├── .gitignore ├── README.md ├── UR10E_parameters.txt ├── URe ├── CHANGELOG.rst ├── CMakeLists.txt ├── cfg │ └── view_robot.rviz ├── launch │ ├── ur10e_upload.launch │ ├── ur3e_upload.launch │ ├── ur5e_upload.launch │ ├── view_ur10e.launch │ ├── view_ur3e.launch │ └── view_ur5e.launch ├── meshes │ └── ur10e │ │ ├── collision │ │ ├── base.stl │ │ ├── forearm.stl │ │ ├── shoulder.stl │ │ ├── upperarm.stl │ │ ├── wrist1.stl │ │ ├── wrist2.stl │ │ └── wrist3.stl │ │ └── visual │ │ ├── base.dae │ │ ├── forearm.dae │ │ ├── shoulder.dae │ │ ├── upperarm.dae │ │ ├── wrist1.dae │ │ ├── wrist2.dae │ │ └── wrist3.dae ├── package.xml └── urdf │ ├── common.gazebo.xacro │ ├── ur.gazebo.xacro │ ├── ur.transmission.xacro │ ├── ur10.urdf │ ├── ur10e.urdf │ ├── ur10e.urdf.xacro │ ├── ur10e_joint_limited_robot.urdf.xacro │ ├── ur10e_robot.urdf.xacro │ ├── ur3e.urdf.xacro │ ├── ur3e_joint_limited_robot.urdf.xacro │ ├── ur3e_robot.urdf.xacro │ ├── ur5e.urdf.xacro │ ├── ur5e_joint_limited_robot.urdf.xacro │ └── ur5e_robot.urdf.xacro ├── autogen ├── C_mtrx_fcn.m ├── F_vctr_fcn.m ├── G_vctr_fcn.m ├── M_mtrx_fcn.m ├── load_regressor_UR10E.m └── standard_regressor_UR10E.m ├── dataset_ur10e ├── collision │ ├── ur-20_01_22-push_pose_1.csv │ └── ur-20_01_22-push_pose_2.csv ├── identification_data │ ├── ur-19_09_27-11_28_22.csv │ ├── ur-19_09_27-11_32_02.csv │ ├── ur-19_09_27-15_11_06.csv │ ├── ur-19_10_01-13_51_41.csv │ ├── ur-19_10_01-14_04_13.csv │ ├── ur-19_10_01-14_04_41.csv │ ├── ur-19_12_23_free.csv │ ├── ur-20_01_13-load_2600.csv │ ├── ur-20_01_31-load.csv │ ├── ur-20_01_31-unload.csv │ ├── ur-20_02_05-20sec_12harm.csv │ ├── ur-20_02_05-20sec_8harm.csv │ ├── ur-20_02_06-20sec_10harm.csv │ ├── ur-20_02_06-20sec_5harm.csv │ ├── ur-20_02_10-20sec_7harm.csv │ ├── ur-20_02_10-30sec_12harm.csv │ ├── ur-20_02_12-40sec_12harm.csv │ ├── ur-20_02_12-50sec_12harm.csv │ ├── ur-20_02_19_14harm50sec.csv │ ├── ur-20_02_19_14harm50secLoad.csv │ ├── ur-20_02_19_15harm50sec.csv │ └── ur-20_02_19_15harm50secLoad.csv ├── jointwise_motion │ ├── ur-20_01_22-joint_1.csv │ ├── ur-20_01_22-joint_2.csv │ ├── ur-20_01_22-joint_3.csv │ ├── ur-20_01_22-joint_4.csv │ ├── ur-20_01_22-joint_5.csv │ └── ur-20_01_22-joint_6.csv └── validation_data │ ├── ur-20_01_17-p1.csv │ ├── ur-20_01_17-p10.csv │ ├── ur-20_01_17-p2.csv │ ├── ur-20_01_17-p3.csv │ ├── ur-20_01_17-p4.csv │ ├── ur-20_01_17-p5.csv │ ├── ur-20_01_17-p6.csv │ ├── ur-20_01_17-p7.csv │ ├── ur-20_01_17-p8.csv │ ├── ur-20_01_17-p9.csv │ ├── ur-20_01_17-ptp_10_points.csv │ └── vldtnTrjctrySttcs.mat ├── dynamics ├── base_params_qr.m ├── frictionRegressor.m ├── generate_friction_eq.m ├── generate_load_regressor.m ├── generate_rb_dynamics.m ├── generate_rb_regressor.m ├── linearFrictionModel.m ├── nonlinearFrictionModel.m └── regressorWithMotorDynamics.m ├── estimate_drive_gains.m ├── estimate_dynamic_params.m ├── experiment_design.m ├── main.m ├── tests ├── test_base_params.m └── test_rb_inverse_dynamics.m ├── trajectory_optmzn ├── coeffs4_UR │ ├── a_coeffs.script │ ├── b_coeffs.script │ └── c_coeffs.script ├── fourier_series_traj.m ├── getPolCoeffs.m ├── mixed_traj.m ├── optimal_trjctrs │ ├── ga_N5T20.mat │ ├── ga_N7T20.mat │ ├── ga_N7T25.mat │ ├── opt_sltn1.mat │ ├── opt_sltn2.mat │ ├── opt_sltn3.mat │ ├── opt_sltn_N3T5.mat │ ├── opt_sltn_N5T20.mat │ ├── ptrnSrch_N10T20QR.mat │ ├── ptrnSrch_N12T20QR.mat │ ├── ptrnSrch_N12T30QR.mat │ ├── ptrnSrch_N12T40QR.mat │ ├── ptrnSrch_N12T40QR2.mat │ ├── ptrnSrch_N12T50QR.mat │ ├── ptrnSrch_N14T50QR.mat │ ├── ptrnSrch_N15T50QR.mat │ ├── ptrnSrch_N3T2QR.mat │ ├── ptrnSrch_N5T20.mat │ ├── ptrnSrch_N5T20QR.mat │ ├── ptrnSrch_N6T20QR.mat │ ├── ptrnSrch_N7T20QR.mat │ ├── ptrnSrch_N7T25QR.mat │ └── ptrnSrch_N8T20QR.mat ├── traj_cnstr.m ├── traj_cnstr_fsblty.m ├── traj_cost_lgr.m └── writeTrajectoryCoefficientsIntoFile.m ├── utils ├── SDPT3-4.0 │ ├── Citation │ ├── Copyright │ ├── Examples │ │ ├── Asum.m │ │ ├── Doptdesign.m │ │ ├── ToeplitzApprox.m │ │ ├── ToeplitzApproxSQQ.m │ │ ├── cheby0.m │ │ ├── chebyinf.m │ │ ├── chebymat.m │ │ ├── control.m │ │ ├── corrmat.m │ │ ├── dwd.m │ │ ├── etp.m │ │ ├── geometric_mean.m │ │ ├── gpp.m │ │ ├── gppschur.m │ │ ├── graph2.m │ │ ├── igmres.m │ │ ├── lmiexamp1.m │ │ ├── lmiexamp2.m │ │ ├── lmiexamp3.m │ │ ├── lmifun.m │ │ ├── lmifun2.m │ │ ├── logcheby.m │ │ ├── logchebyRcone.m │ │ ├── max_kcut.m │ │ ├── maxcut.m │ │ ├── mcpschur.m │ │ ├── minEpts.m │ │ ├── norm_min.m │ │ ├── orthbasis.m │ │ ├── randinfsdp.m │ │ ├── randlowranksdp.m │ │ ├── randmaxdet.m │ │ ├── randsdp.m │ │ ├── sdphankel.m │ │ ├── thetaproblem.m │ │ └── viewgraph.m │ ├── GNU_General_Public_License_v2 │ ├── HSDSolver │ │ ├── HSDHKMcorr.m │ │ ├── HSDHKMdirfun.m │ │ ├── HSDHKMpred.m │ │ ├── HSDHKMrhsfun.m │ │ ├── HSDNTcorr.m │ │ ├── HSDNTdirfun.m │ │ ├── HSDNTpred.m │ │ ├── HSDNTrhsfun.m │ │ ├── HSDbicgstab.m │ │ ├── HSDlinsysolve.m │ │ ├── HSDlinsysolve_old.m │ │ ├── HSDsortA.m │ │ ├── HSDsqlp.m │ │ ├── HSDsqlpCpert.m │ │ ├── HSDsqlpcheckconvg.m │ │ ├── HSDsqlpmain.m │ │ ├── HSDsqlpmain_old.m │ │ ├── HSDsqlpmisc.m │ │ └── etc │ │ │ ├── HSDbicgstab.m │ │ │ └── HSDgmres.m │ ├── Installmex.m │ ├── README │ ├── Solver │ │ ├── AXfun.m │ │ ├── Arrow.m │ │ ├── Atyfun.m │ │ ├── HKMcorr.m │ │ ├── HKMdirfun.m │ │ ├── HKMpred.m │ │ ├── HKMrhsfun.m │ │ ├── Mexfun │ │ │ ├── Oldfiles │ │ │ │ ├── mexMatvecmod.c │ │ │ │ ├── mexbsolve.c │ │ │ │ ├── mexchol.c │ │ │ │ ├── mexchol.dll │ │ │ │ ├── mexchol_.c │ │ │ │ ├── mexmatold.c │ │ │ │ ├── mexpertdiagold.c │ │ │ │ ├── mexqopsold.c │ │ │ │ ├── mexqprod.c │ │ │ │ ├── mexschurfun_old.c │ │ │ │ ├── mexschurold.c │ │ │ │ ├── mexsmatold.c │ │ │ │ ├── mexsvecold.c │ │ │ │ ├── mextriang.c │ │ │ │ └── mextriangsp.c │ │ │ ├── header.h │ │ │ ├── mexMatvec.c │ │ │ ├── mexMatvec.dll │ │ │ ├── mexMatvec.mexa64 │ │ │ ├── mexProd2.c │ │ │ ├── mexProd2.dll │ │ │ ├── mexProd2.mexa64 │ │ │ ├── mexProd2nz.c │ │ │ ├── mexProd2nz.dll │ │ │ ├── mexProd2nz.mexa64 │ │ │ ├── mexProd2sp.c │ │ │ ├── mexexpand.c │ │ │ ├── mexexpand.dll │ │ │ ├── mexexpand.mexa64 │ │ │ ├── mexfun71 │ │ │ │ ├── mexMatvec_71.c │ │ │ │ ├── mexProd2_71.c │ │ │ │ ├── mexProd2nz_71.c │ │ │ │ ├── mexexpand_71.c │ │ │ │ ├── mexinprod_71.c │ │ │ │ ├── mexmat_71.c │ │ │ │ ├── mexnnz_71.c │ │ │ │ ├── mexqops_71.c │ │ │ │ ├── mexschur_71.c │ │ │ │ ├── mexschurfun_71.c │ │ │ │ ├── mexskron_71.c │ │ │ │ ├── mexsmat_71.c │ │ │ │ ├── mexsvec_71.c │ │ │ │ ├── mextriang_71.c │ │ │ │ └── mextriangsp_71.c │ │ │ ├── mexinprod.c │ │ │ ├── mexinprod.dll │ │ │ ├── mexinprod.mexa64 │ │ │ ├── mexmat.c │ │ │ ├── mexmat.dll │ │ │ ├── mexmat.mexa64 │ │ │ ├── mexnnz.c │ │ │ ├── mexnnz.dll │ │ │ ├── mexnnz.mexa64 │ │ │ ├── mexqops.c │ │ │ ├── mexqops.dll │ │ │ ├── mexqops.mexa64 │ │ │ ├── mexschur.c │ │ │ ├── mexschur.dll │ │ │ ├── mexschur.mexa64 │ │ │ ├── mexschur_v0.c │ │ │ ├── mexschurfun.c │ │ │ ├── mexschurfun.dll │ │ │ ├── mexschurfun.mexa64 │ │ │ ├── mexschurfun_v0.c │ │ │ ├── mexschurfun_v1.c │ │ │ ├── mexschurold.c │ │ │ ├── mexskron.c │ │ │ ├── mexskron.dll │ │ │ ├── mexskron.mexa64 │ │ │ ├── mexsmat.c │ │ │ ├── mexsmat.dll │ │ │ ├── mexsmat.mexa64 │ │ │ ├── mexsmat_v0.c │ │ │ ├── mexsvec.c │ │ │ ├── mexsvec.c~ │ │ │ ├── mexsvec.dll │ │ │ ├── mexsvec.mexa64 │ │ │ ├── mextriang.c │ │ │ ├── mextriang.dll │ │ │ ├── mextriang.mexa64 │ │ │ ├── mextriangsp.c │ │ │ ├── mextriangsp.dll │ │ │ └── mextriangsp.mexa64 │ │ ├── Mexfun_old │ │ │ ├── Oldfiles │ │ │ │ ├── mexMatvecmod.c │ │ │ │ ├── mexbsolve.c │ │ │ │ ├── mexchol.c │ │ │ │ ├── mexchol.dll │ │ │ │ ├── mexchol_.c │ │ │ │ ├── mexmatold.c │ │ │ │ ├── mexpertdiagold.c │ │ │ │ ├── mexqopsold.c │ │ │ │ ├── mexqprod.c │ │ │ │ ├── mexschurfun_old.c │ │ │ │ ├── mexschurold.c │ │ │ │ ├── mexsmatold.c │ │ │ │ ├── mexsvecold.c │ │ │ │ ├── mextriang.c │ │ │ │ └── mextriangsp.c │ │ │ ├── mexMatvec.c │ │ │ ├── mexMatvec.dll │ │ │ ├── mexProd2.c │ │ │ ├── mexProd2.dll │ │ │ ├── mexProd2nz.c │ │ │ ├── mexProd2nz.dll │ │ │ ├── mexProd2sp.c │ │ │ ├── mexblkeig.c │ │ │ ├── mexexpand.c │ │ │ ├── mexexpand.dll │ │ │ ├── mexfun71 │ │ │ │ ├── mexMatvec_71.c │ │ │ │ ├── mexProd2_71.c │ │ │ │ ├── mexProd2nz_71.c │ │ │ │ ├── mexexpand_71.c │ │ │ │ ├── mexinprod_71.c │ │ │ │ ├── mexmat_71.c │ │ │ │ ├── mexnnz_71.c │ │ │ │ ├── mexqops_71.c │ │ │ │ ├── mexschur_71.c │ │ │ │ ├── mexschurfun_71.c │ │ │ │ ├── mexskron_71.c │ │ │ │ ├── mexsmat_71.c │ │ │ │ ├── mexsvec_71.c │ │ │ │ ├── mextriang_71.c │ │ │ │ └── mextriangsp_71.c │ │ │ ├── mexinprod.c │ │ │ ├── mexinprod.dll │ │ │ ├── mexmat.c │ │ │ ├── mexmat.dll │ │ │ ├── mexnnz.c │ │ │ ├── mexnnz.dll │ │ │ ├── mexqops.c │ │ │ ├── mexqops.dll │ │ │ ├── mexschur.c │ │ │ ├── mexschur.dll │ │ │ ├── mexschur_new.c │ │ │ ├── mexschurfun.c │ │ │ ├── mexschurfun.dll │ │ │ ├── mexschurfunold.c │ │ │ ├── mexskron.c │ │ │ ├── mexskron.dll │ │ │ ├── mexsmat.c │ │ │ ├── mexsmat.dll │ │ │ ├── mexsvec.c │ │ │ ├── mexsvec.dll │ │ │ ├── mextriang.c │ │ │ ├── mextriang.dll │ │ │ ├── mextriangsp.c │ │ │ └── mextriangsp.dll │ │ ├── NTcorr.m │ │ ├── NTdirfun.m │ │ ├── NTpred.m │ │ ├── NTrhsfun.m │ │ ├── NTscaling.m │ │ ├── Oldmfiles │ │ │ ├── HKMcorrold.m │ │ │ ├── HKMpredold.m │ │ │ ├── Installmex.m │ │ │ ├── Installmex_old.m │ │ │ ├── NTcorrold.m │ │ │ ├── NTpredold.m │ │ │ ├── NTrhsfunold.m │ │ │ ├── detect_diag.m │ │ │ ├── detect_diagold.m │ │ │ ├── gdcompold.m │ │ │ ├── iterrefine.m │ │ │ ├── lanczos.m │ │ │ ├── linsysolve_test.m │ │ │ ├── linsysolveold.m │ │ │ ├── linsysolveold2.m │ │ │ ├── mybicgstab.m │ │ │ ├── read_sdpaold.m │ │ │ ├── read_sedumi_old.m │ │ │ ├── read_sedumiold.m │ │ │ ├── read_sedumioldold.m │ │ │ ├── scaling_old.m │ │ │ ├── schurmat_lblkold.m │ │ │ ├── schurmat_qblkold.m │ │ │ ├── schurmat_sblk-old.m │ │ │ ├── schurmat_sblkold.m │ │ │ ├── schursysolve.m │ │ │ ├── sqlpcheckconvg_old.m │ │ │ ├── sqlpmiscold.m │ │ │ ├── sqlpold.m │ │ │ ├── sqlporig.m │ │ │ ├── sqlpreg.m │ │ │ ├── sqlpu2qblk.m │ │ │ └── validate_old.m │ │ ├── Prod2.m │ │ ├── Prod3.m │ │ ├── SDPT3data_SEDUMIdata.m │ │ ├── SDPT3soln_SEDUMIsoln.m │ │ ├── SDPvalBounds.m │ │ ├── blkbarrier.m │ │ ├── blkcholfun.m │ │ ├── blkeig.m │ │ ├── blktrace.m │ │ ├── checkdense.m │ │ ├── checkdepconstr.m │ │ ├── checkdepconstr_old.m │ │ ├── combine_blk.m │ │ ├── convertRcone.m │ │ ├── convertcmpsdp.m │ │ ├── degeneracy.m │ │ ├── detect_lblk.m │ │ ├── detect_priminfeas.m │ │ ├── detect_ublk.m │ │ ├── detect_ublk_old.m │ │ ├── gdcomp.m │ │ ├── gpcomp.m │ │ ├── infeaspt.m │ │ ├── linsysolve.m │ │ ├── linsysolve_old.m │ │ ├── linsysolvefun.m │ │ ├── linsysolvefun_old.m │ │ ├── mybicgstab.m │ │ ├── mytime.m │ │ ├── nzlist.m │ │ ├── ops.m │ │ ├── qops.m │ │ ├── qprod.m │ │ ├── randmat.m │ │ ├── read_sdpa.m │ │ ├── read_sedumi.m │ │ ├── scaling.m │ │ ├── schurmat_lblk.m │ │ ├── schurmat_qblk.m │ │ ├── schurmat_qblk_old.m │ │ ├── schurmat_sblk.m │ │ ├── schurmat_sblk_test.m │ │ ├── skron.m │ │ ├── smat.m │ │ ├── sortA.m │ │ ├── sqlp.m │ │ ├── sqlparameters.m │ │ ├── sqlpcheckconvg.m │ │ ├── sqlpdemo.m │ │ ├── sqlpmain.m │ │ ├── sqlpmain_old.m │ │ ├── sqlpmisc.m │ │ ├── sqlpsummary.m │ │ ├── sqlptermcode.m │ │ ├── sqlpu2lblk.m │ │ ├── steplength.m │ │ ├── svec.m │ │ ├── symqmr.m │ │ ├── validate.m │ │ └── validate_startpoint.m │ ├── dimacs │ │ ├── copo14.mat │ │ ├── filter48_socp.mat │ │ ├── hamming_7_5_6.mat │ │ ├── minphase.mat │ │ ├── nql30.mat │ │ └── sched_50_50_scaled.mat │ ├── sdplib │ │ ├── arch8.dat-s │ │ ├── maxG11.dat-s │ │ ├── mcp250-1.dat-s │ │ ├── qap9.dat-s │ │ ├── qpG11.dat-s │ │ ├── ss30.dat-s │ │ ├── theta3.dat-s │ │ └── truss8.dat-s │ ├── sdpt3.m │ └── startup.m ├── YALMIP-master │ ├── @sdpvar │ │ ├── abs.m │ │ ├── accumarray.m │ │ ├── acos.m │ │ ├── acosh.m │ │ ├── acot.m │ │ ├── addfactors.m │ │ ├── addgkyp.m │ │ ├── addleftfactor.m │ │ ├── addrightfactor.m │ │ ├── and.m │ │ ├── any.m │ │ ├── asec.m │ │ ├── asin.m │ │ ├── asinh.m │ │ ├── assign.m │ │ ├── atan.m │ │ ├── atan2.m │ │ ├── beta.m │ │ ├── binary.m │ │ ├── blkdiag.m │ │ ├── bounds.m │ │ ├── brutepersp.m │ │ ├── bsxfun.m │ │ ├── cat.m │ │ ├── ceil.m │ │ ├── circshift.m │ │ ├── clean.m │ │ ├── cleandoublefactors.m │ │ ├── clear_poly_dep.m │ │ ├── clearconic.m │ │ ├── clearcreationtime.m │ │ ├── clearsdpvar.m │ │ ├── cone.m │ │ ├── conj.m │ │ ├── conv.m │ │ ├── convexhull.m │ │ ├── cos.m │ │ ├── cosh.m │ │ ├── cot.m │ │ ├── crossentropy.m │ │ ├── ctranspose.m │ │ ├── ctransposefactor.m │ │ ├── cumsum.m │ │ ├── cumtrapz.m │ │ ├── cut.m │ │ ├── dct.m │ │ ├── deadhub.m │ │ ├── deepdepends.m │ │ ├── degreduce.m │ │ ├── degree.m │ │ ├── depends.m │ │ ├── det.m │ │ ├── diag.m │ │ ├── diff.m │ │ ├── display.m │ │ ├── dissect.m │ │ ├── domain.m │ │ ├── double.m │ │ ├── eig.m │ │ ├── eliminateBinary.m │ │ ├── end.m │ │ ├── eq.m │ │ ├── erf.m │ │ ├── erfc.m │ │ ├── erfcx.m │ │ ├── erfinv.m │ │ ├── exclude.m │ │ ├── exp.m │ │ ├── expanded.m │ │ ├── expcone.m │ │ ├── expint.m │ │ ├── exponents.m │ │ ├── extractkyp.m │ │ ├── factored.m │ │ ├── factors.m │ │ ├── false.m │ │ ├── fft.m │ │ ├── find.m │ │ ├── findelements.m │ │ ├── fix.m │ │ ├── fliplr.m │ │ ├── flipud.m │ │ ├── floor.m │ │ ├── flush.m │ │ ├── flushmidfactors.m │ │ ├── gamma.m │ │ ├── gammainc.m │ │ ├── gammaln.m │ │ ├── ge.m │ │ ├── generateAB.m │ │ ├── geomean.m │ │ ├── getbase.m │ │ ├── getbasematrix.m │ │ ├── getbasematrixwithoutcheck.m │ │ ├── getbasevectorwithoutcheck.m │ │ ├── gethackflag.m │ │ ├── getsosrank.m │ │ ├── getvariables.m │ │ ├── getvariablesvector.m │ │ ├── getvectorvariables.m │ │ ├── gkyp.m │ │ ├── gt.m │ │ ├── hankel.m │ │ ├── harmmean.m │ │ ├── hasfactors.m │ │ ├── homogenize.m │ │ ├── horzcat.m │ │ ├── ifft.m │ │ ├── imag.m │ │ ├── imag2real.m │ │ ├── int.m │ │ ├── integer.m │ │ ├── interp1.m │ │ ├── interp2.m │ │ ├── invsathub.m │ │ ├── is.m │ │ ├── isconvex.m │ │ ├── isequal.m │ │ ├── ishermitian.m │ │ ├── isinteger.m │ │ ├── isinterval.m │ │ ├── islinear.m │ │ ├── ismember.m │ │ ├── ismember_internal.m │ │ ├── isreal.m │ │ ├── issymmetric.m │ │ ├── jacobian.m │ │ ├── kron.m │ │ ├── kyp.m │ │ ├── le.m │ │ ├── length.m │ │ ├── lift2real.m │ │ ├── linearize.m │ │ ├── lmior.m │ │ ├── lmixor.m │ │ ├── loadobj.m │ │ ├── log.m │ │ ├── log10.m │ │ ├── log2.m │ │ ├── lt.m │ │ ├── matrixpolynomial.m │ │ ├── max.m │ │ ├── median.m │ │ ├── mid.m │ │ ├── min.m │ │ ├── minimize.m │ │ ├── minus.m │ │ ├── mldivide.m │ │ ├── mod.m │ │ ├── model.m │ │ ├── mpower.m │ │ ├── mrdivide.m │ │ ├── mtimes.m │ │ ├── mvncdf.m │ │ ├── nchoosek.m │ │ ├── ncvar.m │ │ ├── ndims.m │ │ ├── ne.m │ │ ├── negatefactors.m │ │ ├── nnz.m │ │ ├── nonlineartocone.m │ │ ├── norm.m │ │ ├── not.m │ │ ├── numel.m │ │ ├── or.m │ │ ├── parametric.m │ │ ├── pcone.m │ │ ├── permute.m │ │ ├── plot.m │ │ ├── plus.m │ │ ├── poly.m │ │ ├── polynomial.m │ │ ├── pow10.m │ │ ├── pow2.m │ │ ├── power.m │ │ ├── powercone.m │ │ ├── prod.m │ │ ├── pwa.m │ │ ├── pwadynamics.m │ │ ├── pwamodel.m │ │ ├── pwaproj.m │ │ ├── pwaprojUnc.m │ │ ├── quaddecomp.m │ │ ├── quickrecover.m │ │ ├── rad.m │ │ ├── rank.m │ │ ├── rational.m │ │ ├── rcone.m │ │ ├── rdivide.m │ │ ├── real.m │ │ ├── recovermonoms.m │ │ ├── relaxdouble.m │ │ ├── relaxvalue.m │ │ ├── rem.m │ │ ├── remap.m │ │ ├── replace.m │ │ ├── repmat.m │ │ ├── reshape.m │ │ ├── rot90.m │ │ ├── round.m │ │ ├── saveobj.m │ │ ├── sdpcone.m │ │ ├── sdpvar.m │ │ ├── sdpvarfun.m │ │ ├── sec.m │ │ ├── see.m │ │ ├── semicont.m │ │ ├── set.m │ │ ├── sethackflag.m │ │ ├── setoperatorname.m │ │ ├── setsos.m │ │ ├── shiftdim.m │ │ ├── sign.m │ │ ├── simplify.m │ │ ├── sin.m │ │ ├── sinh.m │ │ ├── size.m │ │ ├── sort.m │ │ ├── sos.m │ │ ├── sos1.m │ │ ├── sos2.m │ │ ├── sosd.m │ │ ├── sparse.m │ │ ├── spdiags.m │ │ ├── spy.m │ │ ├── sqr.m │ │ ├── sqrt.m │ │ ├── sqrtm.m │ │ ├── sqrtm_internal.m │ │ ├── stackcell.m │ │ ├── subsasgn.m │ │ ├── subsref.m │ │ ├── sum.m │ │ ├── sumsum.m │ │ ├── sym.m │ │ ├── tan.m │ │ ├── tanh.m │ │ ├── times.m │ │ ├── toeplitz.m │ │ ├── trace.m │ │ ├── transpose.m │ │ ├── transposefactor.m │ │ ├── trapz.m │ │ ├── tril.m │ │ ├── triu.m │ │ ├── true.m │ │ ├── uminus.m │ │ ├── uncertain.m │ │ ├── unfactor.m │ │ ├── unique.m │ │ ├── uplus.m │ │ ├── value.m │ │ ├── var.m │ │ ├── variablereplace.m │ │ ├── vec.m │ │ ├── vec_replace.m │ │ ├── vertcat.m │ │ ├── xor.m │ │ └── zeros.m │ ├── Contents.m │ ├── README.txt │ ├── demos │ │ └── readme.txt │ ├── extras │ │ ├── @blkvar │ │ │ ├── blkvar.m │ │ │ ├── display.m │ │ │ ├── sdisplay.m │ │ │ ├── sdpvar.m │ │ │ └── subsasgn.m │ │ ├── @constraint │ │ │ ├── and.m │ │ │ ├── assignschur.m │ │ │ ├── boundingbox.m │ │ │ ├── chebyball.m │ │ │ ├── check.m │ │ │ ├── checkset.m │ │ │ ├── colon.m │ │ │ ├── complements.m │ │ │ ├── constraint.m │ │ │ ├── cut.m │ │ │ ├── depends.m │ │ │ ├── display.m │ │ │ ├── dissect.m │ │ │ ├── double.m │ │ │ ├── dual.m │ │ │ ├── eq.m │ │ │ ├── flatten.m │ │ │ ├── ge.m │ │ │ ├── getbase.m │ │ │ ├── getbounds.m │ │ │ ├── getcutflag.m │ │ │ ├── getlist.m │ │ │ ├── getvariables.m │ │ │ ├── gt.m │ │ │ ├── horzcat.m │ │ │ ├── hull.m │ │ │ ├── is.m │ │ │ ├── ismember.m │ │ │ ├── isreal.m │ │ │ ├── kkt.m │ │ │ ├── le.m │ │ │ ├── loadobj.m │ │ │ ├── lowrank.m │ │ │ ├── lt.m │ │ │ ├── nnz.m │ │ │ ├── not.m │ │ │ ├── or.m │ │ │ ├── plot.m │ │ │ ├── plotlattice.m │ │ │ ├── plus.m │ │ │ ├── polyhedron.m │ │ │ ├── polytope.m │ │ │ ├── problemclass.m │ │ │ ├── projection.m │ │ │ ├── replace.m │ │ │ ├── saveobj.m │ │ │ ├── sdpvar.m │ │ │ ├── set.m │ │ │ ├── setcutflag.m │ │ │ ├── settype.m │ │ │ ├── spy.m │ │ │ ├── tag.m │ │ │ ├── unblkdiag.m │ │ │ ├── uncertain.m │ │ │ ├── value.m │ │ │ └── vertcat.m │ │ ├── @lmi │ │ │ ├── Polyhedron.m │ │ │ ├── and.m │ │ │ ├── assignschur.m │ │ │ ├── boundingbox.m │ │ │ ├── categorizeproblem.m │ │ │ ├── chanceconstraint.m │ │ │ ├── chebyball.m │ │ │ ├── check.m │ │ │ ├── checkset.m │ │ │ ├── clean.m │ │ │ ├── clear_poly_dep.m │ │ │ ├── cleardual.m │ │ │ ├── colon.m │ │ │ ├── complements.m │ │ │ ├── constraintclass.m │ │ │ ├── convertlorentz.m │ │ │ ├── convertsocp.m │ │ │ ├── cut.m │ │ │ ├── depends.m │ │ │ ├── display.m │ │ │ ├── dissect.m │ │ │ ├── double.m │ │ │ ├── dual.m │ │ │ ├── eliminateBinary.m │ │ │ ├── ellipsoid.m │ │ │ ├── end.m │ │ │ ├── envelope.m │ │ │ ├── eq.m │ │ │ ├── expanded.m │ │ │ ├── expandmeta.m │ │ │ ├── extractRandomDefinitions.m │ │ │ ├── fastcat.m │ │ │ ├── flatten.m │ │ │ ├── getComplementarityTerms.m │ │ │ ├── getbase.m │ │ │ ├── getbounds.m │ │ │ ├── getbounds_interval.m │ │ │ ├── getcutflag.m │ │ │ ├── getlmiid.m │ │ │ ├── getlrdata.m │ │ │ ├── getvariables.m │ │ │ ├── groupchanceconstraints.m │ │ │ ├── horzcat.m │ │ │ ├── hull.m │ │ │ ├── imag2reallmi.m │ │ │ ├── imagemodel.m │ │ │ ├── indicators.m │ │ │ ├── is.m │ │ │ ├── isfeasible.m │ │ │ ├── isinterval.m │ │ │ ├── islinear.m │ │ │ ├── ismember.m │ │ │ ├── isnan.m │ │ │ ├── isreal.m │ │ │ ├── isrelaxfeasible.m │ │ │ ├── issigmonial.m │ │ │ ├── kkt.m │ │ │ ├── length.m │ │ │ ├── lifted.m │ │ │ ├── linearize.m │ │ │ ├── lmi.m │ │ │ ├── lmi2sedumistruct.m │ │ │ ├── lmiinfo.m │ │ │ ├── lmior.m │ │ │ ├── loadobj.m │ │ │ ├── logic2cont.m │ │ │ ├── lowrank.m │ │ │ ├── minus.m │ │ │ ├── or.m │ │ │ ├── plot.m │ │ │ ├── plotlattice.m │ │ │ ├── plus.m │ │ │ ├── polytope.m │ │ │ ├── problemclass.m │ │ │ ├── projection.m │ │ │ ├── pwamodel.m │ │ │ ├── reduce.m │ │ │ ├── remap.m │ │ │ ├── replace.m │ │ │ ├── saveobj.m │ │ │ ├── sdpvar.m │ │ │ ├── see.m │ │ │ ├── set.m │ │ │ ├── setcutflag.m │ │ │ ├── setdualize.m │ │ │ ├── settype.m │ │ │ ├── setupMeta.m │ │ │ ├── shift.m │ │ │ ├── size.m │ │ │ ├── sizeOLD.m │ │ │ ├── sosd.m │ │ │ ├── spy.m │ │ │ ├── subsasgn.m │ │ │ ├── subsref.m │ │ │ ├── tag.m │ │ │ ├── uncertain.m │ │ │ ├── uplus.m │ │ │ ├── usedvariables.m │ │ │ ├── value.m │ │ │ ├── variablereplace.m │ │ │ └── vertcat.m │ │ ├── @logdet │ │ │ ├── display.m │ │ │ ├── double.m │ │ │ ├── getP.m │ │ │ ├── getcx.m │ │ │ ├── getgain.m │ │ │ ├── logdet.m │ │ │ ├── minus.m │ │ │ ├── mtimes.m │ │ │ ├── plus.m │ │ │ └── uminus.m │ │ ├── @ncvar │ │ │ ├── abs.m │ │ │ ├── and.m │ │ │ ├── any.m │ │ │ ├── assign.m │ │ │ ├── binary.m │ │ │ ├── blkdiag.m │ │ │ ├── bounds.m │ │ │ ├── brutepersp.m │ │ │ ├── cat.m │ │ │ ├── ceil.m │ │ │ ├── circshift.m │ │ │ ├── clean.m │ │ │ ├── clearsdpvar.m │ │ │ ├── cone.m │ │ │ ├── conj.m │ │ │ ├── conv.m │ │ │ ├── ctranspose.m │ │ │ ├── cut.m │ │ │ ├── degreduce.m │ │ │ ├── degree.m │ │ │ ├── depends.m │ │ │ ├── det.m │ │ │ ├── diag.m │ │ │ ├── diff.m │ │ │ ├── display.m │ │ │ ├── domain.m │ │ │ ├── double.m │ │ │ ├── eig.m │ │ │ ├── end.m │ │ │ ├── eq.m │ │ │ ├── exp.m │ │ │ ├── expanded.m │ │ │ ├── exponents.m │ │ │ ├── extractkyp.m │ │ │ ├── false.m │ │ │ ├── find.m │ │ │ ├── fliplr.m │ │ │ ├── flipud.m │ │ │ ├── floor.m │ │ │ ├── ge.m │ │ │ ├── generateAB.m │ │ │ ├── geomean.m │ │ │ ├── getbase.m │ │ │ ├── getbasematrix.m │ │ │ ├── getbasematrixwithoutcheck.m │ │ │ ├── getbasevectorwithoutcheck.m │ │ │ ├── gethackflag.m │ │ │ ├── getsosrank.m │ │ │ ├── getvariables.m │ │ │ ├── getvariablesvector.m │ │ │ ├── gt.m │ │ │ ├── hankel.m │ │ │ ├── homogenize.m │ │ │ ├── horzcat.m │ │ │ ├── imag.m │ │ │ ├── integer.m │ │ │ ├── is.m │ │ │ ├── isconvex.m │ │ │ ├── isequal.m │ │ │ ├── ishermitian.m │ │ │ ├── isinteger.m │ │ │ ├── islinear.m │ │ │ ├── ismember.m │ │ │ ├── ismember_internal.m │ │ │ ├── isreal.m │ │ │ ├── issymmetric.m │ │ │ ├── jacobian.m │ │ │ ├── kron.m │ │ │ ├── kyp.m │ │ │ ├── le.m │ │ │ ├── length.m │ │ │ ├── loadobj.m │ │ │ ├── log.m │ │ │ ├── log10.m │ │ │ ├── log2.m │ │ │ ├── lt.m │ │ │ ├── max.m │ │ │ ├── median.m │ │ │ ├── min.m │ │ │ ├── minus.m │ │ │ ├── mldivide.m │ │ │ ├── model.m │ │ │ ├── mpower.m │ │ │ ├── mrdivide.m │ │ │ ├── mtimes.m │ │ │ ├── ncvar.m │ │ │ ├── ne.m │ │ │ ├── nnz.m │ │ │ ├── nonlineartocone.m │ │ │ ├── norm.m │ │ │ ├── not.m │ │ │ ├── numel.m │ │ │ ├── or.m │ │ │ ├── parametric.m │ │ │ ├── plot.m │ │ │ ├── plus.m │ │ │ ├── polynomial.m │ │ │ ├── pow10.m │ │ │ ├── pow2.m │ │ │ ├── power.m │ │ │ ├── prod.m │ │ │ ├── pwa.m │ │ │ ├── quaddecomp.m │ │ │ ├── rank.m │ │ │ ├── rcone.m │ │ │ ├── rdivide.m │ │ │ ├── real.m │ │ │ ├── recovermonoms.m │ │ │ ├── relaxdouble.m │ │ │ ├── replace.m │ │ │ ├── repmat.m │ │ │ ├── reshape.m │ │ │ ├── rot90.m │ │ │ ├── saveobj.m │ │ │ ├── sdpvarfun.m │ │ │ ├── see.m │ │ │ ├── set.m │ │ │ ├── sethackflag.m │ │ │ ├── setsos.m │ │ │ ├── shiftdim.m │ │ │ ├── sign.m │ │ │ ├── simplify.m │ │ │ ├── size.m │ │ │ ├── sort.m │ │ │ ├── sos.m │ │ │ ├── sosd.m │ │ │ ├── sparse.m │ │ │ ├── spy.m │ │ │ ├── sqrt.m │ │ │ ├── stackcell.m │ │ │ ├── subsasgn.m │ │ │ ├── subsref.m │ │ │ ├── sum.m │ │ │ ├── sumsum.m │ │ │ ├── sym.m │ │ │ ├── times.m │ │ │ ├── toeplitz.m │ │ │ ├── trace.m │ │ │ ├── transpose.m │ │ │ ├── tril.m │ │ │ ├── triu.m │ │ │ ├── true.m │ │ │ ├── uminus.m │ │ │ ├── uncertain.m │ │ │ ├── unique.m │ │ │ ├── uplus.m │ │ │ ├── var.m │ │ │ └── vertcat.m │ │ ├── @ndsdpvar │ │ │ ├── abs.m │ │ │ ├── alldifferent.m │ │ │ ├── assign.m │ │ │ ├── binary.m │ │ │ ├── cat.m │ │ │ ├── circshift.m │ │ │ ├── clean.m │ │ │ ├── depends.m │ │ │ ├── diff.m │ │ │ ├── display.m │ │ │ ├── double.m │ │ │ ├── end.m │ │ │ ├── eq.m │ │ │ ├── flush.m │ │ │ ├── ge.m │ │ │ ├── getbasematrix.m │ │ │ ├── gethackflag.m │ │ │ ├── getvariables.m │ │ │ ├── gt.m │ │ │ ├── horzcat.m │ │ │ ├── imag.m │ │ │ ├── integer.m │ │ │ ├── is.m │ │ │ ├── isreal.m │ │ │ ├── le.m │ │ │ ├── length.m │ │ │ ├── lt.m │ │ │ ├── max.m │ │ │ ├── minus.m │ │ │ ├── mtimes.m │ │ │ ├── ndims.m │ │ │ ├── ndsdpvar.m │ │ │ ├── numel.m │ │ │ ├── permute.m │ │ │ ├── plus.m │ │ │ ├── power.m │ │ │ ├── real.m │ │ │ ├── repmat.m │ │ │ ├── reshape.m │ │ │ ├── sdpvar.m │ │ │ ├── see.m │ │ │ ├── shiftdim.m │ │ │ ├── size.m │ │ │ ├── sqrt.m │ │ │ ├── squeeze.m │ │ │ ├── subsasgn.m │ │ │ ├── subsref.m │ │ │ ├── sum.m │ │ │ ├── times.m │ │ │ ├── uminus.m │ │ │ ├── value.m │ │ │ ├── vec.m │ │ │ └── vertcat.m │ │ ├── @optimizer │ │ │ ├── cat.m │ │ │ ├── display.m │ │ │ ├── fiordos.m │ │ │ ├── horzcat.m │ │ │ ├── kkt.m │ │ │ ├── loadobj.m │ │ │ ├── numel.m │ │ │ ├── optimizer.m │ │ │ ├── optimizer_precalc.m │ │ │ ├── plot.m │ │ │ ├── presolve.m │ │ │ ├── sample.m │ │ │ ├── saveobj.m │ │ │ ├── solvemp.m │ │ │ ├── subsasgn.m │ │ │ ├── subsref.m │ │ │ ├── updatemodel.m │ │ │ └── vertcat.m │ │ ├── @optproblem │ │ │ ├── boundingbox.m │ │ │ ├── display.m │ │ │ ├── feasible.m │ │ │ ├── horzcat.m │ │ │ ├── isfeasible.m │ │ │ ├── kkt.m │ │ │ ├── linearize.m │ │ │ ├── maximize.m │ │ │ ├── minimize.m │ │ │ ├── optimize.m │ │ │ ├── optimizer.m │ │ │ ├── optproblem.m │ │ │ ├── robustify.m │ │ │ ├── solvebilevel.m │ │ │ ├── solvemp.m │ │ │ └── subsref.m │ │ ├── @probability │ │ │ ├── display.m │ │ │ ├── ge.m │ │ │ ├── horzcat.m │ │ │ ├── le.m │ │ │ └── probability.m │ │ ├── InstantiateElementWise.m │ │ ├── InstantiateElementWiseUnitary.m │ │ ├── NormalizeCallback.m │ │ ├── RecoverNonlinearSolverSolution.m │ │ ├── SetupEvaluationVariable.m │ │ ├── addExponentialCone.m │ │ ├── addStructureBounds.m │ │ ├── adjoint.m │ │ ├── alreadydone.m │ │ ├── amplexpr.m │ │ ├── appendYALMIPvariables.m │ │ ├── append_normalized_socp.m │ │ ├── apply_oldrecursive_differentiation.m │ │ ├── apply_recursive_differentiation.m │ │ ├── apply_recursive_evaluation.m │ │ ├── argmin.m │ │ ├── assignschur.m │ │ ├── bilinearize.m │ │ ├── binary.m │ │ ├── binaryindex.m │ │ ├── binmodel.m │ │ ├── binvar.m │ │ ├── bisection.m │ │ ├── bisection_core.m │ │ ├── blockdiagmoment.m │ │ ├── blocks.m │ │ ├── bmilin.m │ │ ├── build_recursive_scheme.m │ │ ├── checkfeasiblefast.m │ │ ├── classifyfactors.m │ │ ├── clean.m │ │ ├── coefficients.m │ │ ├── compileinterfacedata.m │ │ ├── compressLifted.m │ │ ├── compress_evaluation_scheme.m │ │ ├── compressfactors.m │ │ ├── compressfactors2.m │ │ ├── computeconstraintresiduals.m │ │ ├── computedimacs.m │ │ ├── convert_perspective_log.m │ │ ├── convert_polynomial_to_quadratic.m │ │ ├── convert_polynomial_to_sdpfun.m │ │ ├── convert_sigmonial_to_sdpfun.m │ │ ├── convertlogics.m │ │ ├── convertquadratics.m │ │ ├── createNumericalModel.m │ │ ├── createOutputStructure.m │ │ ├── create_CHS.m │ │ ├── create_HS.m │ │ ├── createobjective.m │ │ ├── createoutput.m │ │ ├── createsdplibfile.m │ │ ├── datasaver.m │ │ ├── dd.m │ │ ├── deadhub.m │ │ ├── dec2decbin.m │ │ ├── define.m │ │ ├── definecreationtime.m │ │ ├── degree.m │ │ ├── depends.m │ │ ├── derandomize.m │ │ ├── derivebounds.m │ │ ├── derivedualBounds.m │ │ ├── derivedualBoundsParameterFree.m │ │ ├── det_internal.m │ │ ├── detn.m │ │ ├── detset.m │ │ ├── disjunctivecut.m │ │ ├── dissect_internal.m │ │ ├── double2sdpvar.m │ │ ├── dsdpdata.m │ │ ├── dual2cell.m │ │ ├── dualize.m │ │ ├── eigv.m │ │ ├── eliminatevariables.m │ │ ├── ellipplot.m │ │ ├── emptyNumericalModel.m │ │ ├── even.m │ │ ├── expanded.m │ │ ├── expandforindex.m │ │ ├── expandmodel.m │ │ ├── expandrecursive.m │ │ ├── expandsemivar.m │ │ ├── expandsos2.m │ │ ├── export.m │ │ ├── extractConstraints.m │ │ ├── extractSemiContBounds.m │ │ ├── extract_bounds_from_abs_operator.m │ │ ├── extract_bounds_from_max_operator.m │ │ ├── extract_bounds_from_milpsubsref_operator.m │ │ ├── extract_bounds_from_min_operator.m │ │ ├── extract_bounds_from_norm_operator.m │ │ ├── extsubsref.m │ │ ├── eyev.m │ │ ├── findOutWeights.m │ │ ├── find_variable_bounds.m │ │ ├── findapplicablesolvers.m │ │ ├── findhash.c │ │ ├── findhash.m │ │ ├── findhashsorted.c │ │ ├── findhashsorted.m │ │ ├── findlinearulb.m │ │ ├── findrows.m │ │ ├── findulb.m │ │ ├── findulb_interval.m │ │ ├── fiordos_call.m │ │ ├── fmincon_con.m │ │ ├── fmincon_con_liftlayer.m │ │ ├── fmincon_congp.m │ │ ├── fmincon_fun.m │ │ ├── fmincon_fun_liftlayer.m │ │ ├── fmincon_fungp.m │ │ ├── fmincon_fungrad.m │ │ ├── fmincon_funhessian.m │ │ ├── fraction.m │ │ ├── gammainc_a.m │ │ ├── gammainc_x.m │ │ ├── gams2yalmip.m │ │ ├── gen_rand_hash.m │ │ ├── getbase.m │ │ ├── getbasematrix.m │ │ ├── getexponentbase.m │ │ ├── getvariables.m │ │ ├── gmset.m │ │ ├── hessian.m │ │ ├── imagemodel.m │ │ ├── int_sdpvar.m │ │ ├── integer.m │ │ ├── intvar.m │ │ ├── invsathub.m │ │ ├── ipopt_callback_df.m │ │ ├── ipopt_callback_dg.m │ │ ├── ipopt_callback_f.m │ │ ├── ipopt_callback_g.m │ │ ├── ipoptgp_callback_df.m │ │ ├── ipoptgp_callback_dg.m │ │ ├── ipoptgp_callback_f.m │ │ ├── ipoptgp_callback_g.m │ │ ├── isconvexmeshdata.m │ │ ├── isessentiallyhermitian.m │ │ ├── isessentiallysymmetric.m │ │ ├── isinterval.m │ │ ├── islinear.m │ │ ├── ismembcYALMIP.m │ │ ├── jacSparsity.m │ │ ├── jacSparsityGeometric.m │ │ ├── jacobiansparsityfromnonlinear.m │ │ ├── lifted.m │ │ ├── lindo_fun.m │ │ ├── lindo_fungp.m │ │ ├── lindosparse.m │ │ ├── lmiBasis.m │ │ ├── loadsdpafile.m │ │ ├── loadsedumidata.m │ │ ├── map_to_original.m │ │ ├── matrixcoefficients.m │ │ ├── mergeNumericalModels.m │ │ ├── mid.m │ │ ├── milpalreadydone.m │ │ ├── milppresolve.m │ │ ├── milpsubsref.m │ │ ├── minimize.m │ │ ├── modelComplementarityConstraints.m │ │ ├── monolist.m │ │ ├── monolistcoeff.m │ │ ├── monpowers.m │ │ ├── mytestNEW.m │ │ ├── mytestOLD.m │ │ ├── ncvar_coefficients.m │ │ ├── ncvar_replace.m │ │ ├── negateNegativeSemiContVariables.m │ │ ├── newvariabletypegen.m │ │ ├── nonconvexQuadratic.m │ │ ├── nonlinearreplace.m │ │ ├── normalizeExponentialCone.m │ │ ├── openopt_fun.m │ │ ├── optimize.m │ │ ├── parseLMI.m │ │ ├── parvar.m │ │ ├── penlab_callback_con.m │ │ ├── penlab_callback_dcon.m │ │ ├── penlab_callback_dcon2.m │ │ ├── penlab_callback_df.m │ │ ├── penlab_callback_df2.m │ │ ├── penlab_callback_dff.m │ │ ├── penlab_callback_f.m │ │ ├── penlab_callback_matrixG.m │ │ ├── penlab_callback_matrixdG.m │ │ ├── pennlp_con.m │ │ ├── pennlp_congrad.m │ │ ├── pennlp_conhess.m │ │ ├── pennlp_fun.m │ │ ├── pennlp_fungrad.m │ │ ├── pennlp_funhess.m │ │ ├── pennonm_callback_df.m │ │ ├── pennonm_callback_dg.m │ │ ├── pennonm_callback_f.m │ │ ├── pennonm_callback_g.m │ │ ├── plotInternalModel.m │ │ ├── plothyperplanes.m │ │ ├── plottruss.m │ │ ├── polyprint.m │ │ ├── portfoliodata.mat │ │ ├── portfoliodata.txt │ │ ├── precalcgpstruct.m │ │ ├── precomputeDerivative.m │ │ ├── presolve_fixvariables.m │ │ ├── presolve_probebinary.m │ │ ├── primalize.m │ │ ├── problemclass.m │ │ ├── pruneOptions.m │ │ ├── prunecplexoptions.m │ │ ├── pwasos2.m │ │ ├── pwf.m │ │ ├── rad.m │ │ ├── rand_hash.m │ │ ├── randpolytope.m │ │ ├── randpsd.m │ │ ├── ratingdata.mat │ │ ├── reDeclareForBinaryMax.m │ │ ├── recdef.m │ │ ├── recover.m │ │ ├── recovermonoms.m │ │ ├── recovernc.m │ │ ├── relaxdouble.m │ │ ├── relaxvalue.m │ │ ├── remove_bounds_from_Ab.m │ │ ├── remove_bounds_from_Aeqbeq.m │ │ ├── removenonlinearity.m │ │ ├── save_model_expansion.m │ │ ├── saveampl.m │ │ ├── savecplexlp.m │ │ ├── savesdpafile.m │ │ ├── schurgateway.m │ │ ├── sdd.m │ │ ├── sdisplay.m │ │ ├── sdisplay2.m │ │ ├── sdpsettings.m │ │ ├── sdpt3data.m │ │ ├── sdpt3struct2sdpt3block.m │ │ ├── sdpvar2str.m │ │ ├── sdpvarremap.m │ │ ├── sedumi2dsdp.m │ │ ├── sedumi2dsdp5.m │ │ ├── sedumi2maxdet.m │ │ ├── sedumi2pen.m │ │ ├── sedumi2penbmi.m │ │ ├── sedumi2sdpa.m │ │ ├── sedumi2sdpt3.m │ │ ├── sedumi2yalmip.m │ │ ├── see.m │ │ ├── selectsolution.m │ │ ├── selectsolver.m │ │ ├── separable.m │ │ ├── setdiff1D.m │ │ ├── setduals.m │ │ ├── setnonlinearvariables.m │ │ ├── setpolynomials.m │ │ ├── setupBMIBNB.m │ │ ├── setupBNB.m │ │ ├── setupBounds.m │ │ ├── setup_fmincon_params.m │ │ ├── shadowjacobian.m │ │ ├── showprogress.m │ │ ├── snopt_callback.m │ │ ├── snoptgp_callback.m │ │ ├── solveequalities.m │ │ ├── solverCapable.m │ │ ├── solver_can_solve.m │ │ ├── solvesdp.m │ │ ├── solvesdp_multiple.m │ │ ├── splitAndDiagonalize.m │ │ ├── sqplab_con.m │ │ ├── sqplab_fun.m │ │ ├── sqplab_simul.m │ │ ├── sqrtm_internal.m │ │ ├── stableunique.m │ │ ├── threeletterwords.mat │ │ ├── tplus.m │ │ ├── ttimes.m │ │ ├── unblkdiag.m │ │ ├── uncvar.m │ │ ├── unionstripped.m │ │ ├── uniquesafe.m │ │ ├── uniquestripped.m │ │ ├── value.m │ │ ├── variable_replace.m │ │ ├── variablechange.m │ │ ├── vecquaddecomp.m │ │ ├── vectorizedlogic.m │ │ ├── ventropy.m │ │ ├── yalmip.m │ │ ├── yalmip2geometric.m │ │ ├── yalmip2mpt.m │ │ ├── yalmip2nonlinearsolver.m │ │ ├── yalmip_default_output.m │ │ ├── yalmipbandwidth.m │ │ ├── yalmiperror.m │ │ └── yalmiptable.m │ ├── license.txt │ ├── modules │ │ ├── bilevel │ │ │ └── solvebilevel.m │ │ ├── dummy.m │ │ ├── global │ │ │ ├── addBilinearVariableCuts.m │ │ │ ├── addComplementarityCuts.m │ │ │ ├── addConvexityCuts.m │ │ │ ├── addEvalVariableCuts.m │ │ │ ├── addImpliedSDP.m │ │ │ ├── addMonomialCuts.m │ │ │ ├── addMultipliedEqualityCuts.m │ │ │ ├── adjustMaxTime.m │ │ │ ├── bmibnb.m │ │ │ ├── bnb.m │ │ │ ├── bnb_solvelower.m │ │ │ ├── boxreduce.m │ │ │ ├── branch_and_bound.m │ │ │ ├── clean_bounds.m │ │ │ ├── compileQuadratic.m │ │ │ ├── compile_nonlinear_table.m │ │ │ ├── completeInitial.m │ │ │ ├── computecost.m │ │ │ ├── constraint_residuals.m │ │ │ ├── convexhullConcave.m │ │ │ ├── convexhullConcave2D.m │ │ │ ├── convexhullConvex.m │ │ │ ├── convexhullConvex2D.m │ │ │ ├── convexhullFromSampled.m │ │ │ ├── convexhullGeneral.m │ │ │ ├── cutsdp.m │ │ │ ├── decide_branch_variables.m │ │ │ ├── detectAtMost.m │ │ │ ├── dmpermblockeig.m │ │ │ ├── domain_reduction.m │ │ │ ├── evaluate_nonlinear.m │ │ │ ├── exclusionCut.m │ │ │ ├── feaspump.m │ │ │ ├── fixer.m │ │ │ ├── global_solve_upper.m │ │ │ ├── initializesolution.m │ │ │ ├── intvmul.m │ │ │ ├── intvpower.m │ │ │ ├── iterative_refinement.m │ │ │ ├── kktqp.m │ │ │ ├── lpbmitighten.m │ │ │ ├── powerbound.m │ │ │ ├── preprocess_bilinear_bounds.m │ │ │ ├── presolveOneMagicRound.m │ │ │ ├── presolve_bounds_from_domains.m │ │ │ ├── presolve_bounds_from_inequalities.m │ │ │ ├── presolve_bounds_from_modelbounds.m │ │ │ ├── presolve_bounds_from_quadratics.m │ │ │ ├── presolve_eliminatelinearratios.m │ │ │ ├── presolve_quadratic_psdbound.m │ │ │ ├── presolve_sortrows.m │ │ │ ├── propagate_bounds_from_complementary.m │ │ │ ├── propagate_bounds_from_equalities.m │ │ │ ├── propagatequadratics.m │ │ │ ├── reduce_bilinear_branching_variables.m │ │ │ ├── root_node_tighten.m │ │ │ ├── rounder.m │ │ │ ├── sdpPump.m │ │ │ ├── solve_upper_in_node.m │ │ │ ├── solvelower.m │ │ │ ├── sosfixer.m │ │ │ ├── tightenbounds.m │ │ │ ├── update_eval_bounds.m │ │ │ ├── update_integer_bounds.m │ │ │ ├── update_monomial_bounds.m │ │ │ ├── update_one_eval_bound.m │ │ │ ├── update_one_inverseeval_bound.m │ │ │ ├── update_sumsepquad_bounds.m │ │ │ ├── updatebounds_recursive_evaluation.m │ │ │ ├── updateboundsfromupper.m │ │ │ ├── updatemonomialbounds.m │ │ │ ├── updatenonlinearbounds.m │ │ │ └── updateonenonlinearbound.m │ │ ├── moment │ │ │ ├── extractsolution.m │ │ │ ├── momentmodel.m │ │ │ └── solvemoment.m │ │ ├── parametric │ │ │ ├── mpt2pop.m │ │ │ ├── mpt_appendmodel.m │ │ │ ├── mpt_clean_optmizer.m │ │ │ ├── mpt_collect_equalities.m │ │ │ ├── mpt_de_mpmilp.m │ │ │ ├── mpt_derive_bounds.m │ │ │ ├── mpt_detect_and_improve_bounds.m │ │ │ ├── mpt_detect_fixed_rows.m │ │ │ ├── mpt_detect_sos.m │ │ │ ├── mpt_enumerate_binary.m │ │ │ ├── mpt_enumeration_mpmilp.m │ │ │ ├── mpt_parbb.m │ │ │ ├── mpt_project_back_equality.m │ │ │ ├── mpt_project_on_equality.m │ │ │ ├── mpt_reduce.m │ │ │ ├── mpt_remove_equalities.m │ │ │ ├── mpt_select_rows.m │ │ │ ├── mpt_solvenode.m │ │ │ ├── removeExplorationConstraints.m │ │ │ └── solvemp.m │ │ ├── robust │ │ │ ├── createDualParameterization.m │ │ │ ├── decomposeUncertain.m │ │ │ ├── deriveBilinearizing.m │ │ │ ├── dilate.m │ │ │ ├── dilate2.m │ │ │ ├── dualtososrobustness.m │ │ │ ├── filter_2boxmodel.m │ │ │ ├── filter_boxmodel.m │ │ │ ├── filter_duality.m │ │ │ ├── filter_eliminatation.m │ │ │ ├── filter_enumeration.m │ │ │ ├── filter_norm_1.m │ │ │ ├── filter_norm_2.m │ │ │ ├── filter_norm_inf.m │ │ │ ├── filter_normball.m │ │ │ ├── filter_polya.m │ │ │ ├── filter_sprocedure.m │ │ │ ├── find_simple_variable_bounds.m │ │ │ ├── find_simplex_models.m │ │ │ ├── getEFfromSET.m │ │ │ ├── getFzxfromSET.m │ │ │ ├── parameterizedW.m │ │ │ ├── robust_classify_variables.m │ │ │ ├── robust_classify_variables_new.m │ │ │ ├── robust_classify_variables_newest.m │ │ │ ├── robustify.m │ │ │ ├── robustmodel.m │ │ │ └── solverobust.m │ │ └── sos │ │ │ ├── blockmonomialreduction.m │ │ │ ├── compilesos.m │ │ │ ├── congruenceblocks.m │ │ │ ├── consistent.m │ │ │ ├── corrsparsity.m │ │ │ ├── create_imagemodel.m │ │ │ ├── create_kernelmodel.m │ │ │ ├── create_lrmodel.m │ │ │ ├── deriveBasis.m │ │ │ ├── generate_kernel_representation_data.m │ │ │ ├── genmonoms.m │ │ │ ├── monomialgeneration.m │ │ │ ├── monomialproducts.m │ │ │ ├── monomialreduction.m │ │ │ ├── newtonmonoms.m │ │ │ ├── newtonpolytope.m │ │ │ ├── newtonreduce.m │ │ │ ├── parameterizedbase.m │ │ │ ├── postprocesssos.m │ │ │ ├── selectSOSmodel.m │ │ │ ├── solveranksos.m │ │ │ ├── solvesos.m │ │ │ ├── solvesos_find_blocks.m │ │ │ ├── sosmodel.m │ │ │ └── sparsenull.m │ ├── operators │ │ ├── absexp.m │ │ ├── acos_internal.m │ │ ├── alldifferent.m │ │ ├── atan2_internal.m │ │ ├── binary_implies_linearequality.m │ │ ├── binary_implies_linearnegativeconstraint.m │ │ ├── cabs.m │ │ ├── cpower.m │ │ ├── crossentropy_internal.m │ │ ├── eig_yalmip_internal.m │ │ ├── entropy.m │ │ ├── expexpintinv.m │ │ ├── find_internal.m │ │ ├── fraction_internal2.m │ │ ├── geomean2.m │ │ ├── hinge.m │ │ ├── huber.m │ │ ├── iff.m │ │ ├── iff_internal.m │ │ ├── implies.m │ │ ├── implies_internal.m │ │ ├── interp1_internal.m │ │ ├── interp1_nonlinear.m │ │ ├── interp2_internal.m │ │ ├── inverse_internal2.m │ │ ├── invpos.m │ │ ├── kullbackleibler.m │ │ ├── lambda_max.m │ │ ├── lambda_min.m │ │ ├── linearnegativeconstraint_iff_binary.m │ │ ├── linearnegativeconstraint_implies_binary.m │ │ ├── logistic.m │ │ ├── logsumexp.m │ │ ├── matrix_sdpvar_sort.m │ │ ├── max_integer_model.m │ │ ├── max_internal.m │ │ ├── max_with_loc.m │ │ ├── min_internal.m │ │ ├── mpower_internal.m │ │ ├── mvtest.m │ │ ├── negated_perspective_log.m │ │ ├── nnz_internal.m │ │ ├── norm_nuclear.m │ │ ├── norm_tv.m │ │ ├── optimizer_operator.m │ │ ├── pexp.m │ │ ├── plog.m │ │ ├── pnorm.m │ │ ├── pow10.m │ │ ├── power_internal1.m │ │ ├── power_internal2.m │ │ ├── powerinternalhelper.m │ │ ├── pwa_yalmip.m │ │ ├── pwadynamics_internal.m │ │ ├── pwq_yalmip.m │ │ ├── quadratic_over_affine.m │ │ ├── quadratic_over_affine_expanded.m │ │ ├── sdpfun.m │ │ ├── semivar.m │ │ ├── slog.m │ │ ├── slogfrac.m │ │ ├── sort_internal.m │ │ ├── sum_square.m │ │ ├── sumabsk.m │ │ ├── sumk.m │ │ ├── sumk_generator.m │ │ └── xexpintinv.m │ ├── solvers │ │ ├── appendMosekSDPdata.m │ │ ├── callPOP.m │ │ ├── call_cplexibm_miqp.m │ │ ├── call_cplexibm_qcmiqp.m │ │ ├── call_mosek_dual.m │ │ ├── call_mosek_geometric.m │ │ ├── call_mosek_primal.m │ │ ├── call_xpressfico_milp.m │ │ ├── call_xpressfico_miqp.m │ │ ├── call_xpressfico_qcmip.m │ │ ├── callbaron.m │ │ ├── callbintprog.m │ │ ├── callbonmin.m │ │ ├── callbpmpd.m │ │ ├── callcbc.m │ │ ├── callcdcs.m │ │ ├── callcdd.m │ │ ├── callclp.m │ │ ├── callcplexint.m │ │ ├── callcplexmex.m │ │ ├── callcsdp.m │ │ ├── calldsdp.m │ │ ├── calldsdp5.m │ │ ├── callecos.m │ │ ├── callfiltersd.m │ │ ├── callfiltersdsp.m │ │ ├── callfmincon.m │ │ ├── callfmincongp.m │ │ ├── callfminsearch.m │ │ ├── callfrlib.m │ │ ├── callglpk.m │ │ ├── callglpkcc.m │ │ ├── callglpkoctave.m │ │ ├── callgpposy.m │ │ ├── callgurobi.m │ │ ├── callgurobimex.m │ │ ├── callintlinprog.m │ │ ├── callipopt.m │ │ ├── callipoptgp.m │ │ ├── callipqp.m │ │ ├── callknitro.m │ │ ├── callkypd.m │ │ ├── calllindo.m │ │ ├── calllindo_geo.m │ │ ├── calllindo_miqp.m │ │ ├── calllindo_nlp.m │ │ ├── calllinprog.m │ │ ├── calllmilab.m │ │ ├── calllmirank.m │ │ ├── calllogdetppa.m │ │ ├── calllpsolve.m │ │ ├── calllsqlin.m │ │ ├── calllsqnonneg.m │ │ ├── callmaxdet.m │ │ ├── callmexpress.m │ │ ├── callmexpress11.m │ │ ├── callmosek.m │ │ ├── callmpcvx.m │ │ ├── callmplcp.m │ │ ├── callmpt.m │ │ ├── callmpt3.m │ │ ├── callnage04mbf.m │ │ ├── callnage04naf.m │ │ ├── callnomad.m │ │ ├── callnone.m │ │ ├── callooqp.m │ │ ├── callopenopt.m │ │ ├── callopticlp.m │ │ ├── callopticsdp.m │ │ ├── calloptidsdp.m │ │ ├── calloptiooqp.m │ │ ├── calloptiqsopt.m │ │ ├── calloslprog.m │ │ ├── callosqp.m │ │ ├── callpenbmi.m │ │ ├── callpenbmim.m │ │ ├── callpenlab.m │ │ ├── callpenlabbmi.m │ │ ├── callpennlp.m │ │ ├── callpennonm.m │ │ ├── callpensdp.m │ │ ├── callpensdpm.m │ │ ├── callpowersolver.m │ │ ├── callqpas.m │ │ ├── callqpip.m │ │ ├── callqpoases.m │ │ ├── callqsopt.m │ │ ├── callquadprog.m │ │ ├── callquadprogbb.m │ │ ├── callscipmex.m │ │ ├── callscipnl.m │ │ ├── callscs.m │ │ ├── callsdpa.m │ │ ├── callsdplr.m │ │ ├── callsdpnal.m │ │ ├── callsdpt330.m │ │ ├── callsdpt3302.m │ │ ├── callsdpt331.m │ │ ├── callsdpt34.m │ │ ├── callsedumi.m │ │ ├── callsievesdp.m │ │ ├── callsnopt.m │ │ ├── callsnoptgp.m │ │ ├── callsparsecolo.m │ │ ├── callsparsepop.m │ │ ├── callspecsdp.m │ │ ├── callsqplab.m │ │ ├── callstrul.m │ │ ├── callvsdp.m │ │ ├── cplex2yalmip.m │ │ ├── create_lp_solve_model.m │ │ ├── definesolvers.m │ │ ├── getavailablesolvers.m │ │ ├── mpcvx.m │ │ ├── yalmip2SDPmosek.m │ │ ├── yalmip2cbc.m │ │ ├── yalmip2cplex.m │ │ ├── yalmip2csdp.m │ │ ├── yalmip2dsdp.m │ │ ├── yalmip2ecos.m │ │ ├── yalmip2glpkmex.m │ │ ├── yalmip2gurobi.m │ │ ├── yalmip2gurobimex.m │ │ ├── yalmip2intlinprog.m │ │ ├── yalmip2mosek.m │ │ ├── yalmip2opticsdp.m │ │ ├── yalmip2optidsdp.m │ │ ├── yalmip2osqp.m │ │ ├── yalmip2pensdp.m │ │ ├── yalmip2powersolver.m │ │ ├── yalmip2quadprog.m │ │ ├── yalmip2scs.m │ │ ├── yalmip2sdpa.m │ │ ├── yalmip2sdpt3.m │ │ ├── yalmip2sedumi.m │ │ └── yalmip2xpress.m │ ├── yalmipdemo.m │ └── yalmiptest.m ├── data_processing │ ├── filterData.m │ └── parseURData.m ├── parse_urdf.m ├── robotics │ ├── RPY.m │ ├── Rot.m │ ├── Rotz_s.m │ ├── inertiaMatrix2Vector.m │ ├── vec2skewSymMat.m │ └── w2wtlda.m └── xml2struct.m └── validate_dynamic_params.m /.gitignore: -------------------------------------------------------------------------------- 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