├── .github └── ISSUE_TEMPLATE │ ├── bug_report.md │ └── feature_request.md ├── .gitignore ├── MHE ├── draw.py ├── mhe_robot_ps_mul_shooting_v1.py ├── mhe_robot_ps_mul_shooting_v1_opt.py ├── mhe_robot_ps_mul_shooting_v1_struct.py ├── mhe_robot_ps_mul_shooting_v2.py ├── mhe_robot_ps_mul_shooting_v2_opt.py └── mhe_robot_ps_mul_shooting_v2_struct.py ├── MPC ├── draw.py ├── obstacle.gif ├── sim_1_mpc_single_shooting.py ├── sim_1_mpc_single_shooting_np.py ├── sim_1_mpc_single_shooting_opt.py ├── sim_1_mpc_single_shooting_qp.py ├── sim_1_mpc_single_shooting_struct.py ├── sim_2_mpc_mul_shooting.py ├── sim_2_mpc_mul_shooting_fatrop.py ├── sim_2_mpc_mul_shooting_mx.py ├── sim_2_mpc_mul_shooting_np.py ├── sim_2_mpc_mul_shooting_opt.py ├── sim_2_mpc_mul_shooting_struct.py ├── sim_3_mpc_obs_avoid_mul.py ├── sim_3_mpc_obs_avoid_mul_opt.py ├── sim_3_mpc_obs_avoid_mul_struct.py ├── sim_4_mpc_robot_tracking_mul_shooting.py ├── sim_4_mpc_robot_tracking_mul_shooting_opt.py ├── 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