├── .gitattributes ├── .gitignore ├── 3rdparty ├── gflags │ ├── .gitattributes │ ├── .gitignore │ ├── .gitmodules │ ├── .travis.yml │ ├── AUTHORS.txt │ ├── BUILD │ ├── CMakeLists.txt │ ├── COPYING.txt │ ├── ChangeLog.txt │ ├── INSTALL.md │ ├── README.md │ ├── WORKSPACE │ ├── appveyor.yml │ ├── bazel │ │ └── gflags.bzl │ ├── cmake │ │ ├── README_runtime.txt │ │ ├── cmake_uninstall.cmake.in │ │ ├── config.cmake.in │ │ ├── execute_test.cmake │ │ ├── package.cmake.in │ │ ├── package.pc.in │ │ ├── utils.cmake │ │ └── version.cmake.in │ ├── src │ │ ├── config.h │ │ ├── defines.h.in │ │ ├── gflags.cc │ │ ├── gflags.h.in │ │ ├── gflags_completions.cc │ │ ├── gflags_completions.h.in │ │ ├── gflags_completions.sh │ │ ├── gflags_declare.h.in │ │ ├── gflags_ns.h.in │ │ ├── gflags_reporting.cc │ │ ├── mutex.h │ │ ├── util.h │ │ ├── windows_port.cc │ │ └── windows_port.h │ └── test │ │ ├── CMakeLists.txt │ │ ├── config │ │ ├── CMakeLists.txt │ │ └── main.cc │ │ ├── flagfile.1 │ │ ├── flagfile.2 │ │ ├── flagfile.3 │ │ ├── gflags_build.py.in │ │ ├── gflags_declare_flags.cc │ │ ├── gflags_declare_test.cc │ │ ├── gflags_strip_flags_test.cc │ │ ├── gflags_strip_flags_test.cmake │ │ ├── gflags_unittest.cc │ │ ├── gflags_unittest_flagfile │ │ └── nc │ │ ├── CMakeLists.txt │ │ └── gflags_nc.cc ├── gripper │ ├── CMakeLists.txt │ ├── debug_tcp_connection │ │ ├── command.txt │ │ ├── cpp_client │ │ ├── cpp_client.cpp │ │ └── py_serve.py │ ├── gripper_client_cpp │ │ └── gripper.hpp │ └── gripper_server_python │ │ ├── _Robotiq2FGripper_robot_input.py │ │ ├── _Robotiq2FGripper_robot_output.py │ │ ├── baseRobotiq2FGripper.py │ │ ├── comModbusRtu.py │ │ └── main.py ├── kdl │ ├── CMakeLists.txt │ ├── cmake │ │ ├── CheckSTLContainers.cmake │ │ ├── FindEigen3.cmake │ │ └── FindPkgConfig.cmake │ ├── cmake_uninstall.cmake.in │ ├── include │ │ └── kdl │ │ │ ├── articulatedbodyinertia.hpp │ │ │ ├── chain.hpp │ │ │ ├── chaindynparam.hpp │ │ │ ├── chainexternalwrenchestimator.hpp │ │ │ ├── chainfdsolver.hpp │ │ │ ├── chainfdsolver_recursive_newton_euler.hpp │ │ │ ├── chainfksolver.hpp │ │ │ ├── chainfksolverpos_recursive.hpp │ │ │ ├── chainfksolvervel_recursive.hpp │ │ │ ├── chainhdsolver_vereshchagin.hpp │ │ │ ├── chainidsolver.hpp │ │ │ ├── chainidsolver_recursive_newton_euler.hpp │ │ │ ├── chainidsolver_vereshchagin.hpp │ │ │ ├── chainiksolver.hpp │ │ │ ├── chainiksolverpos_lma.hpp │ │ │ ├── chainiksolverpos_nr.hpp │ │ │ ├── chainiksolverpos_nr_jl.hpp │ │ │ ├── chainiksolvervel_pinv.hpp │ │ │ ├── chainiksolvervel_pinv_givens.hpp │ │ │ ├── chainiksolvervel_pinv_nso.hpp │ │ │ ├── chainiksolvervel_wdls.hpp │ │ │ ├── chainjnttojacdotsolver.hpp │ │ │ ├── chainjnttojacsolver.hpp │ │ │ ├── config.h │ │ │ ├── frameacc.hpp │ │ │ ├── frameacc.inl │ │ │ ├── frameacc_io.hpp │ │ │ ├── frames.hpp │ │ │ ├── frames.inl │ │ │ ├── frames_io.hpp │ │ │ ├── framevel.hpp │ │ │ ├── framevel.inl │ │ │ ├── framevel_io.hpp │ │ │ ├── jacobian.hpp │ │ │ ├── jntarray.hpp │ │ │ ├── jntarrayacc.hpp │ │ │ ├── jntarrayvel.hpp │ │ │ ├── jntspaceinertiamatrix.hpp │ │ │ ├── joint.hpp │ │ │ ├── kdl.hpp │ │ │ ├── kinfam.hpp │ │ │ ├── kinfam_io.hpp │ │ │ ├── motion.hpp │ │ │ ├── path.hpp │ │ │ ├── path_circle.hpp │ │ │ ├── path_composite.hpp │ │ │ ├── path_cyclic_closed.hpp │ │ │ ├── path_line.hpp │ │ │ ├── path_point.hpp │ │ │ ├── path_roundedcomposite.hpp │ │ │ ├── rigidbodyinertia.hpp │ │ │ ├── rotational_interpolation.hpp │ │ │ ├── rotational_interpolation_sa.hpp │ │ │ ├── rotationalinertia.hpp │ │ │ ├── segment.hpp │ │ │ ├── solveri.hpp │ │ │ ├── stiffness.hpp │ │ │ ├── trajectory.hpp │ │ │ ├── trajectory_composite.hpp │ │ │ ├── trajectory_segment.hpp │ │ │ ├── trajectory_stationary.hpp │ │ │ ├── tree.hpp │ │ │ ├── treefksolver.hpp │ │ │ ├── treefksolverpos_recursive.hpp │ │ │ ├── treeidsolver.hpp │ │ │ ├── treeidsolver_recursive_newton_euler.hpp │ │ │ ├── treeiksolver.hpp │ │ │ ├── treeiksolverpos_nr_jl.hpp │ │ │ ├── treeiksolverpos_online.hpp │ │ │ ├── treeiksolvervel_wdls.hpp │ │ │ ├── treejnttojacsolver.hpp │ │ │ ├── utilities │ │ │ ├── error.h │ │ │ ├── error_stack.h │ │ │ ├── kdl-config.h │ │ │ ├── ldl_solver_eigen.hpp │ │ │ ├── rall1d.h │ │ │ ├── rall1d_io.h │ │ │ ├── rall2d.h │ │ │ ├── rall2d_io.h │ │ │ ├── rallNd.h │ │ │ ├── scoped_ptr.hpp │ │ │ ├── svd_HH.hpp │ │ │ ├── svd_eigen_HH.hpp │ │ │ ├── svd_eigen_Macie.hpp │ │ │ ├── traits.h │ │ │ ├── utility.h │ │ │ └── utility_io.h │ │ │ ├── velocityprofile.hpp │ │ │ ├── velocityprofile_dirac.hpp │ │ │ ├── velocityprofile_rect.hpp │ │ │ ├── velocityprofile_spline.hpp │ │ │ ├── velocityprofile_trap.hpp │ │ │ └── velocityprofile_traphalf.hpp │ ├── manifest.xml │ ├── models │ │ ├── CMakeLists.txt │ │ ├── kukaLWR_DHnew.cpp │ │ ├── kukaLWRtestDHnew.cpp │ │ ├── kukaLWRtestHCG.cpp │ │ ├── models.hpp │ │ ├── puma560.cpp │ │ └── puma560test.cpp │ ├── orocos_kdl-config-version.cmake.in │ ├── orocos_kdl-config.cmake.in │ ├── orocos_kdl.pc.in │ └── src │ │ ├── CMakeLists.txt │ │ ├── README.txt │ │ ├── TODO.txt │ │ ├── articulatedbodyinertia.cpp │ │ ├── articulatedbodyinertia.hpp │ │ ├── chain.cpp │ │ ├── chain.hpp │ │ ├── chaindynparam.cpp │ │ ├── chaindynparam.hpp │ │ ├── chainexternalwrenchestimator.cpp │ │ ├── chainexternalwrenchestimator.hpp │ │ ├── chainfdsolver.hpp │ │ ├── chainfdsolver_recursive_newton_euler.cpp │ │ ├── chainfdsolver_recursive_newton_euler.hpp │ │ ├── chainfksolver.hpp │ │ ├── chainfksolverpos_recursive.cpp │ │ ├── chainfksolverpos_recursive.hpp │ │ ├── chainfksolvervel_recursive.cpp │ │ ├── chainfksolvervel_recursive.hpp │ │ ├── chainhdsolver_vereshchagin.cpp │ │ ├── chainhdsolver_vereshchagin.hpp │ │ ├── chainidsolver.hpp │ │ ├── chainidsolver_recursive_newton_euler.cpp │ │ ├── chainidsolver_recursive_newton_euler.hpp │ │ ├── chainidsolver_vereshchagin.cpp │ │ ├── chainidsolver_vereshchagin.hpp │ │ ├── chainiksolver.hpp │ │ ├── chainiksolverpos_lma.cpp │ │ ├── chainiksolverpos_lma.hpp │ │ ├── chainiksolverpos_nr.cpp │ │ ├── chainiksolverpos_nr.hpp │ │ ├── chainiksolverpos_nr_jl.cpp │ │ ├── chainiksolverpos_nr_jl.hpp │ │ ├── chainiksolvervel_pinv.cpp │ │ ├── chainiksolvervel_pinv.hpp │ │ ├── chainiksolvervel_pinv_givens.cpp │ │ ├── chainiksolvervel_pinv_givens.hpp │ │ ├── chainiksolvervel_pinv_nso.cpp │ │ ├── chainiksolvervel_pinv_nso.hpp │ │ ├── chainiksolvervel_wdls.cpp │ │ ├── chainiksolvervel_wdls.hpp │ │ ├── chainjnttojacdotsolver.cpp │ │ ├── chainjnttojacdotsolver.hpp │ │ ├── chainjnttojacsolver.cpp │ │ ├── chainjnttojacsolver.hpp │ │ ├── config.h.in │ │ ├── frameacc.cpp │ │ ├── frameacc.hpp │ │ ├── frameacc.inl │ │ ├── frameacc_io.hpp │ │ ├── frames.cpp │ │ ├── frames.hpp │ │ ├── frames.inl │ │ ├── frames_io.cpp │ │ ├── frames_io.hpp │ │ ├── framevel.cpp │ │ ├── framevel.hpp │ │ ├── framevel.inl │ │ ├── framevel_io.hpp │ │ ├── jacobian.cpp │ │ ├── jacobian.hpp │ │ ├── jntarray.cpp │ │ ├── jntarray.hpp │ │ ├── jntarrayacc.cpp │ │ ├── jntarrayacc.hpp │ │ ├── jntarrayvel.cpp │ │ ├── jntarrayvel.hpp │ │ ├── jntspaceinertiamatrix.cpp │ │ ├── jntspaceinertiamatrix.hpp │ │ ├── joint.cpp │ │ ├── joint.hpp │ │ ├── kdl.hpp │ │ ├── kinfam.hpp │ │ ├── kinfam_io.cpp │ │ ├── kinfam_io.hpp │ │ ├── motion.hpp │ │ ├── path.cpp │ │ ├── path.hpp │ │ ├── path_circle.cpp │ │ ├── path_circle.hpp │ │ ├── path_composite.cpp │ │ ├── path_composite.hpp │ │ ├── path_cyclic_closed.cpp │ │ ├── path_cyclic_closed.hpp │ │ ├── path_line.cpp │ │ ├── path_line.hpp │ │ ├── path_point.cpp │ │ ├── path_point.hpp │ │ ├── path_roundedcomposite.cpp │ │ ├── path_roundedcomposite.hpp │ │ ├── rigidbodyinertia.cpp │ │ ├── rigidbodyinertia.hpp │ │ ├── rotational_interpolation.cpp │ │ ├── rotational_interpolation.hpp │ │ ├── rotational_interpolation_sa.cpp │ │ ├── rotational_interpolation_sa.hpp │ │ ├── rotationalinertia.cpp │ │ ├── rotationalinertia.hpp │ │ ├── segment.cpp │ │ ├── segment.hpp │ │ ├── solveri.hpp │ │ ├── stiffness.hpp │ │ ├── trajectory.cpp │ │ ├── trajectory.hpp │ │ ├── trajectory_composite.cpp │ │ ├── trajectory_composite.hpp │ │ ├── trajectory_segment.cpp │ │ ├── trajectory_segment.hpp │ │ ├── trajectory_stationary.cpp │ │ ├── trajectory_stationary.hpp │ │ ├── tree.cpp │ │ ├── tree.hpp │ │ ├── treefksolver.hpp │ │ ├── treefksolverpos_recursive.cpp │ │ ├── treefksolverpos_recursive.hpp │ │ ├── treeidsolver.hpp │ │ ├── treeidsolver_recursive_newton_euler.cpp │ │ ├── treeidsolver_recursive_newton_euler.hpp │ │ ├── treeiksolver.hpp │ │ ├── treeiksolverpos_nr_jl.cpp │ │ ├── treeiksolverpos_nr_jl.hpp │ │ ├── treeiksolverpos_online.cpp │ │ ├── treeiksolverpos_online.hpp │ │ ├── treeiksolvervel_wdls.cpp │ │ ├── treeiksolvervel_wdls.hpp │ │ ├── treejnttojacsolver.cpp │ │ ├── treejnttojacsolver.hpp │ │ ├── utilities │ │ ├── error.h │ │ ├── error_stack.cxx │ │ ├── error_stack.h │ │ ├── header.txt │ │ ├── kdl-config.h │ │ ├── ldl_solver_eigen.cpp │ │ ├── ldl_solver_eigen.hpp │ │ ├── rall1d.h │ │ ├── rall1d_io.h │ │ ├── rall2d.h │ │ ├── rall2d_io.h │ │ ├── rallNd.h │ │ ├── scoped_ptr.hpp │ │ ├── svd_HH.cpp │ │ ├── svd_HH.hpp │ │ ├── svd_eigen_HH.cpp │ │ ├── svd_eigen_HH.hpp │ │ ├── svd_eigen_Macie.cpp │ │ ├── svd_eigen_Macie.hpp │ │ ├── traits.h │ │ ├── utility.cxx │ │ ├── utility.h │ │ ├── utility_io.cxx │ │ └── utility_io.h │ │ ├── velocityprofile.cpp │ │ ├── velocityprofile.hpp │ │ ├── velocityprofile_dirac.cpp │ │ ├── velocityprofile_dirac.hpp │ │ ├── velocityprofile_rect.cpp │ │ ├── velocityprofile_rect.hpp │ │ ├── velocityprofile_spline.cpp │ │ ├── velocityprofile_spline.hpp │ │ ├── velocityprofile_trap.cpp │ │ ├── velocityprofile_trap.hpp │ │ ├── velocityprofile_traphalf.cpp │ │ └── velocityprofile_traphalf.hpp ├── kdl_parser │ ├── CMakeLists.txt │ ├── cmake │ │ ├── FindTinyXML.cmake │ │ └── FindTinyXML2.cmake │ ├── include │ │ └── kdl_parser │ │ │ ├── kdl_parser.hpp │ │ │ └── visibility_control.hpp │ └── src │ │ ├── check_kdl_parser.cpp │ │ ├── kdl_parser.cpp │ │ └── test_kdl_parser.cpp ├── nlopt │ ├── CMakeLists.txt │ ├── cmake │ │ ├── FindGuile.cmake │ │ ├── FindNumPy.cmake │ │ ├── FindOctave.cmake │ │ ├── NLoptConfig.cmake.in │ │ ├── NLoptConfigVersion.cmake.in │ │ ├── TargetLinkLibrariesWithDynamicLookup.cmake │ │ ├── generate-cpp.cmake │ │ ├── generate-fortran.cmake │ │ ├── toolchain-i686-w64-mingw32.cmake │ │ └── toolchain-x86_64-w64-mingw32.cmake │ ├── doc │ │ ├── README │ │ ├── docs │ │ │ ├── Citing_NLopt.md │ │ │ ├── NLopt_Algorithms.md │ │ │ ├── NLopt_C-plus-plus_Reference.md │ │ │ ├── NLopt_Deprecated_API_Reference.md │ │ │ ├── NLopt_FAQ.md │ │ │ ├── NLopt_Fortran_Reference.md │ │ │ ├── NLopt_Guile_Reference.md │ │ │ ├── NLopt_Installation.md │ │ │ ├── NLopt_Introduction.md │ │ │ ├── NLopt_License_and_Copyright.md │ │ │ ├── NLopt_Matlab_Reference.md │ │ │ ├── NLopt_Python_Reference.md │ │ │ ├── NLopt_R_Reference.md │ │ │ ├── NLopt_Reference.md │ │ │ ├── NLopt_Tutorial.md │ │ │ ├── NLopt_manual.md │ │ │ ├── NLopt_on_Windows.md │ │ │ ├── images │ │ │ │ ├── NLopt-example-constraints.png │ │ │ │ └── Nlopt-logo.png │ │ │ └── index.md │ │ └── requirements.txt │ ├── include │ │ └── nlopt │ │ │ ├── nlopt.f │ │ │ ├── nlopt.h │ │ │ └── nlopt.hpp │ ├── nlopt.pc.in │ ├── nlopt_config.h.in │ └── src │ │ ├── algs │ │ ├── ags │ │ │ ├── COPYRIGHT │ │ │ ├── README │ │ │ ├── ags.cc │ │ │ ├── ags.h │ │ │ ├── data_types.hpp │ │ │ ├── evolvent.cc │ │ │ ├── evolvent.hpp │ │ │ ├── local_optimizer.cc │ │ │ ├── local_optimizer.hpp │ │ │ ├── solver.cc │ │ │ ├── solver.hpp │ │ │ └── tst.cc │ │ ├── auglag │ │ │ ├── README │ │ │ ├── auglag.c │ │ │ └── auglag.h │ │ ├── bobyqa │ │ │ ├── COPYRIGHT │ │ │ ├── README │ │ │ ├── README.orig │ │ │ ├── bobyqa.c │ │ │ └── bobyqa.h │ │ ├── cdirect │ │ │ ├── README │ │ │ ├── cdirect.c │ │ │ ├── cdirect.h │ │ │ └── hybrid.c │ │ ├── cobyla │ │ │ ├── COPYRIGHT │ │ │ ├── README │ │ │ ├── README.orig │ │ │ ├── cobyla.c │ │ │ └── cobyla.h │ │ ├── cquad │ │ │ ├── README │ │ │ ├── cquad.c │ │ │ └── cquad.h │ │ ├── crs │ │ │ ├── README │ │ │ ├── crs.c │ │ │ └── crs.h │ │ ├── direct │ │ │ ├── AUTHORS │ │ │ ├── COPYING │ │ │ ├── DIRect.c │ │ │ ├── DIRparallel.c │ │ │ ├── DIRserial.c │ │ │ ├── DIRsubrout.c │ │ │ ├── README │ │ │ ├── direct-internal.h │ │ │ ├── direct.h │ │ │ ├── direct_wrap.c │ │ │ ├── tstc.c │ │ │ └── userguide.pdf │ │ ├── esch │ │ │ ├── COPYRIGHT │ │ │ ├── README │ │ │ ├── esch.c │ │ │ └── esch.h │ │ ├── isres │ │ │ ├── README │ │ │ ├── isres.c │ │ │ └── isres.h │ │ ├── luksan │ │ │ ├── COPYRIGHT │ │ │ ├── README │ │ │ ├── luksan.h │ │ │ ├── mssubs.c │ │ │ ├── mssubs.for │ │ │ ├── plip.c │ │ │ ├── plip.for │ │ │ ├── plip.txt │ │ │ ├── plis.c │ │ │ ├── plis.for │ │ │ ├── plis.txt │ │ │ ├── pnet.c │ │ │ ├── pnet.for │ │ │ ├── pnet.txt │ │ │ ├── pssubs.c │ │ │ ├── pssubs.for │ │ │ └── v999-07.pdf │ │ ├── mlsl │ │ │ ├── README │ │ │ ├── mlsl.c │ │ │ └── mlsl.h │ │ ├── mma │ │ │ ├── README │ │ │ ├── ccsa_quadratic.c │ │ │ ├── mma.c │ │ │ └── mma.h │ │ ├── neldermead │ │ │ ├── README │ │ │ ├── neldermead.h │ │ │ ├── nldrmd.c │ │ │ └── sbplx.c │ │ ├── newuoa │ │ │ ├── COPYRIGHT │ │ │ ├── README │ │ │ ├── README.orig │ │ │ ├── newuoa.c │ │ │ └── newuoa.h │ │ ├── praxis │ │ │ ├── README │ │ │ ├── praxis.c │ │ │ └── praxis.h │ │ ├── slsqp │ │ │ ├── COPYRIGHT │ │ │ ├── README │ │ │ ├── slsqp.c │ │ │ └── slsqp.h │ │ ├── stogo │ │ │ ├── COPYRIGHT │ │ │ ├── README │ │ │ ├── global.cc │ │ │ ├── global.h │ │ │ ├── linalg.cc │ │ │ ├── linalg.h │ │ │ ├── local.cc │ │ │ ├── local.h │ │ │ ├── paper.pdf │ │ │ ├── prog.cc │ │ │ ├── rosen.h │ │ │ ├── stogo.cc │ │ │ ├── stogo.h │ │ │ ├── stogo_config.h │ │ │ ├── techreport.pdf │ │ │ ├── testfun.h │ │ │ ├── testros.cc │ │ │ ├── tools.cc │ │ │ ├── tools.h │ │ │ ├── tst.cc │ │ │ └── tstc.c │ │ └── subplex │ │ │ ├── README │ │ │ ├── subplex.c │ │ │ └── subplex.h │ │ ├── api │ │ ├── CMakeLists.txt │ │ ├── deprecated.c │ │ ├── f77api.c │ │ ├── f77funcs.h │ │ ├── f77funcs_.h │ │ ├── general.c │ │ ├── nlopt-in.hpp │ │ ├── nlopt-internal.h │ │ ├── nlopt.3 │ │ ├── nlopt.h │ │ ├── nlopt_minimize.3 │ │ ├── nlopt_minimize_constrained.3 │ │ ├── optimize.c │ │ └── options.c │ │ ├── octave │ │ ├── CMakeLists.txt │ │ ├── NLOPT_AUGLAG.m │ │ ├── NLOPT_AUGLAG_EQ.m │ │ ├── NLOPT_GD_MLSL.m │ │ ├── NLOPT_GD_MLSL_LDS.m │ │ ├── NLOPT_GD_STOGO.m │ │ ├── NLOPT_GD_STOGO_RAND.m │ │ ├── NLOPT_GN_CRS2_LM.m │ │ ├── NLOPT_GN_DIRECT.m │ │ ├── NLOPT_GN_DIRECT_L.m │ │ ├── NLOPT_GN_DIRECT_L_NOSCAL.m │ │ ├── NLOPT_GN_DIRECT_L_RAND.m │ │ ├── NLOPT_GN_DIRECT_L_RAND_NOSCAL.m │ │ ├── NLOPT_GN_DIRECT_NOSCAL.m │ │ ├── NLOPT_GN_ESCH.m │ │ ├── NLOPT_GN_ISRES.m │ │ ├── NLOPT_GN_MLSL.m │ │ ├── NLOPT_GN_MLSL_LDS.m │ │ ├── NLOPT_GN_ORIG_DIRECT.m │ │ ├── NLOPT_GN_ORIG_DIRECT_L.m │ │ ├── NLOPT_G_MLSL.m │ │ ├── NLOPT_G_MLSL_LDS.m │ │ ├── NLOPT_LD_AUGLAG.m │ │ ├── NLOPT_LD_AUGLAG_EQ.m │ │ ├── NLOPT_LD_CCSAQ.m │ │ ├── NLOPT_LD_LBFGS.m │ │ ├── NLOPT_LD_LBFGS_NOCEDAL.m │ │ ├── NLOPT_LD_MMA.m │ │ ├── NLOPT_LD_SLSQP.m │ │ ├── NLOPT_LD_TNEWTON.m │ │ ├── NLOPT_LD_TNEWTON_PRECOND.m │ │ ├── NLOPT_LD_TNEWTON_PRECOND_RESTART.m │ │ ├── NLOPT_LD_TNEWTON_RESTART.m │ │ ├── NLOPT_LD_VAR1.m │ │ ├── NLOPT_LD_VAR2.m │ │ ├── NLOPT_LN_AUGLAG.m │ │ ├── NLOPT_LN_AUGLAG_EQ.m │ │ ├── NLOPT_LN_BOBYQA.m │ │ ├── NLOPT_LN_COBYLA.m │ │ ├── NLOPT_LN_NELDERMEAD.m │ │ ├── NLOPT_LN_NEWUOA.m │ │ ├── NLOPT_LN_NEWUOA_BOUND.m │ │ ├── NLOPT_LN_PRAXIS.m │ │ ├── NLOPT_LN_SBPLX.m │ │ ├── dummy.c │ │ ├── mkconstants.sh │ │ ├── nlopt_minimize.m │ │ ├── nlopt_minimize_constrained.m │ │ ├── nlopt_optimize-mex.c │ │ ├── nlopt_optimize-oct.cc │ │ └── nlopt_optimize.m │ │ ├── swig │ │ ├── CMakeLists.txt │ │ ├── nlopt-exceptions.i │ │ ├── nlopt-guile.i │ │ ├── nlopt-python.i │ │ ├── nlopt.i │ │ └── numpy.i │ │ └── util │ │ ├── mt19937ar.c │ │ ├── mt19937ar_test.c │ │ ├── nlopt-getopt.c │ │ ├── nlopt-getopt.h │ │ ├── nlopt-util.h │ │ ├── qsort_r.c │ │ ├── redblack.c │ │ ├── redblack.h │ │ ├── redblack_test.c │ │ ├── rescale.c │ │ ├── soboldata.h │ │ ├── sobolseq.c │ │ ├── sobolseq_test.c │ │ ├── stop.c │ │ └── timer.c ├── plog │ ├── .gitignore │ ├── CMakeLists.txt │ └── include │ │ └── plog │ │ ├── Appenders │ │ ├── AndroidAppender.h │ │ ├── ColorConsoleAppender.h │ │ ├── ConsoleAppender.h │ │ ├── DebugOutputAppender.h │ │ ├── EventLogAppender.h │ │ ├── IAppender.h │ │ └── RollingFileAppender.h │ │ ├── Converters │ │ ├── NativeEOLConverter.h │ │ └── UTF8Converter.h │ │ ├── Formatters │ │ ├── CsvFormatter.h │ │ ├── FuncMessageFormatter.h │ │ ├── MessageOnlyFormatter.h │ │ └── TxtFormatter.h │ │ ├── Init.h │ │ ├── Initializers │ │ └── RollingFileInitializer.h │ │ ├── Log.h │ │ ├── Logger.h │ │ ├── Record.h │ │ ├── Severity.h │ │ ├── Util.h │ │ └── WinApi.h ├── ruckig │ ├── CMakeLists.txt │ ├── cmake │ │ ├── FindReflexxes.cmake │ │ └── ruckig-config.cmake.in │ ├── include │ │ └── ruckig │ │ │ ├── block.hpp │ │ │ ├── brake.hpp │ │ │ ├── calculator.hpp │ │ │ ├── calculator_online.hpp │ │ │ ├── calculator_target.hpp │ │ │ ├── input_parameter.hpp │ │ │ ├── output_parameter.hpp │ │ │ ├── position.hpp │ │ │ ├── profile.hpp │ │ │ ├── reflexxes_comparison.hpp │ │ │ ├── roots.hpp │ │ │ ├── ruckig.hpp │ │ │ ├── trajectory.hpp │ │ │ ├── utils.hpp │ │ │ └── velocity.hpp │ ├── package.xml │ └── src │ │ ├── brake.cpp │ │ ├── position-step1.cpp │ │ ├── position-step2.cpp │ │ ├── python.cpp │ │ ├── velocity-step1.cpp │ │ └── velocity-step2.cpp ├── spdlog │ ├── .clang-format │ ├── .clang-tidy │ ├── .git-blame-ignore-revs │ ├── .gitattributes │ ├── .github │ │ └── workflows │ │ │ └── ci.yml │ ├── .gitignore │ ├── CMakeLists.txt │ ├── INSTALL │ ├── LICENSE │ ├── README.md │ ├── appveyor.yml │ ├── bench │ │ ├── CMakeLists.txt │ │ ├── async_bench.cpp │ │ ├── bench.cpp │ │ ├── formatter-bench.cpp │ │ ├── latency.cpp │ │ └── utils.h │ ├── cmake │ │ ├── ide.cmake │ │ ├── pch.h.in │ │ ├── spdlog.pc.in │ │ ├── spdlogCPack.cmake │ │ ├── spdlogConfig.cmake.in │ │ ├── utils.cmake │ │ └── version.rc.in │ ├── example │ │ ├── CMakeLists.txt │ │ └── example.cpp │ ├── include │ │ └── spdlog │ │ │ ├── async.h │ │ │ ├── async_logger-inl.h │ │ │ ├── async_logger.h │ │ │ ├── cfg │ │ │ ├── argv.h │ │ │ ├── env.h │ │ │ ├── helpers-inl.h │ │ │ └── helpers.h │ │ │ ├── common-inl.h │ │ │ ├── common.h │ │ │ ├── details │ │ │ ├── backtracer-inl.h │ │ │ ├── backtracer.h │ │ │ ├── circular_q.h │ │ │ ├── console_globals.h │ │ │ ├── file_helper-inl.h │ │ │ ├── file_helper.h │ │ │ ├── fmt_helper.h │ │ │ ├── log_msg-inl.h │ │ │ ├── log_msg.h │ │ │ ├── log_msg_buffer-inl.h │ │ │ ├── log_msg_buffer.h │ │ │ ├── mpmc_blocking_q.h │ │ │ ├── null_mutex.h │ │ │ ├── os-inl.h │ │ │ ├── os.h │ │ │ ├── periodic_worker-inl.h │ │ │ ├── periodic_worker.h │ │ │ ├── registry-inl.h │ │ │ ├── registry.h │ │ │ ├── synchronous_factory.h │ │ │ ├── tcp_client-windows.h │ │ │ ├── tcp_client.h │ │ │ ├── thread_pool-inl.h │ │ │ ├── thread_pool.h │ │ │ ├── udp_client-windows.h │ │ │ ├── udp_client.h │ │ │ └── windows_include.h │ │ │ ├── fmt │ │ │ ├── bin_to_hex.h │ │ │ ├── bundled │ │ │ │ ├── args.h │ │ │ │ ├── chrono.h │ │ │ │ ├── color.h │ │ │ │ ├── compile.h │ │ │ │ ├── core.h │ │ │ │ ├── fmt.license.rst │ │ │ │ ├── format-inl.h │ │ │ │ ├── format.h │ │ │ │ ├── locale.h │ │ │ │ ├── os.h │ │ │ │ ├── ostream.h │ │ │ │ ├── printf.h │ │ │ │ ├── ranges.h │ │ │ │ ├── std.h │ │ │ │ └── xchar.h │ │ │ ├── chrono.h │ │ │ ├── compile.h │ │ │ ├── fmt.h │ │ │ ├── ostr.h │ │ │ ├── ranges.h │ │ │ ├── std.h │ │ │ └── xchar.h │ │ │ ├── formatter.h │ │ │ ├── fwd.h │ │ │ ├── logger-inl.h │ │ │ ├── logger.h │ │ │ ├── mdc.h │ │ │ ├── pattern_formatter-inl.h │ │ │ ├── pattern_formatter.h │ │ │ ├── sinks │ │ │ ├── android_sink.h │ │ │ ├── ansicolor_sink-inl.h │ │ │ ├── ansicolor_sink.h │ │ │ ├── base_sink-inl.h │ │ │ ├── base_sink.h │ │ │ ├── basic_file_sink-inl.h │ │ │ ├── basic_file_sink.h │ │ │ ├── callback_sink.h │ │ │ ├── daily_file_sink.h │ │ │ ├── dist_sink.h │ │ │ ├── dup_filter_sink.h │ │ │ ├── hourly_file_sink.h │ │ │ ├── kafka_sink.h │ │ │ ├── mongo_sink.h │ │ │ ├── msvc_sink.h │ │ │ ├── null_sink.h │ │ │ ├── ostream_sink.h │ │ │ ├── qt_sinks.h │ │ │ ├── ringbuffer_sink.h │ │ │ ├── rotating_file_sink-inl.h │ │ │ ├── rotating_file_sink.h │ │ │ ├── sink-inl.h │ │ │ ├── sink.h │ │ │ ├── stdout_color_sinks-inl.h │ │ │ ├── stdout_color_sinks.h │ │ │ ├── stdout_sinks-inl.h │ │ │ ├── stdout_sinks.h │ │ │ ├── syslog_sink.h │ │ │ ├── systemd_sink.h │ │ │ ├── tcp_sink.h │ │ │ ├── udp_sink.h │ │ │ ├── win_eventlog_sink.h │ │ │ ├── wincolor_sink-inl.h │ │ │ └── wincolor_sink.h │ │ │ ├── spdlog-inl.h │ │ │ ├── spdlog.h │ │ │ ├── stopwatch.h │ │ │ ├── tweakme.h │ │ │ └── version.h │ ├── logos │ │ ├── jetbrains-variant-4.svg │ │ └── spdlog.png │ ├── scripts │ │ ├── ci_setup_clang.sh │ │ ├── extract_version.py │ │ └── format.sh │ ├── src │ │ ├── async.cpp │ │ ├── bundled_fmtlib_format.cpp │ │ ├── cfg.cpp │ │ ├── color_sinks.cpp │ │ ├── file_sinks.cpp │ │ ├── spdlog.cpp │ │ └── stdout_sinks.cpp │ └── tests │ │ ├── CMakeLists.txt │ │ ├── includes.h │ │ ├── main.cpp │ │ ├── test_async.cpp │ │ ├── test_backtrace.cpp │ │ ├── test_bin_to_hex.cpp │ │ ├── test_cfg.cpp │ │ ├── test_circular_q.cpp │ │ ├── test_create_dir.cpp │ │ ├── test_custom_callbacks.cpp │ │ ├── test_daily_logger.cpp │ │ ├── test_dup_filter.cpp │ │ ├── test_errors.cpp │ │ ├── test_eventlog.cpp │ │ ├── test_file_helper.cpp │ │ ├── test_file_logging.cpp │ │ ├── test_fmt_helper.cpp │ │ ├── test_macros.cpp │ │ ├── test_misc.cpp │ │ ├── test_mpmc_q.cpp │ │ ├── test_pattern_formatter.cpp │ │ ├── test_registry.cpp │ │ ├── test_sink.h │ │ ├── test_stdout_api.cpp │ │ ├── test_stopwatch.cpp │ │ ├── test_systemd.cpp │ │ ├── test_time_point.cpp │ │ ├── utils.cpp │ │ └── utils.h └── trac_ik │ ├── CMakeLists.txt │ ├── cmake │ ├── CheckSTLContainers.cmake │ ├── FindEigen3.cmake │ └── FindPkgConfig.cmake │ ├── include │ └── trac_ik │ │ ├── dual_quaternion.h │ │ ├── kdl_tl.hpp │ │ ├── math3d.h │ │ ├── nlopt_ik.hpp │ │ └── trac_ik.hpp │ └── src │ ├── kdl_tl.cpp │ ├── nlopt_ik.cpp │ └── trac_ik.cpp ├── CMakeLists.txt ├── README.md ├── cmake ├── common.cmake └── rocos_app-config.cmake.in ├── config ├── TL20240901 │ ├── TL20240901.zip │ ├── TL20240901 │ │ ├── TL20240901-IO.csv │ │ ├── TL20240901-IO.xml │ │ ├── TL20240901.csv │ │ ├── TL20240901.ecc │ │ └── TL20240901.xml │ ├── base_link.STL │ ├── config.yaml │ ├── link_1.STL │ ├── link_2.STL │ ├── link_3.STL │ ├── link_4.STL │ ├── link_5.STL │ ├── link_6.STL │ ├── link_7.STL │ └── robot.urdf ├── calibration.yaml ├── joint_impedance_control.yaml ├── license ├── models │ ├── HEBUT │ │ ├── HEBUT.urdf │ │ ├── base_link.STL │ │ ├── link1.STL │ │ └── link2.STL │ ├── iiwa │ │ ├── config.yaml │ │ ├── config_backup.yaml │ │ ├── iiwa7.urdf.xacro │ │ ├── iiwa7.xacro │ │ ├── link_0.stl │ │ ├── link_1.stl │ │ ├── link_2.stl │ │ ├── link_3.stl │ │ ├── link_4.stl │ │ ├── link_5.stl │ │ ├── link_6.stl │ │ └── link_7.stl │ ├── sia │ │ ├── arm1.STL │ │ ├── arm2.STL │ │ ├── arm3.STL │ │ ├── arm4.STL │ │ ├── arm5.STL │ │ ├── arm6.STL │ │ ├── arm7.STL │ │ ├── base_link.STL │ │ └── config.yaml │ ├── staubli_tx60l │ │ ├── base_link.stl │ │ ├── config.yaml │ │ ├── link_1.stl │ │ ├── link_2.stl │ │ ├── link_3.stl │ │ ├── link_4.stl │ │ ├── link_5.stl │ │ └── link_6.stl │ ├── talon │ │ ├── base_link.STL │ │ ├── link_1.STL │ │ ├── link_2.STL │ │ ├── link_3.STL │ │ ├── link_4.STL │ │ ├── link_5.STL │ │ ├── link_6.STL │ │ ├── link_7.STL │ │ └── robot.urdf │ ├── techsoft_tb6_r3 │ │ ├── base_link.STL │ │ ├── config.yaml │ │ ├── link_1.STL │ │ ├── link_2.STL │ │ ├── link_3.STL │ │ ├── link_4.STL │ │ ├── link_5.STL │ │ └── link_6.STL │ ├── ur3 │ │ ├── base.dae │ │ ├── config.yaml │ │ ├── forearm.dae │ │ ├── shoulder.dae │ │ ├── upperarm.dae │ │ ├── wrist1.dae │ │ ├── wrist2.dae │ │ └── wrist3.dae │ └── ur5e │ │ ├── base.dae │ │ ├── base.stl │ │ ├── config.yaml │ │ ├── forearm.dae │ │ ├── forearm.stl │ │ ├── forearm_add.dae │ │ ├── forearm_add.stl │ │ ├── shoulder.dae │ │ ├── shoulder.stl │ │ ├── upperarm.dae │ │ ├── upperarm.stl │ │ ├── upperarm_add.dae │ │ ├── upperarm_add.stl │ │ ├── wrist1.dae │ │ ├── wrist1.stl │ │ ├── wrist2.dae │ │ ├── wrist2.stl │ │ ├── wrist3.dae │ │ └── wrist3.stl ├── public.key └── robot.urdf ├── debug └── readme.md ├── include ├── rocos_app │ ├── JC_helper_dynamics.hpp │ ├── JC_helper_kinematics.hpp │ ├── Logger.h │ ├── drive.h │ ├── drive_guard.h │ ├── ethercat │ │ ├── command.h │ │ ├── control_word.h │ │ ├── drive_state.h │ │ ├── error.hpp │ │ ├── exception.hpp │ │ ├── ft_sensor_ecat.h │ │ ├── hardware.h │ │ ├── hardware_sim.h │ │ ├── mode_of_operation.h │ │ └── status_word.h │ ├── ft_sensor_interface.h │ ├── hardware_interface.h │ ├── highspeed_udp.hpp │ ├── interpolate.h │ ├── kinematics.h │ ├── robot.h │ ├── robotMath.h │ └── robot_service.h ├── tinyfsm.hpp └── ver.h.in ├── protos ├── geometry.proto ├── grpcui ├── header.proto ├── robot_command.proto ├── robot_info.proto ├── robot_service.proto └── robot_state.proto ├── rocos-app.png ├── ros2.sh ├── src ├── JC_helper_dynamics.cpp ├── JC_helper_kinematics.cpp ├── command.cc ├── control_word.cc ├── drive.cc ├── drive_guard.cc ├── drive_state.cc ├── ft_sensor_ecat.cc ├── 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