├── .gitignore ├── CMakeLists.txt ├── COPYING ├── README.md ├── externals └── qpoases │ ├── EXAMPLES │ ├── example1.cpp │ └── example1b.cpp │ ├── INCLUDE │ ├── Bounds.hpp │ ├── Constants.hpp │ ├── Constraints.hpp │ ├── CyclingManager.hpp │ ├── EXTRAS │ │ └── SolutionAnalysis.hpp │ ├── Indexlist.hpp │ ├── MessageHandling.hpp │ ├── QProblem.hpp │ ├── QProblemB.hpp │ ├── SubjectTo.hpp │ ├── Types.hpp │ └── Utils.hpp │ ├── LICENSE.txt │ ├── README.txt │ ├── SRC │ ├── Bounds.cpp │ ├── Bounds.ipp │ ├── Constraints.cpp │ ├── Constraints.ipp │ ├── CyclingManager.cpp │ ├── CyclingManager.ipp │ ├── EXTRAS │ │ └── SolutionAnalysis.cpp │ ├── Indexlist.cpp │ ├── Indexlist.ipp │ ├── MessageHandling.cpp │ ├── MessageHandling.ipp │ ├── QProblem.cpp │ ├── QProblem.ipp │ ├── QProblemB.cpp │ ├── QProblemB.ipp │ ├── SubjectTo.cpp │ ├── SubjectTo.ipp │ ├── Utils.cpp │ └── Utils.ipp │ └── VERSIONS.txt ├── include └── rpg_mpc │ ├── mpc_controller.h │ ├── mpc_params.h │ └── mpc_wrapper.h ├── launch └── mpc_controller.launch ├── model ├── CMakeLists.txt ├── FindACADO.cmake ├── README.md ├── quadrotor_model_codegen ├── quadrotor_model_thrustrates.cpp └── quadrotor_mpc_codegen │ ├── acado_auxiliary_functions.c │ ├── acado_auxiliary_functions.h │ ├── acado_common.h │ ├── acado_integrator.c │ ├── acado_qpoases_interface.cpp │ ├── acado_qpoases_interface.hpp │ └── acado_solver.c ├── package.xml ├── parameters └── default.yaml ├── src ├── autopilot_mpc_instance.cpp ├── mpc_controller.cpp └── mpc_wrapper.cpp └── test └── mpc_node.cpp /.gitignore: -------------------------------------------------------------------------------- 1 | # CLion stuff 2 | .idea/ 3 | cmake-build-debug/ 4 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/uzh-rpg/rpg_mpc/HEAD/CMakeLists.txt 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