├── .gitignore ├── LICENSE ├── README.md ├── dynamics ├── diff_drive_continuous_dynamics.m └── single_integrator_discrete_dynamics.m ├── external ├── con2vert.m ├── openGJK │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── doc │ │ ├── Doxyfile │ │ ├── openGJKcustomfooter.html │ │ ├── openGJKcustomheader.html │ │ ├── openGJKcustomstyle.css │ │ └── oxfordLogo.jpg │ ├── example1_c │ │ ├── CMakeLists.txt │ │ ├── main.c │ │ ├── userP.dat │ │ └── userQ.dat │ ├── example2_mex │ │ ├── main.m │ │ ├── openGJK.mexa64 │ │ └── runme.m │ ├── example3_csharp │ │ └── main.cs │ ├── lib │ │ ├── CMakeLists.txt │ │ ├── ext │ │ │ ├── predicates.c │ │ │ └── predicates.h │ │ ├── include │ │ │ └── openGJK │ │ │ │ └── openGJK.h │ │ └── src │ │ │ └── openGJK.c │ └── openGJK.pdf ├── p_poly_dist │ ├── license.txt │ ├── p_poly_dist.m │ ├── p_poly_dist1.m │ └── test_p_poly_dist.m ├── polytopes │ ├── lcon2vert.m │ ├── license.txt │ ├── qlcon2vert.m │ └── vert2lcon.m └── vert2con.m ├── hyperplane ├── gaussian_gaussian_hyperplane.m ├── point_box_gaussian_shifted_hyperplane.m ├── point_box_gaussian_shifted_hyperplane_simple.m ├── point_box_shifted_hyperplane.m ├── point_point_hyperplane.m ├── point_polytope_gaussian_shifted_hyperplane.m └── point_polytope_shifted_hyperplane.m ├── initialize_dd.m ├── initialize_si.m ├── logs ├── 1j1d2o_480.jpg ├── r8o10_180-crop.jpg ├── vc_sim_4.gif └── vc_sim_4.mp4 ├── modules ├── CBoxObs.m ├── CDiffDrive.m ├── CSingleInt.m └── CSystem.m ├── mpc ├── objectives │ └── obj_desired_pos.m └── si │ ├── si_mpc_generator.m │ ├── si_mpc_nonlinIneq.m │ ├── si_mpc_setup.m │ └── si_objective.m ├── run_dd.m ├── run_si.m ├── saveLog.m ├── scenario ├── box_initial_2D.m ├── box_initial_3D.m ├── robotStartPos_2D.m └── robotStartPos_3D.m ├── setPath.m └── utils ├── RK2.m ├── RK2.p ├── boundsCon.m ├── box2PolyVertsCons.m ├── box2PolyVertsCons_2D.m ├── box2PolyVertsCons_3D.m ├── closestPointPlane.m ├── collision_check.m ├── ellipse.m ├── expandPolytope.m ├── 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