpplint.py.access_specifier.patch ├── lcov.cmake.in ├── lcov_skip_build.cmake.in ├── memcheck_skip_build.cmake ├── modules │ ├── FindIPOPT.cmake │ └── FindMATIO.cmake ├── msvc_static_runtime.cmake └── valgrind_suppress.txt ├── communication ├── CMakeLists.txt ├── custom_proto │ └── custom_messages │ │ ├── custom_controller.proto │ │ ├── custom_final_stage_constraints.proto │ │ ├── custom_final_stage_cost.proto │ │ ├── custom_observer.proto │ │ ├── custom_plant.proto │ │ ├── custom_stage_cost.proto │ │ ├── custom_stage_equalities.proto │ │ ├── custom_stage_inequalities.proto │ │ ├── custom_stage_preprocessors.proto │ │ ├── custom_system_dynamics.proto │ │ └── custom_task.proto ├── include │ └── corbo-communication │ │ ├── main_service_client.h │ │ ├── message_parser.h │ │ ├── signal_target_rpc.h │ │ └── utilities.h ├── message_generation.cmake ├── proto │ ├── messages │ │ ├── common_messages.proto │ │ ├── controllers │ │ │ ├── controllers.proto │ │ │ ├── lqr_controller.proto │ │ │ ├── pid_controller.proto │ │ │ ├── predictive_controller.proto │ │ │ ├── simple_state_controller.proto │ │ │ └── step_response_generator.proto │ │ ├── corbo_parameters.proto │ │ ├── core │ │ │ ├── matrix.proto │ │ │ ├── reference_trajectories.proto │ │ │ ├── signals.proto │ │ │ ├── time_series.proto │ │ │ └── time_series_sequence.proto │ │ ├── descriptor_extensions.proto │ │ ├── numerics │ │ │ ├── collocation.proto │ │ │ ├── dynamics_eval.proto │ │ │ ├── explicit_integrators.proto │ │ │ ├── finite_differences.proto │ │ │ ├── finite_differences_collocation.proto │ │ │ └── quadrature.proto │ │ ├── observers │ │ │ └── observers.proto │ │ ├── optimal_control │ │ │ ├── discretization_grids.proto │ │ │ ├── finite_differences_grid.proto │ │ │ ├── grid_adaptation_strategies.proto │ │ │ ├── multiple_shooting_grid.proto │ │ │ ├── optimal_control_problem.proto │ │ │ ├── stage_functions.proto │ │ │ ├── stage_preprocessors.proto │ │ │ └── structured_optimal_control_problem.proto │ │ ├── optimization │ │ │ ├── hyper_graph_optimization_problem.proto │ │ │ ├── nlp_solver_ipopt.proto │ │ │ ├── nlp_solvers.proto │ │ │ ├── qp_solver_osqp.proto │ │ │ ├── qp_solvers.proto │ │ │ ├── solver_levenberg_marquardt_dense.proto │ │ │ └── solver_levenberg_marquardt_sparse.proto │ │ ├── plants │ │ │ ├── disturbance.proto │ │ │ ├── plant.proto │ │ │ ├── simulated_plant.proto │ │ │ └── simulated_plant_threaded.proto │ │ ├── systems │ │ │ ├── filters.proto │ │ │ ├── one_step_predictor.proto │ │ │ ├── output_functions.proto │ │ │ └── system_dynamics.proto │ │ └── tasks │ │ │ ├── benchmark_tasks.proto │ │ │ ├── closed_loop_control_task.proto │ │ │ ├── open_loop_control_task.proto │ │ │ └── tasks.proto │ └── services │ │ └── master_service.proto ├── src │ ├── main_service_client.cpp │ ├── message_parser.cpp │ ├── signal_target_rpc.cpp │ └── utilities.cpp └── test │ └── communication_test.cpp ├── controllers ├── CMakeLists.txt ├── include │ └── corbo-controllers │ │ ├── controller_interface.h │ │ ├── corbo_controllers.h │ │ ├── dual_mode_controller.h │ │ ├── lqr_controller.h │ │ ├── pid_controller.h │ │ ├── predictive_controller.h │ │ ├── simple_state_controller.h │ │ ├── statistics.h │ │ └── step_response_generator.h ├── src │ ├── controller_interface.cpp │ ├── dual_mode_controller.cpp │ ├── lqr_controller.cpp │ ├── pid_controller.cpp │ ├── predictive_controller.cpp │ └── simple_state_controller.cpp └── test │ └── test_pid_controller.cpp ├── core ├── CMakeLists.txt ├── include │ └── corbo-core │ │ ├── common_signal_target.h │ │ ├── console.h │ │ ├── corbo_core.h │ │ ├── data_exporter_interface.h │ │ ├── factory.h │ │ ├── global.h │ │ ├── macros.h │ │ ├── range.h │ │ ├── reference_trajectory.h │ │ ├── signal_target_interface.h │ │ ├── signals.h │ │ ├── text_style.h │ │ ├── threads.h │ │ ├── time.h │ │ ├── time_series.h │ │ ├── tsv_export.h │ │ ├── types.h │ │ ├── utilities.h │ │ ├── value_comparison.h │ │ └── yaml_export.h ├── src │ ├── common_signal_target.cpp │ ├── data_exporter_interface.cpp │ ├── global.cpp │ ├── reference_trajectory.cpp │ ├── signals.cpp │ ├── time.cpp │ ├── time_series.cpp │ ├── tsv_export.cpp │ └── yaml_export.cpp └── test │ ├── test_main.cpp │ └── test_yaml_export.cpp ├── extern ├── eigen3 │ ├── .hg_archival.txt │ ├── .hgeol │ ├── .hgignore │ ├── .hgtags │ ├── COPYING.BSD │ ├── COPYING.GPL │ ├── COPYING.LGPL │ ├── COPYING.MINPACK │ ├── COPYING.MPL2 │ ├── COPYING.README │ ├── CTestConfig.cmake │ ├── CTestCustom.cmake.in │ ├── Eigen │ │ ├── Cholesky │ │ ├── CholmodSupport │ │ ├── Core │ │ ├── Dense │ │ ├── Eigen │ │ ├── Eigenvalues │ │ ├── Geometry │ │ ├── Householder │ │ ├── IterativeLinearSolvers │ │ ├── Jacobi │ │ ├── LU │ │ ├── MetisSupport │ │ ├── OrderingMethods │ │ ├── PaStiXSupport │ │ ├── PardisoSupport │ │ ├── QR │ │ ├── QtAlignedMalloc │ │ ├── SPQRSupport │ │ ├── SVD │ │ ├── Sparse │ │ ├── SparseCholesky │ │ ├── SparseCore │ │ ├── SparseLU │ │ ├── SparseQR │ │ ├── StdDeque │ │ ├── StdList │ │ ├── StdVector │ │ ├── SuperLUSupport │ │ ├── UmfPackSupport │ │ └── src │ │ │ ├── Cholesky │ │ │ ├── LDLT.h │ │ │ ├── LLT.h │ │ │ └── LLT_LAPACKE.h │ │ │ ├── CholmodSupport │ │ │ └── CholmodSupport.h │ │ │ ├── Core │ │ │ ├── Array.h │ │ │ ├── ArrayBase.h │ │ │ ├── ArrayWrapper.h │ │ │ ├── Assign.h │ │ │ ├── AssignEvaluator.h │ │ │ ├── Assign_MKL.h │ │ │ ├── BandMatrix.h │ │ │ ├── Block.h │ │ │ ├── BooleanRedux.h │ │ │ ├── CommaInitializer.h │ │ │ ├── ConditionEstimator.h │ │ │ ├── CoreEvaluators.h │ │ │ ├── CoreIterators.h │ │ │ ├── CwiseBinaryOp.h │ │ │ ├── CwiseNullaryOp.h │ │ │ ├── CwiseTernaryOp.h │ │ │ ├── CwiseUnaryOp.h │ │ │ ├── CwiseUnaryView.h │ │ │ ├── DenseBase.h │ │ │ ├── DenseCoeffsBase.h │ │ │ ├── DenseStorage.h │ │ │ ├── Diagonal.h │ │ │ ├── DiagonalMatrix.h │ │ │ ├── DiagonalProduct.h │ │ │ ├── Dot.h │ │ │ ├── EigenBase.h │ │ │ ├── ForceAlignedAccess.h │ │ │ ├── Fuzzy.h │ │ │ ├── GeneralProduct.h │ │ │ ├── GenericPacketMath.h │ │ │ ├── GlobalFunctions.h │ │ │ ├── IO.h │ │ │ ├── Inverse.h │ │ │ ├── Map.h │ │ │ ├── MapBase.h │ │ │ ├── MathFunctions.h │ │ │ ├── MathFunctionsImpl.h │ │ │ ├── Matrix.h │ │ │ ├── MatrixBase.h │ │ │ ├── NestByValue.h │ │ │ ├── NoAlias.h │ │ │ ├── NumTraits.h │ │ │ ├── PermutationMatrix.h │ │ │ ├── PlainObjectBase.h │ │ │ ├── Product.h │ │ │ ├── ProductEvaluators.h │ │ │ ├── Random.h │ │ │ ├── Redux.h │ │ │ ├── Ref.h │ │ │ ├── Replicate.h │ │ │ ├── ReturnByValue.h │ │ │ ├── Reverse.h │ │ │ ├── Select.h │ │ │ ├── SelfAdjointView.h │ │ │ ├── SelfCwiseBinaryOp.h │ │ │ ├── Solve.h │ │ │ ├── SolveTriangular.h │ │ │ ├── SolverBase.h │ │ │ ├── StableNorm.h │ │ │ ├── Stride.h │ │ │ ├── Swap.h │ │ │ ├── Transpose.h │ │ │ ├── Transpositions.h │ │ │ ├── TriangularMatrix.h │ │ │ ├── VectorBlock.h │ │ │ ├── VectorwiseOp.h │ │ │ ├── Visitor.h │ │ │ ├── arch │ │ │ │ ├── AVX │ │ │ │ │ ├── Complex.h │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ ├── PacketMath.h │ │ │ │ │ └── TypeCasting.h │ │ │ │ ├── AVX512 │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ └── PacketMath.h │ │ │ │ ├── AltiVec │ │ │ │ │ ├── Complex.h │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ └── PacketMath.h │ │ │ │ ├── CUDA │ │ │ │ │ ├── Complex.h │ │ │ │ │ ├── Half.h │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ ├── PacketMath.h │ │ │ │ │ ├── PacketMathHalf.h │ │ │ │ │ └── TypeCasting.h │ │ │ │ ├── Default │ │ │ │ │ ├── ConjHelper.h │ │ │ │ │ └── Settings.h │ │ │ │ ├── NEON │ │ │ │ │ ├── Complex.h │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ └── PacketMath.h │ │ │ │ ├── SSE │ │ │ │ │ ├── Complex.h │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ ├── PacketMath.h │ │ │ │ │ └── TypeCasting.h │ │ │ │ └── ZVector │ │ │ │ │ ├── Complex.h │ │ │ │ │ ├── MathFunctions.h │ │ │ │ │ └── PacketMath.h │ │ │ ├── functors │ │ │ │ ├── AssignmentFunctors.h │ │ │ │ ├── BinaryFunctors.h │ │ │ │ ├── NullaryFunctors.h │ │ │ │ ├── StlFunctors.h │ │ │ │ ├── TernaryFunctors.h │ │ │ │ └── UnaryFunctors.h │ │ │ ├── products │ │ │ │ ├── GeneralBlockPanelKernel.h │ │ │ │ ├── GeneralMatrixMatrix.h │ │ │ │ ├── GeneralMatrixMatrixTriangular.h │ │ │ │ ├── GeneralMatrixMatrixTriangular_BLAS.h │ │ │ │ ├── GeneralMatrixMatrix_BLAS.h │ │ │ │ ├── GeneralMatrixVector.h │ │ │ │ ├── GeneralMatrixVector_BLAS.h │ │ │ │ ├── Parallelizer.h │ │ │ │ ├── SelfadjointMatrixMatrix.h │ │ │ │ ├── SelfadjointMatrixMatrix_BLAS.h │ │ │ │ ├── SelfadjointMatrixVector.h │ │ │ │ ├── SelfadjointMatrixVector_BLAS.h │ │ │ │ ├── SelfadjointProduct.h │ │ │ │ ├── SelfadjointRank2Update.h │ │ │ │ ├── TriangularMatrixMatrix.h │ │ │ │ ├── TriangularMatrixMatrix_BLAS.h │ │ │ │ ├── TriangularMatrixVector.h │ │ │ │ ├── TriangularMatrixVector_BLAS.h │ │ │ │ ├── TriangularSolverMatrix.h │ │ │ │ ├── TriangularSolverMatrix_BLAS.h │ │ │ │ └── TriangularSolverVector.h │ │ │ └── util │ │ │ │ ├── BlasUtil.h │ │ │ │ ├── Constants.h │ │ │ │ ├── DisableStupidWarnings.h │ │ │ │ ├── ForwardDeclarations.h │ │ │ │ ├── MKL_support.h │ │ │ │ ├── Macros.h │ │ │ │ ├── Memory.h │ │ │ │ ├── Meta.h │ │ │ │ ├── NonMPL2.h │ │ │ │ ├── ReenableStupidWarnings.h │ │ │ │ ├── StaticAssert.h │ │ │ │ └── XprHelper.h │ │ │ ├── Eigenvalues │ │ │ ├── ComplexEigenSolver.h │ │ │ ├── ComplexSchur.h │ │ │ ├── ComplexSchur_LAPACKE.h │ │ │ ├── EigenSolver.h │ │ │ ├── GeneralizedEigenSolver.h │ │ │ ├── GeneralizedSelfAdjointEigenSolver.h │ │ │ ├── HessenbergDecomposition.h │ │ │ ├── MatrixBaseEigenvalues.h │ │ │ ├── RealQZ.h │ │ │ ├── RealSchur.h │ │ │ ├── RealSchur_LAPACKE.h │ │ │ ├── SelfAdjointEigenSolver.h │ │ │ ├── SelfAdjointEigenSolver_LAPACKE.h │ │ │ └── Tridiagonalization.h │ │ │ ├── Geometry │ │ │ ├── AlignedBox.h │ │ │ ├── AngleAxis.h │ │ │ ├── EulerAngles.h │ │ │ ├── Homogeneous.h │ │ │ ├── Hyperplane.h │ │ │ ├── OrthoMethods.h │ │ │ ├── ParametrizedLine.h │ │ │ ├── Quaternion.h │ │ │ ├── Rotation2D.h │ │ │ ├── RotationBase.h │ │ │ ├── Scaling.h │ │ │ ├── Transform.h │ │ │ ├── Translation.h │ │ │ ├── Umeyama.h │ │ │ └── arch │ │ │ │ └── Geometry_SSE.h │ │ │ ├── Householder │ │ │ ├── BlockHouseholder.h │ │ │ ├── Householder.h │ │ │ └── HouseholderSequence.h │ │ │ ├── IterativeLinearSolvers │ │ │ ├── BasicPreconditioners.h │ │ │ ├── BiCGSTAB.h │ │ │ ├── ConjugateGradient.h │ │ │ ├── IncompleteCholesky.h │ │ │ ├── IncompleteLUT.h │ │ │ ├── IterativeSolverBase.h │ │ │ ├── LeastSquareConjugateGradient.h │ │ │ └── SolveWithGuess.h │ │ │ ├── Jacobi │ │ │ └── Jacobi.h │ │ │ ├── LU │ │ │ ├── Determinant.h │ │ │ ├── FullPivLU.h │ │ │ ├── InverseImpl.h │ │ │ ├── PartialPivLU.h │ │ │ ├── PartialPivLU_LAPACKE.h │ │ │ └── arch │ │ │ │ └── Inverse_SSE.h │ │ │ ├── MetisSupport │ │ │ └── MetisSupport.h │ │ │ ├── OrderingMethods │ │ │ ├── Amd.h │ │ │ ├── Eigen_Colamd.h │ │ │ └── Ordering.h │ │ │ ├── PaStiXSupport │ │ │ └── PaStiXSupport.h │ │ │ ├── PardisoSupport │ │ │ └── PardisoSupport.h │ │ │ ├── QR │ │ │ ├── ColPivHouseholderQR.h │ │ │ ├── ColPivHouseholderQR_LAPACKE.h │ │ │ ├── CompleteOrthogonalDecomposition.h │ │ │ ├── FullPivHouseholderQR.h │ │ │ ├── HouseholderQR.h │ │ │ └── HouseholderQR_LAPACKE.h │ │ │ ├── SPQRSupport │ │ │ └── SuiteSparseQRSupport.h │ │ │ ├── SVD │ │ │ ├── BDCSVD.h │ │ │ ├── JacobiSVD.h │ │ │ ├── JacobiSVD_LAPACKE.h │ │ │ ├── SVDBase.h │ │ │ └── UpperBidiagonalization.h │ │ │ ├── SparseCholesky │ │ │ ├── SimplicialCholesky.h │ │ │ └── SimplicialCholesky_impl.h │ │ │ ├── SparseCore │ │ │ ├── AmbiVector.h │ │ │ ├── CompressedStorage.h │ │ │ ├── ConservativeSparseSparseProduct.h │ │ │ ├── MappedSparseMatrix.h │ │ │ ├── SparseAssign.h │ │ │ ├── SparseBlock.h │ │ │ ├── SparseColEtree.h │ │ │ ├── SparseCompressedBase.h │ │ │ ├── SparseCwiseBinaryOp.h │ │ │ ├── SparseCwiseUnaryOp.h │ │ │ ├── SparseDenseProduct.h │ │ │ ├── SparseDiagonalProduct.h │ │ │ ├── SparseDot.h │ │ │ ├── SparseFuzzy.h │ │ │ ├── SparseMap.h │ │ │ ├── SparseMatrix.h │ │ │ ├── SparseMatrixBase.h │ │ │ ├── SparsePermutation.h │ │ │ ├── SparseProduct.h │ │ │ ├── SparseRedux.h │ │ │ ├── SparseRef.h │ │ │ ├── SparseSelfAdjointView.h │ │ │ ├── SparseSolverBase.h │ │ │ ├── SparseSparseProductWithPruning.h │ │ │ ├── SparseTranspose.h │ │ │ ├── SparseTriangularView.h │ │ │ ├── SparseUtil.h │ │ │ ├── SparseVector.h │ │ │ ├── SparseView.h │ │ │ └── TriangularSolver.h │ │ │ ├── SparseLU │ │ │ ├── SparseLU.h │ │ │ ├── SparseLUImpl.h │ │ │ ├── SparseLU_Memory.h │ │ │ ├── SparseLU_Structs.h │ │ │ ├── SparseLU_SupernodalMatrix.h │ │ │ ├── SparseLU_Utils.h │ │ │ ├── SparseLU_column_bmod.h │ │ │ ├── SparseLU_column_dfs.h │ │ │ ├── SparseLU_copy_to_ucol.h │ │ │ ├── SparseLU_gemm_kernel.h │ │ │ ├── SparseLU_heap_relax_snode.h │ │ │ ├── SparseLU_kernel_bmod.h │ │ │ ├── SparseLU_panel_bmod.h │ │ │ ├── SparseLU_panel_dfs.h │ │ │ ├── SparseLU_pivotL.h │ │ │ ├── SparseLU_pruneL.h │ │ │ └── SparseLU_relax_snode.h │ │ │ ├── SparseQR │ │ │ └── SparseQR.h │ │ │ ├── StlSupport │ │ │ ├── StdDeque.h │ │ │ ├── StdList.h │ │ │ ├── StdVector.h │ │ │ └── details.h │ │ │ ├── SuperLUSupport │ │ │ └── SuperLUSupport.h │ │ │ ├── UmfPackSupport │ │ │ └── UmfPackSupport.h │ │ │ ├── misc │ │ │ ├── Image.h │ │ │ ├── Kernel.h │ │ │ ├── RealSvd2x2.h │ │ │ ├── blas.h │ │ │ ├── lapack.h │ │ │ ├── lapacke.h │ │ │ └── lapacke_mangling.h │ │ │ └── plugins │ │ │ ├── ArrayCwiseBinaryOps.h │ │ │ ├── ArrayCwiseUnaryOps.h │ │ │ ├── BlockMethods.h │ │ │ ├── CommonCwiseBinaryOps.h │ │ │ ├── CommonCwiseUnaryOps.h │ │ │ ├── MatrixCwiseBinaryOps.h │ │ │ └── MatrixCwiseUnaryOps.h │ ├── INSTALL │ ├── README.md │ ├── blas │ │ ├── BandTriangularSolver.h │ │ ├── GeneralRank1Update.h │ │ ├── PackedSelfadjointProduct.h │ │ ├── PackedTriangularMatrixVector.h │ │ ├── PackedTriangularSolverVector.h │ │ ├── README.txt │ │ ├── Rank2Update.h │ │ ├── common.h │ │ ├── complex_double.cpp │ │ ├── complex_single.cpp │ │ ├── double.cpp │ │ ├── f2c │ │ │ ├── chbmv.c │ │ │ ├── chpmv.c │ │ │ ├── complexdots.c │ │ │ ├── ctbmv.c │ │ │ ├── d_cnjg.c │ │ │ ├── datatypes.h │ │ │ ├── drotm.c │ │ │ ├── drotmg.c │ │ │ ├── dsbmv.c │ │ │ ├── dspmv.c │ │ │ ├── dtbmv.c │ │ │ ├── lsame.c │ │ │ ├── r_cnjg.c │ │ │ ├── srotm.c │ │ │ ├── srotmg.c │ │ │ ├── ssbmv.c │ │ │ ├── sspmv.c │ │ │ ├── stbmv.c │ │ │ ├── zhbmv.c │ │ │ ├── zhpmv.c │ │ │ └── ztbmv.c │ │ ├── fortran │ │ │ └── complexdots.f │ │ ├── level1_cplx_impl.h │ │ ├── level1_impl.h │ │ ├── level1_real_impl.h │ │ ├── level2_cplx_impl.h │ │ ├── level2_impl.h │ │ ├── level2_real_impl.h │ │ ├── level3_impl.h │ │ ├── single.cpp │ │ ├── testing │ │ │ ├── cblat1.f │ │ │ ├── cblat2.dat │ │ │ ├── cblat2.f │ │ │ ├── cblat3.dat │ │ │ ├── cblat3.f │ │ │ ├── dblat1.f │ │ │ ├── dblat2.dat │ │ │ ├── dblat2.f │ │ │ ├── dblat3.dat │ │ │ ├── dblat3.f │ │ │ ├── runblastest.sh │ │ │ ├── sblat1.f │ │ │ ├── sblat2.dat │ │ │ ├── sblat2.f │ │ │ ├── sblat3.dat │ │ │ ├── sblat3.f │ │ │ ├── zblat1.f │ │ │ ├── zblat2.dat │ │ │ ├── zblat2.f │ │ │ ├── zblat3.dat │ │ │ └── zblat3.f │ │ └── xerbla.cpp │ ├── cmake │ │ ├── Eigen3Config.cmake.in │ │ ├── Eigen3ConfigLegacy.cmake.in │ │ ├── EigenConfigureTesting.cmake │ │ ├── EigenDetermineOSVersion.cmake │ │ ├── EigenDetermineVSServicePack.cmake │ │ ├── EigenTesting.cmake │ │ ├── EigenUninstall.cmake │ │ ├── FindAdolc.cmake │ │ ├── FindBLAS.cmake │ │ ├── FindBLASEXT.cmake │ │ ├── FindCholmod.cmake │ │ ├── FindComputeCpp.cmake │ │ ├── FindEigen2.cmake │ │ ├── FindEigen3.cmake │ │ ├── FindFFTW.cmake │ │ ├── FindGLEW.cmake │ │ ├── FindGMP.cmake │ │ ├── FindGSL.cmake │ │ ├── FindGoogleHash.cmake │ │ ├── FindHWLOC.cmake │ │ ├── FindLAPACK.cmake │ │ ├── FindMPFR.cmake │ │ ├── FindMetis.cmake │ │ ├── FindPTSCOTCH.cmake │ │ ├── FindPastix.cmake │ │ ├── FindSPQR.cmake │ │ ├── FindScotch.cmake │ │ ├── FindStandardMathLibrary.cmake │ │ ├── FindSuperLU.cmake │ │ ├── FindUmfpack.cmake │ │ ├── RegexUtils.cmake │ │ ├── UseEigen3.cmake │ │ └── language_support.cmake │ ├── demos │ │ ├── mandelbrot │ │ │ ├── README │ │ │ ├── mandelbrot.cpp │ │ │ └── mandelbrot.h │ │ ├── mix_eigen_and_c │ │ │ ├── README │ │ │ ├── binary_library.cpp │ │ │ ├── binary_library.h │ │ │ └── example.c │ │ └── opengl │ │ │ ├── README │ │ │ ├── camera.cpp │ │ │ ├── camera.h │ │ │ ├── gpuhelper.cpp │ │ │ ├── gpuhelper.h │ │ │ ├── icosphere.cpp │ │ │ ├── icosphere.h │ │ │ ├── quaternion_demo.cpp │ │ │ ├── quaternion_demo.h │ │ │ ├── trackball.cpp │ │ │ └── trackball.h │ ├── eigen3.pc.in │ ├── lapack │ │ ├── cholesky.cpp │ │ ├── clacgv.f │ │ ├── cladiv.f │ │ ├── clarf.f │ │ ├── clarfb.f │ │ ├── clarfg.f │ │ ├── clarft.f │ │ ├── complex_double.cpp │ │ ├── complex_single.cpp │ │ ├── dladiv.f │ │ ├── dlamch.f │ │ ├── dlapy2.f │ │ ├── dlapy3.f │ │ ├── dlarf.f │ │ ├── dlarfb.f │ │ ├── dlarfg.f │ │ ├── dlarft.f │ │ ├── double.cpp │ │ ├── dsecnd_NONE.f │ │ ├── eigenvalues.cpp │ │ ├── ilaclc.f │ │ ├── ilaclr.f │ │ ├── iladlc.f │ │ ├── iladlr.f │ │ ├── ilaslc.f │ │ ├── ilaslr.f │ │ ├── ilazlc.f │ │ ├── ilazlr.f │ │ ├── lapack_common.h │ │ ├── lu.cpp │ │ ├── second_NONE.f │ │ ├── single.cpp │ │ ├── sladiv.f │ │ ├── slamch.f │ │ ├── slapy2.f │ │ ├── slapy3.f │ │ ├── slarf.f │ │ ├── slarfb.f │ │ ├── slarfg.f │ │ ├── slarft.f │ │ ├── svd.cpp │ │ ├── zlacgv.f │ │ ├── zladiv.f │ │ ├── zlarf.f │ │ ├── zlarfb.f │ │ ├── zlarfg.f │ │ └── zlarft.f │ ├── scripts │ │ ├── buildtests.in │ │ ├── cdashtesting.cmake.in │ │ ├── check.in │ │ ├── debug.in │ │ ├── eigen_gen_credits.cpp │ │ ├── eigen_gen_docs │ │ ├── release.in │ │ └── relicense.py │ ├── signature_of_eigen3_matrix_library │ └── unsupported │ │ ├── Eigen │ │ ├── AdolcForward │ │ ├── AlignedVector3 │ │ ├── ArpackSupport │ │ ├── AutoDiff │ │ ├── BVH │ │ ├── CXX11 │ │ │ ├── Tensor │ │ │ ├── TensorSymmetry │ │ │ ├── ThreadPool │ │ │ └── src │ │ │ │ ├── Tensor │ │ │ │ ├── README.md │ │ │ │ ├── Tensor.h │ │ │ │ ├── TensorArgMax.h │ │ │ │ ├── TensorAssign.h │ │ │ │ ├── TensorBase.h │ │ │ │ ├── TensorBroadcasting.h │ │ │ │ ├── TensorChipping.h │ │ │ │ ├── TensorConcatenation.h │ │ │ │ ├── TensorContraction.h │ │ │ │ ├── TensorContractionBlocking.h │ │ │ │ ├── TensorContractionCuda.h │ │ │ │ ├── TensorContractionMapper.h │ │ │ │ ├── TensorContractionThreadPool.h │ │ │ │ ├── TensorConversion.h │ │ │ │ ├── TensorConvolution.h │ │ │ │ ├── TensorCostModel.h │ │ │ │ ├── TensorCustomOp.h │ │ │ │ ├── TensorDevice.h │ │ │ │ ├── TensorDeviceCuda.h │ │ │ │ ├── TensorDeviceDefault.h │ │ │ │ ├── TensorDeviceSycl.h │ │ │ │ ├── TensorDeviceThreadPool.h │ │ │ │ ├── TensorDimensionList.h │ │ │ │ ├── TensorDimensions.h │ │ │ │ ├── TensorEvalTo.h │ │ │ │ ├── TensorEvaluator.h │ │ │ │ ├── TensorExecutor.h │ │ │ │ ├── TensorExpr.h │ │ │ │ ├── TensorFFT.h │ │ │ │ ├── TensorFixedSize.h │ │ │ │ ├── TensorForcedEval.h │ │ │ │ ├── TensorForwardDeclarations.h │ │ │ │ ├── TensorFunctors.h │ │ │ │ ├── TensorGenerator.h │ │ │ │ ├── TensorGlobalFunctions.h │ │ │ │ ├── TensorIO.h │ │ │ │ ├── TensorImagePatch.h │ │ │ │ ├── TensorIndexList.h │ │ │ │ ├── TensorInflation.h │ │ │ │ ├── TensorInitializer.h │ │ │ │ ├── TensorIntDiv.h │ │ │ │ ├── TensorLayoutSwap.h │ │ │ │ ├── TensorMacros.h │ │ │ │ ├── TensorMap.h │ │ │ │ ├── TensorMeta.h │ │ │ │ ├── TensorMorphing.h │ │ │ │ ├── TensorPadding.h │ │ │ │ ├── TensorPatch.h │ │ │ │ ├── TensorRandom.h │ │ │ │ ├── TensorReduction.h │ │ │ │ ├── TensorReductionCuda.h │ │ │ │ ├── TensorReductionSycl.h │ │ │ │ ├── TensorRef.h │ │ │ │ ├── TensorReverse.h │ │ │ │ ├── TensorScan.h │ │ │ │ ├── TensorShuffling.h │ │ │ │ ├── TensorStorage.h │ │ │ │ ├── TensorStriding.h │ │ │ │ ├── TensorSycl.h │ │ │ │ ├── TensorSyclConvertToDeviceExpression.h │ │ │ │ ├── TensorSyclExprConstructor.h │ │ │ │ ├── TensorSyclExtractAccessor.h │ │ │ │ ├── TensorSyclExtractFunctors.h │ │ │ │ ├── TensorSyclLeafCount.h │ │ │ │ ├── TensorSyclPlaceHolderExpr.h │ │ │ │ ├── TensorSyclRun.h │ │ │ │ ├── TensorSyclTuple.h │ │ │ │ ├── TensorTraits.h │ │ │ │ ├── TensorUInt128.h │ │ │ │ └── TensorVolumePatch.h │ │ │ │ ├── TensorSymmetry │ │ │ │ ├── DynamicSymmetry.h │ │ │ │ ├── StaticSymmetry.h │ │ │ │ ├── Symmetry.h │ │ │ │ └── util │ │ │ │ │ └── TemplateGroupTheory.h │ │ │ │ ├── ThreadPool │ │ │ │ ├── EventCount.h │ │ │ │ ├── NonBlockingThreadPool.h │ │ │ │ ├── RunQueue.h │ │ │ │ ├── SimpleThreadPool.h │ │ │ │ ├── ThreadEnvironment.h │ │ │ │ ├── ThreadLocal.h │ │ │ │ ├── ThreadPoolInterface.h │ │ │ │ └── ThreadYield.h │ │ │ │ └── util │ │ │ │ ├── CXX11Meta.h │ │ │ │ ├── CXX11Workarounds.h │ │ │ │ ├── EmulateArray.h │ │ │ │ ├── EmulateCXX11Meta.h │ │ │ │ └── MaxSizeVector.h │ │ ├── EulerAngles │ │ ├── FFT │ │ ├── IterativeSolvers │ │ ├── KroneckerProduct │ │ ├── LevenbergMarquardt │ │ ├── MPRealSupport │ │ ├── MatrixFunctions │ │ ├── MoreVectorization │ │ ├── NonLinearOptimization │ │ ├── NumericalDiff │ │ ├── OpenGLSupport │ │ ├── Polynomials │ │ ├── Skyline │ │ ├── SparseExtra │ │ ├── SpecialFunctions │ │ ├── Splines │ │ └── src │ │ │ ├── AutoDiff │ │ │ ├── AutoDiffJacobian.h │ │ │ ├── AutoDiffScalar.h │ │ │ └── AutoDiffVector.h │ │ │ ├── BVH │ │ │ ├── BVAlgorithms.h │ │ │ └── KdBVH.h │ │ │ ├── Eigenvalues │ │ │ └── ArpackSelfAdjointEigenSolver.h │ │ │ ├── EulerAngles │ │ │ ├── EulerAngles.h │ │ │ └── EulerSystem.h │ │ │ ├── FFT │ │ │ ├── ei_fftw_impl.h │ │ │ └── ei_kissfft_impl.h │ │ │ ├── IterativeSolvers │ │ │ ├── ConstrainedConjGrad.h │ │ │ ├── DGMRES.h │ │ │ ├── GMRES.h │ │ │ ├── IncompleteLU.h │ │ │ ├── IterationController.h │ │ │ ├── MINRES.h │ │ │ └── Scaling.h │ │ │ ├── KroneckerProduct │ │ │ └── KroneckerTensorProduct.h │ │ │ ├── LevenbergMarquardt │ │ │ ├── CopyrightMINPACK.txt │ │ │ ├── LMcovar.h │ │ │ ├── LMonestep.h │ │ │ ├── LMpar.h │ │ │ ├── LMqrsolv.h │ │ │ └── LevenbergMarquardt.h │ │ │ ├── MatrixFunctions │ │ │ ├── MatrixExponential.h │ │ │ ├── MatrixFunction.h │ │ │ ├── MatrixLogarithm.h │ │ │ ├── MatrixPower.h │ │ │ ├── MatrixSquareRoot.h │ │ │ └── StemFunction.h │ │ │ ├── MoreVectorization │ │ │ └── MathFunctions.h │ │ │ ├── NonLinearOptimization │ │ │ ├── HybridNonLinearSolver.h │ │ │ ├── LevenbergMarquardt.h │ │ │ ├── chkder.h │ │ │ ├── covar.h │ │ │ ├── dogleg.h │ │ │ ├── fdjac1.h │ │ │ ├── lmpar.h │ │ │ ├── qrsolv.h │ │ │ ├── r1mpyq.h │ │ │ ├── r1updt.h │ │ │ └── rwupdt.h │ │ │ ├── NumericalDiff │ │ │ └── NumericalDiff.h │ │ │ ├── Polynomials │ │ │ ├── Companion.h │ │ │ ├── PolynomialSolver.h │ │ │ └── PolynomialUtils.h │ │ │ ├── Skyline │ │ │ ├── SkylineInplaceLU.h │ │ │ ├── SkylineMatrix.h │ │ │ ├── SkylineMatrixBase.h │ │ │ ├── SkylineProduct.h │ │ │ ├── SkylineStorage.h │ │ │ └── SkylineUtil.h │ │ │ ├── SparseExtra │ │ │ ├── BlockOfDynamicSparseMatrix.h │ │ │ ├── BlockSparseMatrix.h │ │ │ ├── DynamicSparseMatrix.h │ │ │ ├── MarketIO.h │ │ │ ├── MatrixMarketIterator.h │ │ │ └── RandomSetter.h │ │ │ ├── SpecialFunctions │ │ │ ├── SpecialFunctionsArrayAPI.h │ │ │ ├── SpecialFunctionsFunctors.h │ │ │ ├── SpecialFunctionsHalf.h │ │ │ ├── SpecialFunctionsImpl.h │ │ │ ├── SpecialFunctionsPacketMath.h │ │ │ └── arch │ │ │ │ └── CUDA │ │ │ │ └── CudaSpecialFunctions.h │ │ │ └── Splines │ │ │ ├── Spline.h │ │ │ ├── SplineFitting.h │ │ │ └── SplineFwd.h │ │ └── README.txt ├── grpc │ ├── CMakeLists.txt │ └── patches │ │ ├── CMakeLists.txt │ │ └── remove_debug_postfix.patch ├── gtest │ ├── CMakeLists.txt │ └── patches │ │ └── 0001-removes-cmake-debug-postfix.patch ├── protobuf │ └── CMakeLists.txt ├── qcustomplot │ ├── GPL.txt │ ├── changelog.txt │ ├── qcustomplot.cpp │ └── qcustomplot.h └── yaml-cpp │ ├── CMakeLists.txt │ └── patches │ └── 0001-removes-cmake-debug-postfix.patch ├── gui ├── CMakeLists.txt ├── include │ └── corbo-gui │ │ ├── collapsable_groupbox.h │ │ ├── color_manager.h │ │ ├── extended_tree_widget.h │ │ ├── horizontal_button_group.h │ │ ├── label_combobox_widget.h │ │ ├── label_edit_widget.h │ │ ├── label_horizontal_line_widget.h │ │ ├── label_slider_widget.h │ │ ├── main_window.h │ │ ├── one_of_param_widget.h │ │ ├── parameter_cache.h │ │ ├── parameter_widget.h │ │ ├── rpc_connection_worker.h │ │ ├── rpc_task_worker.h │ │ ├── scope_collection_widget.h │ │ ├── scope_widget.h │ │ ├── signal_collection_widget.h │ │ ├── signal_helper.h │ │ ├── signal_widget.h │ │ ├── slider_center_stuck_widget.h │ │ ├── toolbox_widget.h │ │ └── utilities.h ├── src │ ├── app.cpp │ ├── collapsable_groupbox.cpp │ ├── color_manager.cpp │ ├── extended_tree_widget.cpp │ ├── horizontal_button_group.cpp │ ├── label_combobox_widget.cpp │ ├── label_edit_widget.cpp │ ├── label_horizontal_line_widget.cpp │ ├── label_slider_widget.cpp │ ├── main_window.cpp │ ├── one_of_param_widget.cpp │ ├── parameter_cache.cpp │ ├── parameter_widget.cpp │ ├── scope_collection_widget.cpp │ ├── scope_widget.cpp │ ├── signal_collection_widget.cpp │ ├── signal_helper.cpp │ ├── signal_widget.cpp │ └── toolbox_widget.cpp └── test │ └── gui_test.cpp ├── master ├── CMakeLists.txt ├── include │ └── corbo-master │ │ └── master.h ├── src │ ├── app.cpp │ └── master.cpp └── test │ └── master_test.cpp ├── numerics ├── CMakeLists.txt ├── include │ └── corbo-numerics │ │ ├── algebraic_riccati_continuous.h │ │ ├── algebraic_riccati_discrete.h │ │ ├── collocation_interface.h │ │ ├── controllability.h │ │ ├── corbo_numerics.h │ │ ├── dynamics_eval_interface.h │ │ ├── explicit_integrators.h │ │ ├── finite_differences.h │ │ ├── finite_differences.hpp │ │ ├── finite_differences_collocation.h │ │ ├── finite_differences_interface.h │ │ ├── integrator_interface.h │ │ ├── lyapunov_continuous.h │ │ ├── lyapunov_discrete.h │ │ ├── matrix_utilities.h │ │ ├── observability.h │ │ ├── quadrature.h │ │ ├── quadrature_interface.h │ │ ├── schur.h │ │ ├── schur.hpp │ │ ├── sylvester_continuous.h │ │ ├── sylvester_discrete.h │ │ └── utilities.h ├── src │ ├── algebraic_riccati_continuous.cpp │ ├── algebraic_riccati_discrete.cpp │ ├── controllability.cpp │ ├── finite_differences.cpp │ ├── lyapunov_continuous.cpp │ ├── lyapunov_discrete.cpp │ ├── observability.cpp │ ├── schur.cpp │ ├── sylvester_continuous.cpp │ └── sylvester_discrete.cpp └── test │ ├── test_algebraic_riccati_continuous.cpp │ ├── test_algebraic_riccati_discrete.cpp │ ├── test_controllability.cpp │ ├── test_finite_differences.cpp │ ├── test_lyapunov_continuous.cpp │ ├── test_lyapunov_discrete.cpp │ ├── test_main.cpp │ ├── test_matrix_utilities.cpp │ ├── test_observability.cpp │ ├── test_schur.cpp │ ├── test_sylvester_continuous.cpp │ └── test_sylvester_discrete.cpp ├── observers ├── CMakeLists.txt ├── include │ └── corbo-observers │ │ ├── corbo_observers.h │ │ └── observer_interface.h ├── src │ └── dummy.cpp └── test │ └── observers_test.cpp ├── optimal_control ├── CMakeLists.txt ├── include │ └── corbo-optimal-control │ │ ├── corbo_optimal_control.h │ │ ├── functions │ │ ├── final_state_constraints.h │ │ ├── final_state_cost.h │ │ ├── hybrid_cost.h │ │ ├── minimum_time.h │ │ ├── nlp_functions.h │ │ ├── quadratic_control_cost.h │ │ ├── quadratic_cost.h │ │ ├── quadratic_state_cost.h │ │ ├── stage_functions.h │ │ └── stage_preprocessor.h │ │ ├── optimal_control_problem_interface.h │ │ ├── statistics.h │ │ └── structured_ocp │ │ ├── discretization_grids │ │ ├── discretization_grid_interface.h │ │ ├── finite_differences_grid.h │ │ ├── finite_differences_grid_move_blocking.h │ │ ├── finite_differences_variable_grid.h │ │ ├── full_discretization_grid_base.h │ │ ├── full_discretization_grid_move_blocking_base.h │ │ ├── multiple_shooting_grid.h │ │ ├── multiple_shooting_variable_grid.h │ │ ├── non_uniform_finite_differences_variable_grid.h │ │ ├── non_uniform_full_discretization_grid_base.h │ │ ├── non_uniform_multiple_shooting_variable_grid.h │ │ ├── non_uniform_shooting_grid_base.h │ │ └── shooting_grid_base.h │ │ ├── edges │ │ ├── collocation_edges.h │ │ ├── finite_differences_collocation_edges.h │ │ ├── l1_stab_edges.h │ │ ├── misc_edges.h │ │ ├── multiple_shooting_edges.h │ │ └── trapezoidal_collocation_edges.h │ │ └── structured_optimal_control_problem.h ├── src │ ├── functions │ │ ├── final_state_constraints.cpp │ │ ├── final_state_cost.cpp │ │ ├── nlp_functions.cpp │ │ ├── quadratic_control_cost.cpp │ │ ├── quadratic_cost.cpp │ │ ├── quadratic_state_cost.cpp │ │ ├── stage_functions.cpp │ │ └── stage_preprocessor.cpp │ └── structured_ocp │ │ ├── discretization_grids │ │ ├── finite_differences_grid.cpp │ │ ├── finite_differences_grid_move_blocking.cpp │ │ ├── finite_differences_variable_grid.cpp │ │ ├── full_discretization_grid.cpp │ │ ├── full_discretization_grid_base.cpp │ │ ├── full_discretization_grid_move_blocking_base.cpp │ │ ├── multiple_shooting_grid.cpp │ │ ├── multiple_shooting_variable_grid.cpp │ │ ├── non_uniform_finite_differences_variable_grid.cpp │ │ ├── non_uniform_full_discretization_grid_base.cpp │ │ ├── non_uniform_multiple_shooting_variable_grid.cpp │ │ ├── non_uniform_shooting_grid_base.cpp │ │ └── shooting_grid_base.cpp │ │ └── structured_optimal_control_problem.cpp └── test │ ├── test_full_discretization_grid.cpp │ ├── test_main.cpp │ ├── test_multiple_shooting_grid.cpp │ ├── test_single_shooting_grid.cpp │ └── test_structured_optimal_control_problem.cpp ├── optimization ├── CMakeLists.txt ├── include │ └── corbo-optimization │ │ ├── corbo_optimization.h │ │ ├── hyper_graph │ │ ├── edge.h │ │ ├── edge_cache.h │ │ ├── edge_interface.h │ │ ├── edge_set.h │ │ ├── generic_edge.h │ │ ├── hyper_graph.h │ │ ├── hyper_graph.hpp │ │ ├── hyper_graph_optimization_problem_base.h │ │ ├── hyper_graph_optimization_problem_edge_based.h │ │ ├── hyper_graph_optimization_problem_ignore_structure.h │ │ ├── hyper_graph_optimization_problem_vertex_based.h │ │ ├── scalar_vertex.h │ │ ├── vector_vertex.h │ │ ├── vertex_interface.h │ │ └── vertex_set.h │ │ ├── misc.h │ │ ├── optimization_problem_interface.h │ │ ├── simple_optimization_problem.h │ │ ├── solver │ │ ├── levenberg_marquardt_dense.h │ │ ├── levenberg_marquardt_sparse.h │ │ ├── nlp_solver_interface.h │ │ ├── nlp_solver_ipopt.h │ │ ├── nlp_solver_ipopt_wrapper.h │ │ ├── qp_solver_interface.h │ │ └── qp_solver_osqp.h │ │ └── types.h ├── src │ ├── hyper_graph │ │ ├── edge_interface.cpp │ │ ├── edge_set.cpp │ │ ├── hyper_graph.cpp │ │ ├── hyper_graph_optimization_problem_base.cpp │ │ ├── hyper_graph_optimization_problem_edge_based.cpp │ │ ├── hyper_graph_optimization_problem_vertex_based.cpp │ │ ├── vertex_interface.cpp │ │ └── vertex_set.cpp │ ├── misc.cpp │ ├── optimization_problem_interface.cpp │ ├── simple_optimization_problem.cpp │ └── solver │ │ ├── levenberg_marquardt_dense.cpp │ │ ├── levenberg_marquardt_sparse.cpp │ │ ├── nlp_solver_ipopt.cpp │ │ ├── nlp_solver_ipopt_wrapper.cpp │ │ └── qp_solver_osqp.cpp └── test │ ├── test_hyper_graph.cpp │ ├── test_hyper_graph_optimization_problem_edge_based.cpp │ ├── test_hyper_graph_optimization_problem_ignore_structure.cpp │ ├── test_hyper_graph_optimization_problem_vertex_based.cpp │ ├── test_levenberg_marquardt_dense.cpp │ ├── test_levenberg_marquardt_dense_hyper_graph.cpp │ ├── test_levenberg_marquardt_sparse.cpp │ ├── test_main.cpp │ ├── test_simple_optimization_problem.cpp │ ├── test_solver_ipopt.cpp │ └── test_solver_osqp.cpp ├── plants ├── CMakeLists.txt ├── include │ └── corbo-plants │ │ ├── corbo_plants.h │ │ ├── disturbance_interface.h │ │ ├── disturbances.h │ │ ├── plant_interface.h │ │ ├── simulated_plant.h │ │ └── simulated_plant_threaded.h ├── src │ ├── disturbances.cpp │ ├── plant_interface.cpp │ ├── simulated_plant.cpp │ └── simulated_plant_threaded.cpp └── test │ └── system_test.cpp ├── systems ├── CMakeLists.txt ├── include │ └── corbo-systems │ │ ├── benchmark │ │ ├── linear_benchmark_systems.h │ │ └── nonlinear_benchmark_systems.h │ │ ├── corbo_systems.h │ │ ├── filter_interface.h │ │ ├── one_step_predictor.h │ │ ├── output_function_interface.h │ │ ├── standard_filters.h │ │ ├── system_dynamics_interface.h │ │ └── time_value_buffer.h ├── src │ ├── one_step_predictor.cpp │ ├── standard_filters.cpp │ ├── system_dynamics_interface.cpp │ └── time_value_buffer.cpp └── test │ └── system_test.cpp └── tasks ├── 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