├── IMG ├── NMPC流程.png ├── robot.png ├── topo搜索.png ├── 程序运行.png ├── 轨迹优化.png └── 重规划流程.png ├── LICENSE ├── README.md ├── src ├── CMakeLists.txt ├── ocs2 │ ├── .gitattributes │ ├── .gitignore │ ├── LICENCE.txt │ ├── README.md │ ├── ocs2 │ │ ├── CMakeLists.txt │ │ └── package.xml │ ├── ocs2_core │ │ ├── CMakeLists.txt │ │ ├── cmake │ │ │ └── ocs2_cxx_flags.cmake │ │ ├── include │ │ │ └── ocs2_core │ │ │ │ ├── ComputationRequest.h │ │ │ │ ├── NumericTraits.h │ │ │ │ ├── PreComputation.h │ │ │ │ ├── Types.h │ │ │ │ ├── augmented_lagrangian │ │ │ │ ├── AugmentedLagrangian.h │ │ │ │ ├── StateAugmentedLagrangian.h │ │ │ │ ├── StateAugmentedLagrangianCollection.h │ │ │ │ ├── StateAugmentedLagrangianInterface.h │ │ │ │ ├── StateInputAugmentedLagrangian.h │ │ │ │ ├── StateInputAugmentedLagrangianCollection.h │ │ │ │ └── StateInputAugmentedLagrangianInterface.h │ │ │ │ ├── automatic_differentiation │ │ │ │ ├── CppAdInterface.h │ │ │ │ ├── CppAdSparsity.h │ │ │ │ ├── FiniteDifferenceMethods.h │ │ │ │ └── Types.h │ │ │ │ ├── constraint │ │ │ │ ├── ConstraintOrder.h │ │ │ │ ├── LinearStateConstraint.h │ │ │ │ ├── LinearStateInputConstraint.h │ │ │ │ ├── StateConstraint.h │ │ │ │ ├── StateConstraintCollection.h │ │ │ │ ├── StateConstraintCppAd.h │ │ │ │ ├── StateInputConstraint.h │ │ │ │ ├── StateInputConstraintCollection.h │ │ │ │ └── StateInputConstraintCppAd.h │ │ │ │ ├── control │ │ │ │ ├── ControllerAdjustmentBase.h │ │ │ │ ├── ControllerBase.h │ │ │ │ ├── ControllerType.h │ │ │ │ ├── FeedforwardController.h │ │ │ │ ├── LinearController.h │ │ │ │ └── StateBasedLinearController.h │ │ │ │ ├── cost │ │ │ │ ├── QuadraticStateCost.h │ │ │ │ ├── QuadraticStateInputCost.h │ │ │ │ ├── StateCost.h │ │ │ │ ├── StateCostCollection.h │ │ │ │ ├── StateCostCppAd.h │ │ │ │ ├── StateInputCost.h │ │ │ │ ├── StateInputCostCollection.h │ │ │ │ ├── StateInputCostCppAd.h │ │ │ │ └── StateInputGaussNewtonCostAd.h │ │ │ │ ├── dynamics │ │ │ │ ├── ControlledSystemBase.h │ │ │ │ ├── LinearSystemDynamics.h │ │ │ │ ├── SystemDynamicsBase.h │ │ │ │ ├── SystemDynamicsBaseAD.h │ │ │ │ ├── SystemDynamicsLinearizer.h │ │ │ │ └── TransferFunctionBase.h │ │ │ │ ├── initialization │ │ │ │ ├── DefaultInitializer.h │ │ │ │ ├── Initializer.h │ │ │ │ └── OperatingPoints.h │ │ │ │ ├── integration │ │ │ │ ├── Integrator.h │ │ │ │ ├── IntegratorBase.h │ │ │ │ ├── Observer.h │ │ │ │ ├── OdeBase.h │ │ │ │ ├── OdeFunc.h │ │ │ │ ├── RungeKuttaDormandPrince5.h │ │ │ │ ├── SensitivityIntegrator.h │ │ │ │ ├── SensitivityIntegratorImpl.h │ │ │ │ ├── StateTriggeredEventHandler.h │ │ │ │ ├── SystemEventHandler.h │ │ │ │ ├── TrapezoidalIntegration.h │ │ │ │ ├── eigenIntegration.h │ │ │ │ ├── implementation │ │ │ │ │ └── Integrator.h │ │ │ │ └── steppers.h │ │ │ │ ├── loopshaping │ │ │ │ ├── Loopshaping.h │ │ │ │ ├── LoopshapingDefinition.h │ │ │ │ ├── LoopshapingFilter.h │ │ │ │ ├── LoopshapingPreComputation.h │ │ │ │ ├── LoopshapingPropertyTree.h │ │ │ │ ├── augmented_lagrangian │ │ │ │ │ ├── LoopshapingAugmentedLagrangian.h │ │ │ │ │ ├── LoopshapingAugmentedLagrangianEliminatePattern.h │ │ │ │ │ ├── LoopshapingAugmentedLagrangianOutputPattern.h │ │ │ │ │ ├── LoopshapingStateAugmentedLagrangian.h │ │ │ │ │ └── LoopshapingStateInputAugmentedLagrangian.h │ │ │ │ ├── constraint │ │ │ │ │ ├── LoopshapingConstraint.h │ │ │ │ │ ├── LoopshapingConstraintEliminatePattern.h │ │ │ │ │ ├── LoopshapingConstraintOutputPattern.h │ │ │ │ │ ├── LoopshapingStateConstraint.h │ │ │ │ │ └── LoopshapingStateInputConstraint.h │ │ │ │ ├── cost │ │ │ │ │ ├── LoopshapingCost.h │ │ │ │ │ ├── LoopshapingCostEliminatePattern.h │ │ │ │ │ ├── LoopshapingCostOutputPattern.h │ │ │ │ │ ├── LoopshapingStateCost.h │ │ │ │ │ └── LoopshapingStateInputCost.h │ │ │ │ ├── dynamics │ │ │ │ │ ├── LoopshapingDynamics.h │ │ │ │ │ ├── LoopshapingDynamicsEliminatePattern.h │ │ │ │ │ ├── LoopshapingDynamicsOutputPattern.h │ │ │ │ │ └── LoopshapingFilterDynamics.h │ │ │ │ ├── initialization │ │ │ │ │ └── LoopshapingInitializer.h │ │ │ │ └── soft_constraint │ │ │ │ │ ├── LoopshapingSoftConstraint.h │ │ │ │ │ ├── LoopshapingSoftConstraintEliminatePattern.h │ │ │ │ │ ├── LoopshapingSoftConstraintOutputPattern.h │ │ │ │ │ └── LoopshapingStateInputSoftConstraint.h │ │ │ │ ├── misc │ │ │ │ ├── Benchmark.h │ │ │ │ ├── Collection.h │ │ │ │ ├── CommandLine.h │ │ │ │ ├── Display.h │ │ │ │ ├── LTI_Equations.h │ │ │ │ ├── LinearAlgebra.h │ │ │ │ ├── LinearFunction.h │ │ │ │ ├── LinearInterpolation.h │ │ │ │ ├── LoadData.h │ │ │ │ ├── LoadStdVectorOfPair.h │ │ │ │ ├── Log.h │ │ │ │ ├── Lookup.h │ │ │ │ ├── Numerics.h │ │ │ │ ├── implementation │ │ │ │ │ └── LinearInterpolation.h │ │ │ │ └── randomMatrices.h │ │ │ │ ├── model_data │ │ │ │ ├── Metrics.h │ │ │ │ ├── ModelData.h │ │ │ │ ├── ModelDataLinearInterpolation.h │ │ │ │ └── Multiplier.h │ │ │ │ ├── penalties │ │ │ │ ├── MultidimensionalPenalty.h │ │ │ │ ├── Penalties.h │ │ │ │ ├── augmented │ │ │ │ │ ├── AugmentedPenaltyBase.h │ │ │ │ │ ├── ModifiedRelaxedBarrierPenalty.h │ │ │ │ │ ├── QuadraticPenalty.h │ │ │ │ │ ├── SlacknessSquaredHingePenalty.h │ │ │ │ │ └── SmoothAbsolutePenalty.h │ │ │ │ └── penalties │ │ │ │ │ ├── DoubleSidedPenalty.h │ │ │ │ │ ├── PenaltyBase.h │ │ │ │ │ ├── QuadraticPenalty.h │ │ │ │ │ ├── RelaxedBarrierPenalty.h │ │ │ │ │ ├── SmoothAbsolutePenalty.h │ │ │ │ │ └── SquaredHingePenalty.h │ │ │ │ ├── reference │ │ │ │ ├── ModeSchedule.h │ │ │ │ └── TargetTrajectories.h │ │ │ │ ├── soft_constraint │ │ │ │ ├── StateInputSoftBoxConstraint.h │ │ │ │ ├── StateInputSoftConstraint.h │ │ │ │ └── StateSoftConstraint.h │ │ │ │ └── thread_support │ │ │ │ ├── BufferedValue.h │ │ │ │ ├── ExecuteAndSleep.h │ │ │ │ ├── SetThreadPriority.h │ │ │ │ ├── Synchronized.h │ │ │ │ └── ThreadPool.h │ │ ├── misc │ │ │ └── BugReportTest.cpp │ │ ├── package.xml │ │ ├── src │ │ │ ├── Types.cpp │ │ │ ├── augmented_lagrangian │ │ │ │ ├── AugmentedLagrangian.cpp │ │ │ │ ├── StateAugmentedLagrangian.cpp │ │ │ │ ├── StateAugmentedLagrangianCollection.cpp │ │ │ │ ├── StateInputAugmentedLagrangian.cpp │ │ │ │ └── StateInputAugmentedLagrangianCollection.cpp │ │ │ ├── automatic_differentation │ │ │ │ ├── CppAdInterface.cpp │ │ │ │ ├── CppAdSparsity.cpp │ │ │ │ └── FiniteDifferenceMethods.cpp │ │ │ ├── constraint │ │ │ │ ├── LinearStateConstraint.cpp │ │ │ │ ├── LinearStateInputConstraint.cpp │ │ │ │ ├── StateConstraintCollection.cpp │ │ │ │ ├── StateConstraintCppAd.cpp │ │ │ │ ├── StateInputConstraintCollection.cpp │ │ │ │ └── StateInputConstraintCppAd.cpp │ │ │ ├── control │ │ │ │ ├── FeedforwardController.cpp │ │ │ │ ├── LinearController.cpp │ │ │ │ └── StateBasedLinearController.cpp │ │ │ ├── cost │ │ │ │ ├── QuadraticStateCost.cpp │ │ │ │ ├── QuadraticStateInputCost.cpp │ │ │ │ ├── StateCostCollection.cpp │ │ │ │ ├── StateCostCppAd.cpp │ │ │ │ ├── StateInputCostCollection.cpp │ │ │ │ ├── StateInputCostCppAd.cpp │ │ │ │ └── StateInputGaussNewtonCostAd.cpp │ │ │ ├── dynamics │ │ │ │ ├── ControlledSystemBase.cpp │ │ │ │ ├── LinearSystemDynamics.cpp │ │ │ │ ├── SystemDynamicsBase.cpp │ │ │ │ ├── SystemDynamicsBaseAD.cpp │ │ │ │ ├── SystemDynamicsLinearizer.cpp │ │ │ │ └── TransferFunctionBase.cpp │ │ │ ├── integration │ │ │ │ ├── Integrator.cpp │ │ │ │ ├── IntegratorBase.cpp │ │ │ │ ├── Observer.cpp │ │ │ │ ├── OdeBase.cpp │ │ │ │ ├── RungeKuttaDormandPrince5.cpp │ │ │ │ ├── SensitivityIntegrator.cpp │ │ │ │ ├── SensitivityIntegratorImpl.cpp │ │ │ │ ├── StateTriggeredEventHandler.cpp │ │ │ │ └── SystemEventHandler.cpp │ │ │ ├── lintTarget.cpp │ │ │ ├── loopshaping │ │ │ │ ├── LoopshapingDefinition.cpp │ │ │ │ ├── LoopshapingFilter.cpp │ │ │ │ ├── LoopshapingPreComputation.cpp │ │ │ │ ├── LoopshapingPropertyTree.cpp │ │ │ │ ├── augmented_lagrangian │ │ │ │ │ ├── LoopshapingAugmentedLagrangian.cpp │ │ │ │ │ ├── LoopshapingAugmentedLagrangianEliminatePattern.cpp │ │ │ │ │ ├── LoopshapingAugmentedLagrangianOutputPattern.cpp │ │ │ │ │ ├── LoopshapingStateAugmentedLagrangian.cpp │ │ │ │ │ └── LoopshapingStateInputAugmentedLagrangian.cpp │ │ │ │ ├── constraint │ │ │ │ │ ├── LoopshapingConstraint.cpp │ │ │ │ │ ├── LoopshapingConstraintEliminatePattern.cpp │ │ │ │ │ ├── LoopshapingConstraintOutputPattern.cpp │ │ │ │ │ ├── LoopshapingStateConstraint.cpp │ │ │ │ │ └── LoopshapingStateInputConstraint.cpp │ │ │ │ ├── cost │ │ │ │ │ ├── LoopshapingCost.cpp │ │ │ │ │ ├── LoopshapingCostEliminatePattern.cpp │ │ │ │ │ ├── LoopshapingCostOutputPattern.cpp │ │ │ │ │ ├── LoopshapingStateCost.cpp │ │ │ │ │ └── LoopshapingStateInputCost.cpp │ │ │ │ ├── dynamics │ │ │ │ │ ├── LoopshapingDynamics.cpp │ │ │ │ │ ├── LoopshapingDynamicsEliminatePattern.cpp │ │ │ │ │ ├── LoopshapingDynamicsOutputPattern.cpp │ │ │ │ │ └── LoopshapingFilterDynamics.cpp │ │ │ │ ├── initialization │ │ │ │ │ └── LoopshapingInitializer.cpp │ │ │ │ └── soft_constraint │ │ │ │ │ ├── LoopshapingSoftConstraint.cpp │ │ │ │ │ ├── LoopshapingSoftConstraintEliminatePattern.cpp │ │ │ │ │ ├── LoopshapingSoftConstraintOutputPattern.cpp │ │ │ │ │ └── LoopshapingStateInputSoftConstraint.cpp │ │ │ ├── misc │ │ │ │ ├── LinearAlgebra.cpp │ │ │ │ └── Log.cpp │ │ │ ├── model_data │ │ │ │ ├── Metrics.cpp │ │ │ │ ├── ModelData.cpp │ │ │ │ └── Multiplier.cpp │ │ │ ├── penalties │ │ │ │ ├── MultidimensionalPenalty.cpp │ │ │ │ ├── Penalties.cpp │ │ │ │ └── penalties │ │ │ │ │ ├── RelaxedBarrierPenalty.cpp │ │ │ │ │ └── SquaredHingePenalty.cpp │ │ │ ├── reference │ │ │ │ ├── ModeSchedule.cpp │ │ │ │ └── TargetTrajectories.cpp │ │ │ ├── soft_constraint │ │ │ │ ├── StateInputSoftBoxConstraint.cpp │ │ │ │ ├── StateInputSoftConstraint.cpp │ │ │ │ └── StateSoftConstraint.cpp │ │ │ └── thread_support │ │ │ │ └── ThreadPool.cpp │ │ └── test │ │ │ ├── constraint │ │ │ ├── testConstraintCollection.cpp │ │ │ ├── testConstraintCppAd.cpp │ │ │ ├── testConstraints.h │ │ │ └── testLinearConstraint.cpp │ │ │ ├── control │ │ │ ├── testFeedforwardController.cpp │ │ │ └── testLinearController.cpp │ │ │ ├── cost │ │ │ ├── testCostCollection.cpp │ │ │ ├── testCostCppAd.cpp │ │ │ └── testQuadraticCostFunction.cpp │ │ │ ├── cppad_cg │ │ │ ├── LinearSystemDynamicsAD.h │ │ │ ├── commonFixture.h │ │ │ ├── testCppADCG_dynamics.cpp │ │ │ ├── testCppAdInterface.cpp │ │ │ └── testSparsityHelpers.cpp │ │ │ ├── dynamics │ │ │ ├── testSystemDynamicsLinearizer.cpp │ │ │ ├── testSystemDynamicsPreComputation.cpp │ │ │ └── testTransferfunctionBase.cpp │ │ │ ├── include │ │ │ └── ocs2_core │ │ │ │ └── test │ │ │ │ └── testTools.h │ │ │ ├── initialization │ │ │ └── InitializationTest.cpp │ │ │ ├── integration │ │ │ ├── IntegrationTest.cpp │ │ │ ├── TrapezoidalIntegrationTest.cpp │ │ │ ├── testRungeKuttaDormandPrince5.cpp │ │ │ └── testSensitivityIntegrator.cpp │ │ │ ├── loopshaping │ │ │ ├── loopshaping_r.conf │ │ │ ├── loopshaping_r_ballbot.conf │ │ │ ├── loopshaping_s.conf │ │ │ ├── loopshaping_s_integrator.conf │ │ │ ├── testLoopshapingAugmentedLagrangian.cpp │ │ │ ├── testLoopshapingAugmentedLagrangian.h │ │ │ ├── testLoopshapingConfiguration.cpp │ │ │ ├── testLoopshapingConfigurations.h │ │ │ ├── testLoopshapingConstraint.cpp │ │ │ ├── testLoopshapingConstraint.h │ │ │ ├── testLoopshapingCost.cpp │ │ │ ├── testLoopshapingCost.h │ │ │ ├── testLoopshapingDefinition.cpp │ │ │ ├── testLoopshapingDynamics.cpp │ │ │ ├── testLoopshapingDynamics.h │ │ │ ├── testLoopshapingFilterDynamics.cpp │ │ │ ├── testLoopshapingPreComputation.cpp │ │ │ ├── testLoopshapingSoftConstraint.cpp │ │ │ ├── testLoopshapingSoftConstraint.h │ │ │ └── testQuadraticConstraint.h │ │ │ ├── misc │ │ │ ├── data │ │ │ │ └── pairVectors.info │ │ │ ├── testInterpolation.cpp │ │ │ ├── testLinearAlgebra.cpp │ │ │ ├── testLoadData.cpp │ │ │ ├── testLogging.cpp │ │ │ └── testLookup.cpp │ │ │ ├── model_data │ │ │ ├── testMetrics.cpp │ │ │ ├── testModelData.cpp │ │ │ └── testMultiplier.cpp │ │ │ ├── reference │ │ │ └── testModeSchedule.cpp │ │ │ ├── soft_constraint │ │ │ ├── testDoubleSidedPenalty.cpp │ │ │ └── testSoftConstraint.cpp │ │ │ ├── testPrecomputation.cpp │ │ │ ├── testTypes.cpp │ │ │ └── thread_support │ │ │ ├── testBufferedValue.cpp │ │ │ ├── testSynchronized.cpp │ │ │ └── testThreadPool.cpp │ ├── ocs2_ddp │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── ocs2_ddp │ │ │ │ ├── ContinuousTimeLqr.h │ │ │ │ ├── DDP_Data.h │ │ │ │ ├── DDP_DataCollector.h │ │ │ │ ├── DDP_HelperFunctions.h │ │ │ │ ├── DDP_Settings.h │ │ │ │ ├── GaussNewtonDDP.h │ │ │ │ ├── GaussNewtonDDP_MPC.h │ │ │ │ ├── HessianCorrection.h │ │ │ │ ├── ILQR.h │ │ │ │ ├── SLQ.h │ │ │ │ ├── riccati_equations │ │ │ │ ├── ContinuousTimeRiccatiEquations.h │ │ │ │ ├── DiscreteTimeRiccatiEquations.h │ │ │ │ ├── RiccatiModification.h │ │ │ │ ├── RiccatiModificationInterpolation.h │ │ │ │ └── RiccatiTransversalityConditions.h │ │ │ │ ├── search_strategy │ │ │ │ ├── LevenbergMarquardtStrategy.h │ │ │ │ ├── LineSearchStrategy.h │ │ │ │ ├── SearchStrategyBase.h │ │ │ │ └── StrategySettings.h │ │ │ │ └── unsupported │ │ │ │ ├── MPC_OCS2.h │ │ │ │ ├── SLQ_Hamiltonian.h │ │ │ │ ├── bvp_solver │ │ │ │ ├── BVPEquations.h │ │ │ │ └── SolveBVP.h │ │ │ │ └── implementation │ │ │ │ └── SLQ_Hamiltonian.h │ │ ├── package.xml │ │ ├── src │ │ │ ├── ContinuousTimeLqr.cpp │ │ │ ├── DDP_DataCollector.cpp │ │ │ ├── DDP_HelperFunctions.cpp │ │ │ ├── DDP_Settings.cpp │ │ │ ├── GaussNewtonDDP.cpp │ │ │ ├── HessianCorrection.cpp │ │ │ ├── ILQR.cpp │ │ │ ├── SLQ.cpp │ │ │ ├── lintTarget.cpp │ │ │ ├── riccati_equations │ │ │ │ ├── ContinuousTimeRiccatiEquations.cpp │ │ │ │ ├── DiscreteTimeRiccatiEquations.cpp │ │ │ │ └── RiccatiModification.cpp │ │ │ ├── search_strategy │ │ │ │ ├── LevenbergMarquardtStrategy.cpp │ │ │ │ ├── LineSearchStrategy.cpp │ │ │ │ └── StrategySettings.cpp │ │ │ └── unsupported │ │ │ │ └── MPC_OCS2.cpp │ │ └── test │ │ │ ├── CircularKinematicsTest.cpp │ │ │ ├── CorrectnessTest.cpp │ │ │ ├── Exp0Test.cpp │ │ │ ├── Exp1Test.cpp │ │ │ ├── HybridSlqTest.cpp │ │ │ ├── RiccatiTest.cpp │ │ │ ├── bouncingmass │ │ │ ├── BouncingMassTest.cpp │ │ │ ├── OverallReference.cpp │ │ │ └── Reference.cpp │ │ │ ├── include │ │ │ └── ocs2_ddp │ │ │ │ └── test │ │ │ │ └── bouncingmass │ │ │ │ ├── OverallReference.h │ │ │ │ ├── Reference.h │ │ │ │ └── SystemModel.h │ │ │ ├── testContinuousTimeLqr.cpp │ │ │ ├── testDdpHelperFunction.cpp │ │ │ └── testReachingTask.cpp │ ├── ocs2_frank_wolfe │ │ ├── CMakeLists.txt │ │ ├── cmake │ │ │ └── FindGLPK.cmake │ │ ├── include │ │ │ └── ocs2_frank_wolfe │ │ │ │ ├── FrankWolfeDescentDirection.h │ │ │ │ ├── GradientDescent.h │ │ │ │ ├── NLP_Constraints.h │ │ │ │ ├── NLP_Cost.h │ │ │ │ └── NLP_Settings.h │ │ ├── package.xml │ │ ├── src │ │ │ ├── FrankWolfeDescentDirection.cpp │ │ │ └── GradientDescent.cpp │ │ └── test │ │ │ ├── MatyasTest.cpp │ │ │ ├── QuadraticTest.cpp │ │ │ └── testGLPK.cpp │ ├── ocs2_ipm │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── ocs2_ipm │ │ │ │ ├── IpmHelpers.h │ │ │ │ ├── IpmInitialization.h │ │ │ │ ├── IpmMpc.h │ │ │ │ ├── IpmPerformanceIndexComputation.h │ │ │ │ ├── IpmSettings.h │ │ │ │ ├── IpmSolver.h │ │ │ │ └── IpmSolverStatus.h │ │ ├── package.xml │ │ ├── src │ │ │ ├── IpmHelpers.cpp │ │ │ ├── IpmInitialization.cpp │ │ │ ├── IpmPerformanceIndexComputation.cpp │ │ │ ├── IpmSettings.cpp │ │ │ └── IpmSolver.cpp │ │ └── test │ │ │ ├── Exp0Test.cpp │ │ │ ├── Exp1Test.cpp │ │ │ ├── testCircularKinematics.cpp │ │ │ ├── testSwitchedProblem.cpp │ │ │ ├── testUnconstrained.cpp │ │ │ └── testValuefunction.cpp │ ├── ocs2_mpc │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── ocs2_mpc │ │ │ │ ├── CommandData.h │ │ │ │ ├── LoopshapingSystemObservation.h │ │ │ │ ├── MPC_BASE.h │ │ │ │ ├── MPC_MRT_Interface.h │ │ │ │ ├── MPC_Settings.h │ │ │ │ ├── MRT_BASE.h │ │ │ │ ├── MrtObserver.h │ │ │ │ └── SystemObservation.h │ │ ├── package.xml │ │ └── src │ │ │ ├── LoopshapingSystemObservation.cpp │ │ │ ├── MPC_BASE.cpp │ │ │ ├── MPC_MRT_Interface.cpp │ │ │ ├── MPC_Settings.cpp │ │ │ ├── MRT_BASE.cpp │ │ │ ├── SystemObservation.cpp │ │ │ └── lintTarget.cpp │ ├── ocs2_msgs │ │ ├── CMakeLists.txt │ │ ├── msg │ │ │ ├── constraint.msg │ │ │ ├── controller_data.msg │ │ │ ├── lagrangian_metrics.msg │ │ │ ├── mode_schedule.msg │ │ │ ├── mpc_flattened_controller.msg │ │ │ ├── mpc_input.msg │ │ │ ├── mpc_observation.msg │ │ │ ├── mpc_performance_indices.msg │ │ │ ├── mpc_state.msg │ │ │ ├── mpc_target_trajectories.msg │ │ │ └── multiplier.msg │ │ ├── package.xml │ │ └── srv │ │ │ └── reset.srv │ ├── ocs2_oc │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── ocs2_oc │ │ │ │ ├── approximate_model │ │ │ │ ├── ChangeOfInputVariables.h │ │ │ │ └── LinearQuadraticApproximator.h │ │ │ │ ├── multiple_shooting │ │ │ │ ├── Helpers.h │ │ │ │ ├── Initialization.h │ │ │ │ ├── LagrangianEvaluation.h │ │ │ │ ├── MetricsComputation.h │ │ │ │ ├── PerformanceIndexComputation.h │ │ │ │ ├── ProjectionMultiplierCoefficients.h │ │ │ │ └── Transcription.h │ │ │ │ ├── oc_data │ │ │ │ ├── DualSolution.h │ │ │ │ ├── LoopshapingPrimalSolution.h │ │ │ │ ├── PerformanceIndex.h │ │ │ │ ├── PrimalSolution.h │ │ │ │ ├── ProblemMetrics.h │ │ │ │ └── TimeDiscretization.h │ │ │ │ ├── oc_problem │ │ │ │ ├── LoopshapingOptimalControlProblem.h │ │ │ │ ├── OcpSize.h │ │ │ │ ├── OcpToKkt.h │ │ │ │ ├── OptimalControlProblem.h │ │ │ │ └── OptimalControlProblemHelperFunction.h │ │ │ │ ├── oc_solver │ │ │ │ └── SolverBase.h │ │ │ │ ├── precondition │ │ │ │ └── Ruzi.h │ │ │ │ ├── rollout │ │ │ │ ├── InitializerRollout.h │ │ │ │ ├── PerformanceIndicesRollout.h │ │ │ │ ├── RolloutBase.h │ │ │ │ ├── RolloutSettings.h │ │ │ │ ├── RootFinder.h │ │ │ │ ├── RootFinderType.h │ │ │ │ ├── StateTriggeredRollout.h │ │ │ │ └── TimeTriggeredRollout.h │ │ │ │ ├── search_strategy │ │ │ │ └── FilterLinesearch.h │ │ │ │ ├── synchronized_module │ │ │ │ ├── LoopshapingReferenceManager.h │ │ │ │ ├── LoopshapingSynchronizedModule.h │ │ │ │ ├── ReferenceManager.h │ │ │ │ ├── ReferenceManagerDecorator.h │ │ │ │ ├── ReferenceManagerInterface.h │ │ │ │ ├── SolverObserver.h │ │ │ │ └── SolverSynchronizedModule.h │ │ │ │ └── trajectory_adjustment │ │ │ │ ├── TrajectorySpreading.h │ │ │ │ └── TrajectorySpreadingHelperFunctions.h │ │ ├── package.xml │ │ ├── src │ │ │ ├── approximate_model │ │ │ │ ├── ChangeOfInputVariables.cpp │ │ │ │ └── LinearQuadraticApproximator.cpp │ │ │ ├── lintTarget.cpp │ │ │ ├── multiple_shooting │ │ │ │ ├── Helpers.cpp │ │ │ │ ├── Initialization.cpp │ │ │ │ ├── LagrangianEvaluation.cpp │ │ │ │ ├── MetricsComputation.cpp │ │ │ │ ├── PerformanceIndexComputation.cpp │ │ │ │ ├── ProjectionMultiplierCoefficients.cpp │ │ │ │ └── Transcription.cpp │ │ │ ├── oc_data │ │ │ │ ├── LoopshapingPrimalSolution.cpp │ │ │ │ ├── PerformanceIndex.cpp │ │ │ │ └── TimeDiscretization.cpp │ │ │ ├── oc_problem │ │ │ │ ├── LoopshapingOptimalControlProblem.cpp │ │ │ │ ├── OcpSize.cpp │ │ │ │ ├── OcpToKkt.cpp │ │ │ │ ├── OptimalControlProblem.cpp │ │ │ │ └── OptimalControlProblemHelperFunction.cpp │ │ │ ├── oc_solver │ │ │ │ └── SolverBase.cpp │ │ │ ├── precondition │ │ │ │ └── Ruzi.cpp │ │ │ ├── rollout │ │ │ │ ├── InitializerRollout.cpp │ │ │ │ ├── PerformanceIndicesRollout.cpp │ │ │ │ ├── RolloutBase.cpp │ │ │ │ ├── RolloutSettings.cpp │ │ │ │ ├── RootFinder.cpp │ │ │ │ ├── StateTriggeredRollout.cpp │ │ │ │ └── TimeTriggeredRollout.cpp │ │ │ ├── search_strategy │ │ │ │ └── FilterLinesearch.cpp │ │ │ ├── synchronized_module │ │ │ │ ├── LoopshapingReferenceManager.cpp │ │ │ │ ├── LoopshapingSynchronizedModule.cpp │ │ │ │ ├── ReferenceManager.cpp │ │ │ │ └── SolverObserver.cpp │ │ │ └── trajectory_adjustment │ │ │ │ └── TrajectorySpreading.cpp │ │ └── test │ │ │ ├── include │ │ │ └── ocs2_oc │ │ │ │ └── test │ │ │ │ ├── DoubleIntegratorReachingTask.h │ │ │ │ ├── EXP0.h │ │ │ │ ├── EXP1.h │ │ │ │ ├── ball_dynamics_staterollout.h │ │ │ │ ├── circular_kinematics.h │ │ │ │ ├── dynamics_hybrid_slq_test.h │ │ │ │ ├── pendulum_dynamics_staterollout.h │ │ │ │ └── testProblemsGeneration.h │ │ │ ├── multiple_shooting │ │ │ ├── testProjectionMultiplierCoefficients.cpp │ │ │ ├── testTranscriptionMetrics.cpp │ │ │ └── testTranscriptionPerformanceIndex.cpp │ │ │ ├── oc_data │ │ │ └── testTimeDiscretization.cpp │ │ │ ├── oc_problem │ │ │ └── testOcpToKkt.cpp │ │ │ ├── precondition │ │ │ └── testPrecondition.cpp │ │ │ ├── rollout │ │ │ ├── testStateTriggeredRollout.cpp │ │ │ └── testTimeTriggeredRollout.cpp │ │ │ ├── testChangeOfInputVariables.cpp │ │ │ └── trajectory_adjustment │ │ │ └── TrajectorySpreadingTest.cpp │ ├── ocs2_ocs2 │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── ocs2_ocs2 │ │ │ │ ├── FrankWolfeGDDP.h │ │ │ │ ├── GDDP.h │ │ │ │ ├── GDDP_Settings.h │ │ │ │ ├── GSLQPSolver.h │ │ │ │ ├── NumGDDP.h │ │ │ │ ├── OCS2.h │ │ │ │ ├── implementation │ │ │ │ ├── FrankWolfeGDDP.h │ │ │ │ ├── GDDP.h │ │ │ │ ├── GSLQSolver.h │ │ │ │ ├── NumGDDP.h │ │ │ │ └── OCS2.h │ │ │ │ ├── sensitivity_equations │ │ │ │ ├── BvpSensitivityEquations.h │ │ │ │ ├── BvpSensitivityErrorEquations.h │ │ │ │ ├── RolloutSensitivityEquations.h │ │ │ │ └── SensitivitySequentialRiccatiEquations.h │ │ │ │ └── upper_level_op │ │ │ │ ├── UpperLevelConstraints.h │ │ │ │ └── UpperLevelCost.h │ │ ├── package.xml │ │ ├── src │ │ │ └── lintTarget.cpp │ │ └── test │ │ │ ├── exp0_gddp_test.cpp │ │ │ ├── exp0_ocs2_test.cpp │ │ │ ├── exp1_gddp_test.cpp │ │ │ └── exp1_ocs2_test.cpp │ ├── ocs2_perceptive │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── ocs2_perceptive │ │ │ │ ├── distance_transform │ │ │ │ ├── ComputeDistanceTransform.h │ │ │ │ ├── DistanceTransformInterface.h │ │ │ │ └── implementation │ │ │ │ │ └── ComputeDistanceTransform.h │ │ │ │ ├── end_effector │ │ │ │ ├── EndEffectorDistanceConstraint.h │ │ │ │ └── EndEffectorDistanceConstraintCppAd.h │ │ │ │ └── interpolation │ │ │ │ ├── BilinearInterpolation.h │ │ │ │ ├── TrilinearInterpolation.h │ │ │ │ └── implementation │ │ │ │ ├── BilinearInterpolation.h │ │ │ │ └── TrilinearInterpolation.h │ │ ├── package.xml │ │ ├── src │ │ │ ├── end_effector │ │ │ │ ├── EndEffectorDistanceConstraint.cpp │ │ │ │ └── EndEffectorDistanceConstraintCppAd.cpp │ │ │ └── lintTarget.cpp │ │ └── test │ │ │ └── interpolation │ │ │ ├── testBilinearInterpolation.cpp │ │ │ └── testTrilinearInterpolation.cpp │ ├── ocs2_python_interface │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── ocs2_python_interface │ │ │ │ ├── PybindMacros.h │ │ │ │ └── PythonInterface.h │ │ ├── package.xml │ │ ├── setup.py │ │ ├── src │ │ │ └── PythonInterface.cpp │ │ └── test │ │ │ └── testDummyPyBindings.cpp │ ├── ocs2_robotic_tools │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── ocs2_robotic_tools │ │ │ │ ├── common │ │ │ │ ├── AngularVelocityMapping.h │ │ │ │ ├── LoopshapingRobotInterface.h │ │ │ │ ├── RobotInterface.h │ │ │ │ ├── RotationDerivativesTransforms.h │ │ │ │ ├── RotationTransforms.h │ │ │ │ └── SkewSymmetricMatrix.h │ │ │ │ └── end_effector │ │ │ │ └── EndEffectorKinematics.h │ │ ├── package.xml │ │ ├── src │ │ │ ├── common │ │ │ │ ├── LoopshapingRobotInterface.cpp │ │ │ │ └── RotationTransforms.cpp │ │ │ └── lintTarget.cpp │ │ └── test │ │ │ └── common │ │ │ ├── TestRotationDerivativesTransforms.cpp │ │ │ └── TestRotationTransforms.cpp │ ├── ocs2_ros_interfaces │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── ocs2_ros_interfaces │ │ │ │ ├── command │ │ │ │ ├── TargetTrajectoriesInteractiveMarker.h │ │ │ │ ├── TargetTrajectoriesKeyboardPublisher.h │ │ │ │ └── TargetTrajectoriesRosPublisher.h │ │ │ │ ├── common │ │ │ │ ├── RosMsgConversions.h │ │ │ │ └── RosMsgHelpers.h │ │ │ │ ├── mpc │ │ │ │ └── MPC_ROS_Interface.h │ │ │ │ ├── mrt │ │ │ │ ├── DummyObserver.h │ │ │ │ ├── LoopshapingDummyObserver.h │ │ │ │ ├── MRT_ROS_Dummy_Loop.h │ │ │ │ └── MRT_ROS_Interface.h │ │ │ │ ├── synchronized_module │ │ │ │ ├── RosReferenceManager.h │ │ │ │ └── SolverObserverRosCallbacks.h │ │ │ │ └── visualization │ │ │ │ ├── VisualizationColors.h │ │ │ │ └── VisualizationHelpers.h │ │ ├── launch │ │ │ └── performance_indices.launch │ │ ├── multiplot │ │ │ └── performance_indices.xml │ │ ├── package.xml │ │ ├── src │ │ │ ├── command │ │ │ │ ├── TargetTrajectoriesInteractiveMarker.cpp │ │ │ │ ├── TargetTrajectoriesKeyboardPublisher.cpp │ │ │ │ └── TargetTrajectoriesRosPublisher.cpp │ │ │ ├── common │ │ │ │ ├── RosMsgConversions.cpp │ │ │ │ └── RosMsgHelpers.cpp │ │ │ ├── lintTarget.cpp │ │ │ ├── mpc │ │ │ │ └── MPC_ROS_Interface.cpp │ │ │ ├── mrt │ │ │ │ ├── LoopshapingDummyObserver.cpp │ │ │ │ ├── MRT_ROS_Dummy_Loop.cpp │ │ │ │ └── MRT_ROS_Interface.cpp │ │ │ ├── multiplot │ │ │ │ └── MultiplotRemap.cpp │ │ │ ├── synchronized_module │ │ │ │ ├── RosReferenceManager.cpp │ │ │ │ └── SolverObserverRosCallbacks.cpp │ │ │ └── visualization │ │ │ │ ├── VisualizationColors.cpp │ │ │ │ └── VisualizationHelpers.cpp │ │ └── test │ │ │ └── test_custom_callback_queue.cpp │ ├── ocs2_slp │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── ocs2_slp │ │ │ │ ├── Helpers.h │ │ │ │ ├── SlpMpc.h │ │ │ │ ├── SlpSettings.h │ │ │ │ ├── SlpSolver.h │ │ │ │ ├── SlpSolverStatus.h │ │ │ │ └── pipg │ │ │ │ ├── PipgBounds.h │ │ │ │ ├── PipgSettings.h │ │ │ │ ├── PipgSolver.h │ │ │ │ ├── PipgSolverStatus.h │ │ │ │ └── SingleThreadPipg.h │ │ ├── package.xml │ │ ├── src │ │ │ ├── Helpers.cpp │ │ │ ├── SlpSettings.cpp │ │ │ ├── SlpSolver.cpp │ │ │ ├── lintTarget.cpp │ │ │ └── pipg │ │ │ │ ├── PipgSettings.cpp │ │ │ │ ├── PipgSolver.cpp │ │ │ │ └── SingleThreadPipg.cpp │ │ └── test │ │ │ ├── testHelpers.cpp │ │ │ ├── testPipgSolver.cpp │ │ │ └── testSlpSolver.cpp │ ├── ocs2_sqp │ │ ├── blasfeo_catkin │ │ │ ├── CMakeLists.txt │ │ │ ├── cmake │ │ │ │ └── blasfeo-extras.cmake.in │ │ │ └── package.xml │ │ ├── hpipm_catkin │ │ │ ├── CMakeLists.txt │ │ │ ├── include │ │ │ │ └── hpipm_catkin │ │ │ │ │ ├── HpipmInterface.h │ │ │ │ │ └── HpipmInterfaceSettings.h │ │ │ ├── package.xml │ │ │ ├── src │ │ │ │ ├── HpipmInterface.cpp │ │ │ │ └── HpipmInterfaceSettings.cpp │ │ │ └── test │ │ │ │ └── testHpipmInterface.cpp │ │ └── ocs2_sqp │ │ │ ├── CMakeLists.txt │ │ │ ├── README.md │ │ │ ├── doc │ │ │ ├── LQR_full.pdf │ │ │ └── deduction.pdf │ │ │ ├── include │ │ │ └── ocs2_sqp │ │ │ │ ├── SqpLogging.h │ │ │ │ ├── SqpMpc.h │ │ │ │ ├── SqpSettings.h │ │ │ │ ├── SqpSolver.h │ │ │ │ └── SqpSolverStatus.h │ │ │ ├── logging │ │ │ ├── .gitignore │ │ │ └── ReadSqpLog.py │ │ │ ├── package.xml │ │ │ ├── src │ │ │ ├── SqpLogging.cpp │ │ │ ├── SqpSettings.cpp │ │ │ └── SqpSolver.cpp │ │ │ └── test │ │ │ ├── testCircularKinematics.cpp │ │ │ ├── testLogging.cpp │ │ │ ├── testSwitchedProblem.cpp │ │ │ ├── testUnconstrained.cpp │ │ │ └── testValuefunction.cpp │ ├── ocs2_test_tools │ │ └── ocs2_qp_solver │ │ │ ├── CMakeLists.txt │ │ │ ├── include │ │ │ └── ocs2_qp_solver │ │ │ │ ├── Ocs2QpSolver.h │ │ │ │ ├── QpDiscreteTranscription.h │ │ │ │ ├── QpSolver.h │ │ │ │ ├── QpSolverTypes.h │ │ │ │ └── QpTrajectories.h │ │ │ ├── package.xml │ │ │ ├── src │ │ │ ├── Ocs2QpSolver.cpp │ │ │ ├── QpDiscreteTranscription.cpp │ │ │ ├── QpSolver.cpp │ │ │ └── QpTrajectories.cpp │ │ │ └── test │ │ │ ├── include │ │ │ └── ocs2_qp_solver │ │ │ │ └── test │ │ │ │ └── testProblemsGeneration.h │ │ │ ├── testDiscreteTranscription.cpp │ │ │ ├── testOcs2QpSolver.cpp │ │ │ └── testQpSolver.cpp │ └── ocs2_thirdparty │ │ ├── CMakeLists.txt │ │ ├── include │ │ ├── cppad │ │ │ ├── COPYING │ │ │ ├── Version.txt │ │ │ ├── authors │ │ │ ├── base_require.hpp │ │ │ ├── cg.hpp │ │ │ ├── cg │ │ │ │ ├── AUTHORS │ │ │ │ ├── COPYING │ │ │ │ ├── Version.txt │ │ │ │ ├── abstract_atomic_fun.hpp │ │ │ │ ├── argument.hpp │ │ │ │ ├── arithmetic.hpp │ │ │ │ ├── arithmetic_ad.hpp │ │ │ │ ├── arithmetic_assign.hpp │ │ │ │ ├── array_id_compresser.hpp │ │ │ │ ├── array_view.hpp │ │ │ │ ├── atomic_dependency_locator.hpp │ │ │ │ ├── atomic_fun.hpp │ │ │ │ ├── atomic_fun_bridge.hpp │ │ │ │ ├── base_abstract_atomic_fun.hpp │ │ │ │ ├── base_double.hpp │ │ │ │ ├── base_float.hpp │ │ │ │ ├── bidir_graph.hpp │ │ │ │ ├── cg.hpp │ │ │ │ ├── code_handler.hpp │ │ │ │ ├── code_handler_impl.hpp │ │ │ │ ├── code_handler_loops.hpp │ │ │ │ ├── code_handler_vector.hpp │ │ │ │ ├── collect_variable.hpp │ │ │ │ ├── compare.hpp │ │ │ │ ├── cond_exp_op.hpp │ │ │ │ ├── cppadcg.hpp │ │ │ │ ├── cppadcg_assert.hpp │ │ │ │ ├── custom_position.hpp │ │ │ │ ├── dae_index_reduction │ │ │ │ │ ├── augment_path.hpp │ │ │ │ │ ├── augment_path_depth_lookahead.hpp │ │ │ │ │ ├── augment_path_depth_lookahead_a.hpp │ │ │ │ │ ├── bipartite_graph.hpp │ │ │ │ │ ├── bipartite_nodes.hpp │ │ │ │ │ ├── dae_equation_info.hpp │ │ │ │ │ ├── dae_index_reduction.hpp │ │ │ │ │ ├── dae_structural_index_reduction.hpp │ │ │ │ │ ├── dae_var_info.hpp │ │ │ │ │ ├── dummy_deriv.hpp │ │ │ │ │ ├── dummy_deriv_util.hpp │ │ │ │ │ ├── pantelides.hpp │ │ │ │ │ ├── simple_logger.hpp │ │ │ │ │ ├── soares_secchi.hpp │ │ │ │ │ └── time_diff.hpp │ │ │ │ ├── debug.hpp │ │ │ │ ├── declare_cg.hpp │ │ │ │ ├── declare_cg_loops.hpp │ │ │ │ ├── default.hpp │ │ │ │ ├── epl-v10.txt │ │ │ │ ├── evaluator │ │ │ │ │ ├── evaluator.hpp │ │ │ │ │ ├── evaluator_ad.hpp │ │ │ │ │ ├── evaluator_adcg.hpp │ │ │ │ │ ├── evaluator_adolc.hpp │ │ │ │ │ ├── evaluator_cg.hpp │ │ │ │ │ └── evaluator_solve.hpp │ │ │ │ ├── exception.hpp │ │ │ │ ├── extra │ │ │ │ │ ├── declare_extra.hpp │ │ │ │ │ ├── extra.hpp │ │ │ │ │ ├── sparse_forjac_hessian.hpp │ │ │ │ │ └── sparsity.hpp │ │ │ │ ├── gpl3.txt │ │ │ │ ├── graph_mod.hpp │ │ │ │ ├── identical.hpp │ │ │ │ ├── job_timer.hpp │ │ │ │ ├── lang │ │ │ │ │ ├── c │ │ │ │ │ │ ├── lang_c_atomic_fun.hpp │ │ │ │ │ │ ├── lang_c_custom_var_name_gen.hpp │ │ │ │ │ │ ├── lang_c_default_hessian_var_name_gen.hpp │ │ │ │ │ │ ├── lang_c_default_reverse2_var_name_gen.hpp │ │ │ │ │ │ ├── lang_c_default_var_name_gen.hpp │ │ │ │ │ │ ├── lang_c_util.hpp │ │ │ │ │ │ ├── language_c.hpp │ │ │ │ │ │ ├── language_c_arrays.hpp │ │ │ │ │ │ ├── language_c_double.hpp │ │ │ │ │ │ ├── language_c_float.hpp │ │ │ │ │ │ ├── language_c_index_patterns.hpp │ │ │ │ │ │ └── language_c_loops.hpp │ │ │ │ │ ├── dot │ │ │ │ │ │ ├── dot.hpp │ │ │ │ │ │ ├── dot_util.hpp │ │ │ │ │ │ ├── language_dot.hpp │ │ │ │ │ │ ├── language_dot_arrays.hpp │ │ │ │ │ │ └── language_dot_index_patterns.hpp │ │ │ │ │ ├── lang_stream_stack.hpp │ │ │ │ │ ├── language.hpp │ │ │ │ │ ├── latex │ │ │ │ │ │ ├── lang_latex_custom_var_name_gen.hpp │ │ │ │ │ │ ├── lang_latex_default_var_name_gen.hpp │ │ │ │ │ │ ├── language_latex.hpp │ │ │ │ │ │ ├── language_latex_arrays.hpp │ │ │ │ │ │ ├── language_latex_index_patterns.hpp │ │ │ │ │ │ └── latex.hpp │ │ │ │ │ └── mathml │ │ │ │ │ │ ├── lang_mathml_custom_var_name_gen.hpp │ │ │ │ │ │ ├── lang_mathml_default_var_name_gen.hpp │ │ │ │ │ │ ├── language_mathml.hpp │ │ │ │ │ │ ├── language_mathml_arrays.hpp │ │ │ │ │ │ ├── language_mathml_index_patterns.hpp │ │ │ │ │ │ └── mathml.hpp │ │ │ │ ├── math.hpp │ │ │ │ ├── math_other.hpp │ │ │ │ ├── model │ │ │ │ │ ├── atomic_external_function_wrapper.hpp │ │ │ │ │ ├── atomic_generic_model.hpp │ │ │ │ │ ├── compiler │ │ │ │ │ │ ├── abstract_c_compiler.hpp │ │ │ │ │ │ ├── c_compiler.hpp │ │ │ │ │ │ ├── clang_compiler.hpp │ │ │ │ │ │ └── gcc_compiler.hpp │ │ │ │ │ ├── dynamic_lib │ │ │ │ │ │ ├── ar_archiver.hpp │ │ │ │ │ │ ├── archiver.hpp │ │ │ │ │ │ ├── dynamic_library_processor.hpp │ │ │ │ │ │ ├── dynamiclib.hpp │ │ │ │ │ │ └── linux │ │ │ │ │ │ │ ├── linux_dynamic_model_library_processor.hpp │ │ │ │ │ │ │ ├── linux_dynamiclib.hpp │ │ │ │ │ │ │ └── linux_dynamiclib_model.hpp │ │ │ │ │ ├── external_function_wrapper.hpp │ │ │ │ │ ├── functor_generic_model.hpp │ │ │ │ │ ├── functor_model_library.hpp │ │ │ │ │ ├── generic_model.hpp │ │ │ │ │ ├── generic_model_external_function_wrapper.hpp │ │ │ │ │ ├── llvm │ │ │ │ │ │ ├── llvm.hpp │ │ │ │ │ │ ├── llvm_base_model_library_processor.hpp │ │ │ │ │ │ ├── llvm_model.hpp │ │ │ │ │ │ ├── llvm_model_library.hpp │ │ │ │ │ │ ├── v3_2 │ │ │ │ │ │ │ ├── llvm3_2.hpp │ │ │ │ │ │ │ ├── llvm_model_library_3_2.hpp │ │ │ │ │ │ │ └── llvm_model_library_processor.hpp │ │ │ │ │ │ ├── v3_4 │ │ │ │ │ │ │ ├── llvm3_4.hpp │ │ │ │ │ │ │ ├── llvm_model_library_3_4.hpp │ │ │ │ │ │ │ └── llvm_model_library_processor.hpp │ │ │ │ │ │ ├── v3_6 │ │ │ │ │ │ │ ├── llvm3_6.hpp │ │ │ │ │ │ │ ├── llvm_model_library_3_6.hpp │ │ │ │ │ │ │ └── llvm_model_library_processor.hpp │ │ │ │ │ │ ├── v3_8 │ │ │ │ │ │ │ ├── llvm3_8.hpp │ │ │ │ │ │ │ ├── llvm_model_library_3_8.hpp │ │ │ │ │ │ │ └── llvm_model_library_processor.hpp │ │ │ │ │ │ ├── v4_0 │ │ │ │ │ │ │ ├── llvm4_0.hpp │ │ │ │ │ │ │ ├── llvm_model_library_4_0.hpp │ │ │ │ │ │ │ └── llvm_model_library_processor.hpp │ │ │ │ │ │ ├── v5_0 │ │ │ │ │ │ │ ├── llvm5_0.hpp │ │ │ │ │ │ │ ├── llvm_base_model_library_processor_impl.hpp │ │ │ │ │ │ │ ├── llvm_model_library_impl.hpp │ │ │ │ │ │ │ └── llvm_model_library_processor.hpp │ │ │ │ │ │ ├── v6_0 │ │ │ │ │ │ │ ├── llvm6_0.hpp │ │ │ │ │ │ │ └── llvm_model_library_processor.hpp │ │ │ │ │ │ ├── v7_0 │ │ │ │ │ │ │ ├── llvm7_0.hpp │ │ │ │ │ │ │ └── llvm_model_library_processor.hpp │ │ │ │ │ │ └── v8_0 │ │ │ │ │ │ │ ├── llvm8_0.hpp │ │ │ │ │ │ │ └── llvm_model_library_processor.hpp │ │ │ │ │ ├── model_c_source_gen.hpp │ │ │ │ │ ├── model_c_source_gen_for0.hpp │ │ │ │ │ ├── model_c_source_gen_for1.hpp │ │ │ │ │ ├── model_c_source_gen_hes.hpp │ │ │ │ │ ├── model_c_source_gen_impl.hpp │ │ │ │ │ ├── model_c_source_gen_jac.hpp │ │ │ │ │ ├── model_c_source_gen_rev1.hpp │ │ │ │ │ ├── model_c_source_gen_rev2.hpp │ │ │ │ │ ├── model_library.hpp │ │ │ │ │ ├── model_library_c_source_gen.hpp │ │ │ │ │ ├── model_library_c_source_gen_impl.hpp │ │ │ │ │ ├── model_library_processor.hpp │ │ │ │ │ ├── patterns │ │ │ │ │ │ ├── hessian_with_loops_info.hpp │ │ │ │ │ │ ├── model_c_source_gen_loops.hpp │ │ │ │ │ │ ├── model_c_source_gen_loops_for0.hpp │ │ │ │ │ │ ├── model_c_source_gen_loops_for1.hpp │ │ │ │ │ │ ├── model_c_source_gen_loops_hess.hpp │ │ │ │ │ │ ├── model_c_source_gen_loops_hess_r2.hpp │ │ │ │ │ │ ├── model_c_source_gen_loops_jac.hpp │ │ │ │ │ │ ├── model_c_source_gen_loops_jac_fr1.hpp │ │ │ │ │ │ ├── model_c_source_gen_loops_rev1.hpp │ │ │ │ │ │ └── model_c_source_gen_loops_rev2.hpp │ │ │ │ │ ├── save_files_model_library_processor.hpp │ │ │ │ │ ├── system │ │ │ │ │ │ ├── linux_system.hpp │ │ │ │ │ │ └── system.hpp │ │ │ │ │ └── threadpool │ │ │ │ │ │ ├── multi_threading_type.hpp │ │ │ │ │ │ ├── openmp_c.hpp │ │ │ │ │ │ ├── openmp_h.hpp │ │ │ │ │ │ ├── pthread_pool_c.hpp │ │ │ │ │ │ ├── pthread_pool_h.hpp │ │ │ │ │ │ └── thread_pool_schedule_strategy.hpp │ │ │ │ ├── nan.hpp │ │ │ │ ├── nodes │ │ │ │ │ ├── index_assign_operation_node.hpp │ │ │ │ │ ├── index_operation_node.hpp │ │ │ │ │ ├── loop_end_operation_node.hpp │ │ │ │ │ ├── loop_start_operation_node.hpp │ │ │ │ │ └── print_operation_node.hpp │ │ │ │ ├── operation.hpp │ │ │ │ ├── operation_node.hpp │ │ │ │ ├── operation_node_name_streambuf.hpp │ │ │ │ ├── operation_path.hpp │ │ │ │ ├── operation_path_node.hpp │ │ │ │ ├── operation_stack.hpp │ │ │ │ ├── ordered.hpp │ │ │ │ ├── ostream_config_restore.hpp │ │ │ │ ├── patterns │ │ │ │ │ ├── dependent_pattern_matcher.hpp │ │ │ │ │ ├── equation_group.hpp │ │ │ │ │ ├── equation_pattern.hpp │ │ │ │ │ ├── independent_node_sorter.hpp │ │ │ │ │ ├── index │ │ │ │ │ │ ├── index_pattern.hpp │ │ │ │ │ │ ├── index_pattern_impl.hpp │ │ │ │ │ │ ├── linear_index_pattern.hpp │ │ │ │ │ │ ├── plane_2d_index_pattern.hpp │ │ │ │ │ │ ├── random_1d_index_pattern.hpp │ │ │ │ │ │ ├── random_2d_index_pattern.hpp │ │ │ │ │ │ ├── random_index_pattern.hpp │ │ │ │ │ │ └── sectioned_index_pattern.hpp │ │ │ │ │ ├── iter_equation_group.hpp │ │ │ │ │ ├── loop.hpp │ │ │ │ │ ├── loop_free_model.hpp │ │ │ │ │ ├── loop_model.hpp │ │ │ │ │ └── loop_position.hpp │ │ │ │ ├── range.hpp │ │ │ │ ├── scope_path_element.hpp │ │ │ │ ├── smart_containers.hpp │ │ │ │ ├── solver.hpp │ │ │ │ ├── support │ │ │ │ │ └── cppadcg_eigen.hpp │ │ │ │ ├── unary.hpp │ │ │ │ ├── util.hpp │ │ │ │ ├── variable.hpp │ │ │ │ └── variable_name_generator.hpp │ │ │ ├── configure.hpp │ │ │ ├── core │ │ │ │ ├── abort_recording.hpp │ │ │ │ ├── abs.hpp │ │ │ │ ├── abs_normal_fun.hpp │ │ │ │ ├── acosh.hpp │ │ │ │ ├── ad.hpp │ │ │ │ ├── ad_assign.hpp │ │ │ │ ├── ad_binary.hpp │ │ │ │ ├── ad_ctor.hpp │ │ │ │ ├── ad_fun.hpp │ │ │ │ ├── ad_io.hpp │ │ │ │ ├── ad_to_string.hpp │ │ │ │ ├── ad_type.hpp │ │ │ │ ├── ad_valued.hpp │ │ │ │ ├── add.hpp │ │ │ │ ├── add_eq.hpp │ │ │ │ ├── arithmetic.hpp │ │ │ │ ├── asinh.hpp │ │ │ │ ├── atan2.hpp │ │ │ │ ├── atanh.hpp │ │ │ │ ├── atomic │ │ │ │ │ ├── atomic_one.hpp │ │ │ │ │ ├── atomic_three.hpp │ │ │ │ │ ├── atomic_two.hpp │ │ │ │ │ ├── three_afun.hpp │ │ │ │ │ ├── three_ctor.hpp │ │ │ │ │ ├── three_for_type.hpp │ │ │ │ │ ├── three_forward.hpp │ │ │ │ │ ├── three_hes_sparsity.hpp │ │ │ │ │ ├── three_jac_sparsity.hpp │ │ │ │ │ ├── three_rev_depend.hpp │ │ │ │ │ ├── three_reverse.hpp │ │ │ │ │ ├── two_afun.hpp │ │ │ │ │ ├── two_clear.hpp │ │ │ │ │ ├── two_ctor.hpp │ │ │ │ │ ├── two_for_sparse_hes.hpp │ │ │ │ │ ├── two_for_sparse_jac.hpp │ │ │ │ │ ├── two_forward.hpp │ │ │ │ │ ├── two_option.hpp │ │ │ │ │ ├── two_rev_depend.hpp │ │ │ │ │ ├── two_rev_sparse_hes.hpp │ │ │ │ │ ├── two_rev_sparse_jac.hpp │ │ │ │ │ └── two_reverse.hpp │ │ │ │ ├── azmul.hpp │ │ │ │ ├── base2ad.hpp │ │ │ │ ├── base_complex.hpp │ │ │ │ ├── base_cond_exp.hpp │ │ │ │ ├── base_double.hpp │ │ │ │ ├── base_float.hpp │ │ │ │ ├── base_hash.hpp │ │ │ │ ├── base_limits.hpp │ │ │ │ ├── base_std_math.hpp │ │ │ │ ├── base_to_string.hpp │ │ │ │ ├── bender_quad.hpp │ │ │ │ ├── bool_fun.hpp │ │ │ │ ├── bool_valued.hpp │ │ │ │ ├── capacity_order.hpp │ │ │ │ ├── check_for_nan.hpp │ │ │ │ ├── chkpoint_one │ │ │ │ │ ├── chkpoint_one.hpp │ │ │ │ │ ├── ctor.hpp │ │ │ │ │ ├── for_sparse_jac.hpp │ │ │ │ │ ├── forward.hpp │ │ │ │ │ ├── rev_sparse_hes.hpp │ │ │ │ │ ├── rev_sparse_jac.hpp │ │ │ │ │ ├── reverse.hpp │ │ │ │ │ ├── set_hes_sparse_bool.hpp │ │ │ │ │ ├── set_hes_sparse_set.hpp │ │ │ │ │ ├── set_jac_sparse_bool.hpp │ │ │ │ │ └── set_jac_sparse_set.hpp │ │ │ │ ├── chkpoint_two │ │ │ │ │ ├── chkpoint_two.hpp │ │ │ │ │ ├── ctor.hpp │ │ │ │ │ ├── dynamic.hpp │ │ │ │ │ ├── for_type.hpp │ │ │ │ │ ├── forward.hpp │ │ │ │ │ ├── hes_sparsity.hpp │ │ │ │ │ ├── jac_sparsity.hpp │ │ │ │ │ ├── rev_depend.hpp │ │ │ │ │ └── reverse.hpp │ │ │ │ ├── compare.hpp │ │ │ │ ├── compound_assign.hpp │ │ │ │ ├── con_dyn_var.hpp │ │ │ │ ├── cond_exp.hpp │ │ │ │ ├── convert.hpp │ │ │ │ ├── cppad_assert.hpp │ │ │ │ ├── dependent.hpp │ │ │ │ ├── discrete.hpp │ │ │ │ ├── div.hpp │ │ │ │ ├── div_eq.hpp │ │ │ │ ├── drivers.hpp │ │ │ │ ├── epsilon.hpp │ │ │ │ ├── equal_op_seq.hpp │ │ │ │ ├── erf.hpp │ │ │ │ ├── erfc.hpp │ │ │ │ ├── expm1.hpp │ │ │ │ ├── for_hes_sparsity.hpp │ │ │ │ ├── for_jac_sparsity.hpp │ │ │ │ ├── for_one.hpp │ │ │ │ ├── for_sparse_hes.hpp │ │ │ │ ├── for_sparse_jac.hpp │ │ │ │ ├── for_two.hpp │ │ │ │ ├── forward.hpp │ │ │ │ ├── fun_check.hpp │ │ │ │ ├── fun_construct.hpp │ │ │ │ ├── fun_eval.hpp │ │ │ │ ├── graph │ │ │ │ │ ├── cpp_graph.hpp │ │ │ │ │ ├── from_graph.hpp │ │ │ │ │ ├── from_json.hpp │ │ │ │ │ ├── graph_op_enum.hpp │ │ │ │ │ ├── to_graph.hpp │ │ │ │ │ └── to_json.hpp │ │ │ │ ├── hash_code.hpp │ │ │ │ ├── hessian.hpp │ │ │ │ ├── identical.hpp │ │ │ │ ├── independent.hpp │ │ │ │ ├── integer.hpp │ │ │ │ ├── jacobian.hpp │ │ │ │ ├── log1p.hpp │ │ │ │ ├── lu_ratio.hpp │ │ │ │ ├── mul.hpp │ │ │ │ ├── mul_eq.hpp │ │ │ │ ├── near_equal_ext.hpp │ │ │ │ ├── new_dynamic.hpp │ │ │ │ ├── num_skip.hpp │ │ │ │ ├── numeric_limits.hpp │ │ │ │ ├── omp_max_thread.hpp │ │ │ │ ├── opt_val_hes.hpp │ │ │ │ ├── optimize.hpp │ │ │ │ ├── ordered.hpp │ │ │ │ ├── parallel_ad.hpp │ │ │ │ ├── pow.hpp │ │ │ │ ├── print_for.hpp │ │ │ │ ├── rev_hes_sparsity.hpp │ │ │ │ ├── rev_jac_sparsity.hpp │ │ │ │ ├── rev_one.hpp │ │ │ │ ├── rev_sparse_hes.hpp │ │ │ │ ├── rev_sparse_jac.hpp │ │ │ │ ├── rev_two.hpp │ │ │ │ ├── reverse.hpp │ │ │ │ ├── sign.hpp │ │ │ │ ├── sparse.hpp │ │ │ │ ├── sparse_hes.hpp │ │ │ │ ├── sparse_hessian.hpp │ │ │ │ ├── sparse_jac.hpp │ │ │ │ ├── sparse_jacobian.hpp │ │ │ │ ├── standard_math.hpp │ │ │ │ ├── std_math_98.hpp │ │ │ │ ├── sub.hpp │ │ │ │ ├── sub_eq.hpp │ │ │ │ ├── subgraph_jac_rev.hpp │ │ │ │ ├── subgraph_reverse.hpp │ │ │ │ ├── subgraph_sparsity.hpp │ │ │ │ ├── tape_link.hpp │ │ │ │ ├── test_vector.hpp │ │ │ │ ├── testvector.hpp │ │ │ │ ├── unary_minus.hpp │ │ │ │ ├── unary_plus.hpp │ │ │ │ ├── undef.hpp │ │ │ │ ├── user_ad.hpp │ │ │ │ ├── value.hpp │ │ │ │ ├── var2par.hpp │ │ │ │ ├── vec_ad.hpp │ │ │ │ └── zdouble.hpp │ │ │ ├── cppad.hpp │ │ │ ├── epl-2.0.txt │ │ │ ├── example │ │ │ │ ├── atomic_three │ │ │ │ │ └── mat_mul.hpp │ │ │ │ ├── atomic_two │ │ │ │ │ ├── eigen_cholesky.hpp │ │ │ │ │ ├── eigen_mat_inv.hpp │ │ │ │ │ └── eigen_mat_mul.hpp │ │ │ │ ├── base_adolc.hpp │ │ │ │ ├── cppad_eigen.hpp │ │ │ │ ├── eigen_cholesky.hpp │ │ │ │ ├── eigen_mat_inv.hpp │ │ │ │ ├── eigen_mat_mul.hpp │ │ │ │ ├── eigen_plugin.hpp │ │ │ │ └── mat_mul.hpp │ │ │ ├── ipopt │ │ │ │ ├── solve.hpp │ │ │ │ ├── solve_callback.hpp │ │ │ │ └── solve_result.hpp │ │ │ ├── local │ │ │ │ ├── abs_op.hpp │ │ │ │ ├── acos_op.hpp │ │ │ │ ├── acosh_op.hpp │ │ │ │ ├── ad_tape.hpp │ │ │ │ ├── add_op.hpp │ │ │ │ ├── asin_op.hpp │ │ │ │ ├── asinh_op.hpp │ │ │ │ ├── atan_op.hpp │ │ │ │ ├── atanh_op.hpp │ │ │ │ ├── atom_state.hpp │ │ │ │ ├── atomic_index.hpp │ │ │ │ ├── color_general.hpp │ │ │ │ ├── color_symmetric.hpp │ │ │ │ ├── comp_op.hpp │ │ │ │ ├── cond_op.hpp │ │ │ │ ├── cos_op.hpp │ │ │ │ ├── cosh_op.hpp │ │ │ │ ├── cppad_colpack.hpp │ │ │ │ ├── cskip_op.hpp │ │ │ │ ├── csum_op.hpp │ │ │ │ ├── declare_ad.hpp │ │ │ │ ├── define.hpp │ │ │ │ ├── discrete_op.hpp │ │ │ │ ├── div_op.hpp │ │ │ │ ├── erf_op.hpp │ │ │ │ ├── exp_op.hpp │ │ │ │ ├── expm1_op.hpp │ │ │ │ ├── graph │ │ │ │ │ ├── cpp_graph_itr.hpp │ │ │ │ │ ├── cpp_graph_op.hpp │ │ │ │ │ ├── json_lexer.hpp │ │ │ │ │ ├── json_parser.hpp │ │ │ │ │ └── json_writer.hpp │ │ │ │ ├── hash_code.hpp │ │ │ │ ├── independent.hpp │ │ │ │ ├── is_pod.hpp │ │ │ │ ├── load_op.hpp │ │ │ │ ├── log1p_op.hpp │ │ │ │ ├── log_op.hpp │ │ │ │ ├── mul_op.hpp │ │ │ │ ├── op.hpp │ │ │ │ ├── op_code.hpp │ │ │ │ ├── op_code_dyn.hpp │ │ │ │ ├── op_code_var.hpp │ │ │ │ ├── optimize │ │ │ │ │ ├── cexp_info.hpp │ │ │ │ │ ├── csum_op_info.hpp │ │ │ │ │ ├── csum_stacks.hpp │ │ │ │ │ ├── get_cexp_info.hpp │ │ │ │ │ ├── get_dyn_previous.hpp │ │ │ │ │ ├── get_op_previous.hpp │ │ │ │ │ ├── get_op_usage.hpp │ │ │ │ │ ├── get_par_usage.hpp │ │ │ │ │ ├── hash_code.hpp │ │ │ │ │ ├── match_op.hpp │ │ │ │ │ ├── optimize_run.hpp │ │ │ │ │ ├── record_csum.hpp │ │ │ │ │ ├── record_pv.hpp │ │ │ │ │ ├── record_vp.hpp │ │ │ │ │ ├── record_vv.hpp │ │ │ │ │ ├── size_pair.hpp │ │ │ │ │ └── usage.hpp │ │ │ │ ├── parameter_op.hpp │ │ │ │ ├── play │ │ │ │ │ ├── addr_enum.hpp │ │ │ │ │ ├── atom_op_info.hpp │ │ │ │ │ ├── player.hpp │ │ │ │ │ ├── random_iterator.hpp │ │ │ │ │ ├── random_setup.hpp │ │ │ │ │ ├── sequential_iterator.hpp │ │ │ │ │ └── subgraph_iterator.hpp │ │ │ │ ├── pod_vector.hpp │ │ │ │ ├── pow_op.hpp │ │ │ │ ├── print_op.hpp │ │ │ │ ├── prototype_op.hpp │ │ │ │ ├── record │ │ │ │ │ ├── comp_op.hpp │ │ │ │ │ ├── cond_exp.hpp │ │ │ │ │ ├── put_dyn_atomic.hpp │ │ │ │ │ ├── put_var_atomic.hpp │ │ │ │ │ └── recorder.hpp │ │ │ │ ├── recorder.hpp │ │ │ │ ├── set_get_in_parallel.hpp │ │ │ │ ├── sign_op.hpp │ │ │ │ ├── sin_op.hpp │ │ │ │ ├── sinh_op.hpp │ │ │ │ ├── sparse │ │ │ │ │ ├── binary_op.hpp │ │ │ │ │ ├── internal.hpp │ │ │ │ │ ├── list_setvec.hpp │ │ │ │ │ ├── pack_setvec.hpp │ │ │ │ │ ├── svec_setvec.hpp │ │ │ │ │ └── unary_op.hpp │ │ │ │ ├── sparse_binary_op.hpp │ │ │ │ ├── sparse_internal.hpp │ │ │ │ ├── sparse_list.hpp │ │ │ │ ├── sparse_pack.hpp │ │ │ │ ├── sparse_sizevec.hpp │ │ │ │ ├── sparse_unary_op.hpp │ │ │ │ ├── sqrt_op.hpp │ │ │ │ ├── std_set.hpp │ │ │ │ ├── store_op.hpp │ │ │ │ ├── sub_op.hpp │ │ │ │ ├── subgraph │ │ │ │ │ ├── arg_variable.hpp │ │ │ │ │ ├── entire_call.hpp │ │ │ │ │ ├── get_rev.hpp │ │ │ │ │ ├── info.hpp │ │ │ │ │ ├── init_rev.hpp │ │ │ │ │ └── sparsity.hpp │ │ │ │ ├── sweep │ │ │ │ │ ├── call_atomic.hpp │ │ │ │ │ ├── dynamic.hpp │ │ │ │ │ ├── for_hes.hpp │ │ │ │ │ ├── for_jac.hpp │ │ │ │ │ ├── forward0.hpp │ │ │ │ │ ├── forward1.hpp │ │ │ │ │ ├── forward2.hpp │ │ │ │ │ ├── rev_hes.hpp │ │ │ │ │ ├── rev_jac.hpp │ │ │ │ │ └── reverse.hpp │ │ │ │ ├── tan_op.hpp │ │ │ │ ├── tanh_op.hpp │ │ │ │ ├── utility │ │ │ │ │ ├── cppad_vector_itr.hpp │ │ │ │ │ └── vector_bool.hpp │ │ │ │ └── zmul_op.hpp │ │ │ ├── speed │ │ │ │ ├── det_33.hpp │ │ │ │ ├── det_by_lu.hpp │ │ │ │ ├── det_by_minor.hpp │ │ │ │ ├── det_grad_33.hpp │ │ │ │ ├── det_of_minor.hpp │ │ │ │ ├── mat_sum_sq.hpp │ │ │ │ ├── ode_evaluate.hpp │ │ │ │ ├── sparse_hes_fun.hpp │ │ │ │ ├── sparse_jac_fun.hpp │ │ │ │ └── uniform_01.hpp │ │ │ ├── utility.hpp │ │ │ ├── utility │ │ │ │ ├── check_numeric_type.hpp │ │ │ │ ├── check_simple_vector.hpp │ │ │ │ ├── elapsed_seconds.hpp │ │ │ │ ├── error_handler.hpp │ │ │ │ ├── index_sort.hpp │ │ │ │ ├── lu_factor.hpp │ │ │ │ ├── lu_invert.hpp │ │ │ │ ├── lu_solve.hpp │ │ │ │ ├── memory_leak.hpp │ │ │ │ ├── nan.hpp │ │ │ │ ├── near_equal.hpp │ │ │ │ ├── ode_err_control.hpp │ │ │ │ ├── ode_gear.hpp │ │ │ │ ├── ode_gear_control.hpp │ │ │ │ ├── omp_alloc.hpp │ │ │ │ ├── poly.hpp │ │ │ │ ├── pow_int.hpp │ │ │ │ ├── romberg_mul.hpp │ │ │ │ ├── romberg_one.hpp │ │ │ │ ├── rosen_34.hpp │ │ │ │ ├── runge_45.hpp │ │ │ │ ├── set_union.hpp │ │ │ │ ├── sparse2eigen.hpp │ │ │ │ ├── sparse_rc.hpp │ │ │ │ ├── sparse_rcv.hpp │ │ │ │ ├── speed_test.hpp │ │ │ │ ├── test_boolofvoid.hpp │ │ │ │ ├── thread_alloc.hpp │ │ │ │ ├── time_test.hpp │ │ │ │ ├── to_string.hpp │ │ │ │ ├── track_new_del.hpp │ │ │ │ ├── vector.hpp │ │ │ │ └── vector_bool.hpp │ │ │ └── wno_conversion.hpp │ │ └── iit │ │ │ └── rbd │ │ │ ├── InertiaMatrix.h │ │ │ ├── StateDependentBase.h │ │ │ ├── StateDependentMatrix.h │ │ │ ├── TransformsBase.h │ │ │ ├── eigen_traits.h │ │ │ ├── internals.h │ │ │ ├── rbd.h │ │ │ ├── robcogen_commons.h │ │ │ ├── traits │ │ │ ├── CppADCodegenTrait.h │ │ │ ├── DoubleTrait.h │ │ │ ├── FloatTrait.h │ │ │ └── TraitSelector.h │ │ │ ├── types.h │ │ │ └── utils.h │ │ └── package.xml ├── ocs2_robotic_assets │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── docs │ │ └── MobileManipulatorUrdfAssets.md │ ├── include │ │ └── ocs2_robotic_assets │ │ │ ├── .gitignore │ │ │ └── package_path.h.in │ ├── package.xml │ └── resources │ │ ├── anymal_c │ │ ├── LICENSE │ │ ├── meshes │ │ │ ├── base.dae │ │ │ ├── base.jpg │ │ │ ├── battery.dae │ │ │ ├── battery.jpg │ │ │ ├── bottom_shell.dae │ │ │ ├── bottom_shell.jpg │ │ │ ├── depth_camera.dae │ │ │ ├── depth_camera.jpg │ │ │ ├── drive.dae │ │ │ ├── drive.jpg │ │ │ ├── face.dae │ │ │ ├── face.jpg │ │ │ ├── foot.dae │ │ │ ├── foot.jpg │ │ │ ├── handle.dae │ │ │ ├── handle.jpg │ │ │ ├── hatch.dae │ │ │ ├── hatch.jpg │ │ │ ├── hip.jpg │ │ │ ├── hip_l.dae │ │ │ ├── hip_r.dae │ │ │ ├── lidar.dae │ │ │ ├── lidar.jpg │ │ │ ├── lidar_cage.dae │ │ │ ├── lidar_cage.jpg │ │ │ ├── remote.dae │ │ │ ├── remote.jpg │ │ │ ├── shank.jpg │ │ │ ├── shank_l.dae │ │ │ ├── shank_r.dae │ │ │ ├── thigh.dae │ │ │ ├── thigh.jpg │ │ │ ├── top_shell.dae │ │ │ ├── top_shell.jpg │ │ │ ├── wide_angle_camera.dae │ │ │ └── wide_angle_camera.jpg │ │ └── urdf │ │ │ └── anymal.urdf │ │ ├── ballbot │ │ ├── meshes │ │ │ └── base.obj │ │ └── urdf │ │ │ └── ballbot.urdf │ │ ├── cartpole │ │ └── urdf │ │ │ └── cartpole.urdf │ │ ├── double_integrator │ │ └── urdf │ │ │ └── double_integrator.urdf │ │ ├── mobile_manipulator │ │ ├── franka │ │ │ ├── LICENSE │ │ │ ├── meshes │ │ │ │ ├── collision │ │ │ │ │ ├── hand.stl │ │ │ │ │ ├── link0.stl │ │ │ │ │ ├── link1.stl │ │ │ │ │ ├── link2.stl │ │ │ │ │ ├── link3.stl │ │ │ │ │ ├── link4.stl │ │ │ │ │ ├── link5.stl │ │ │ │ │ ├── link6.stl │ │ │ │ │ └── link7.stl │ │ │ │ ├── meshes │ │ │ │ │ ├── collision │ │ │ │ │ │ ├── hand.stl │ │ │ │ │ │ ├── link0.stl │ │ │ │ │ │ ├── link1.stl │ │ │ │ │ │ ├── link2.stl │ │ │ │ │ │ ├── link3.stl │ │ │ │ │ │ ├── link4.stl │ │ │ │ │ │ ├── link5.stl │ │ │ │ │ │ ├── link6.stl │ │ │ │ │ │ └── link7.stl │ │ │ │ │ └── visual │ │ │ │ │ │ ├── finger.dae │ │ │ │ │ │ ├── hand.dae │ │ │ │ │ │ ├── link0.dae │ │ │ │ │ │ ├── link1.dae │ │ │ │ │ │ ├── link2.dae │ │ │ │ │ │ ├── link3.dae │ │ │ │ │ │ ├── link4.dae │ │ │ │ │ │ ├── link5.dae │ │ │ │ │ │ ├── link6.dae │ │ │ │ │ │ └── link7.dae │ │ │ │ └── visual │ │ │ │ │ ├── finger.dae │ │ │ │ │ ├── hand.dae │ │ │ │ │ ├── link0.dae │ │ │ │ │ ├── link1.dae │ │ │ │ │ ├── link2.dae │ │ │ │ │ ├── link3.dae │ │ │ │ │ ├── link4.dae │ │ │ │ │ ├── link5.dae │ │ │ │ │ ├── link6.dae │ │ │ │ │ └── link7.dae │ │ │ └── urdf │ │ │ │ └── panda.urdf │ │ ├── kinova │ │ │ ├── LICENSE │ │ │ ├── meshes │ │ │ │ ├── arm.SLDPRT │ │ │ │ ├── arm.STL │ │ │ │ ├── arm.dae │ │ │ │ ├── arm_half_1.STL │ │ │ │ ├── arm_half_1.dae │ │ │ │ ├── arm_half_2.STL │ │ │ │ ├── arm_half_2.dae │ │ │ │ ├── arm_mico.STL │ │ │ │ ├── arm_mico.dae │ │ │ │ ├── base.STL │ │ │ │ ├── base.dae │ │ │ │ ├── finger_distal.STL │ │ │ │ ├── finger_distal.dae │ │ │ │ ├── finger_proximal.STL │ │ │ │ ├── finger_proximal.dae │ │ │ │ ├── forearm.STL │ │ │ │ ├── forearm.dae │ │ │ │ ├── forearm_mico.STL │ │ │ │ ├── forearm_mico.dae │ │ │ │ ├── hand_2finger.STL │ │ │ │ ├── hand_2finger.dae │ │ │ │ ├── hand_3finger.STL │ │ │ │ ├── hand_3finger.dae │ │ │ │ ├── ring_big.STL │ │ │ │ ├── ring_big.dae │ │ │ │ ├── ring_small.STL │ │ │ │ ├── ring_small.dae │ │ │ │ ├── shoulder.STL │ │ │ │ ├── shoulder.dae │ │ │ │ ├── wrist.STL │ │ │ │ ├── wrist.dae │ │ │ │ ├── wrist_spherical_1.STL │ │ │ │ ├── wrist_spherical_1.dae │ │ │ │ ├── wrist_spherical_2.STL │ │ │ │ └── wrist_spherical_2.dae │ │ │ └── urdf │ │ │ │ ├── j2n6s300.urdf │ │ │ │ └── j2n7s300.urdf │ │ ├── mabi_mobile │ │ │ └── urdf │ │ │ │ └── mabi_mobile.urdf │ │ ├── pr2 │ │ │ ├── LICENSE │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ ├── pr2_caster_texture.png │ │ │ │ │ ├── pr2_wheel_left.png │ │ │ │ │ └── pr2_wheel_right.png │ │ │ ├── meshes │ │ │ │ ├── base_v0 │ │ │ │ │ ├── .gitignore │ │ │ │ │ ├── base.dae │ │ │ │ │ ├── base.stl │ │ │ │ │ ├── base_L.stl │ │ │ │ │ ├── base_color.png │ │ │ │ │ ├── base_normals.png │ │ │ │ │ ├── caster.stl │ │ │ │ │ ├── caster_L.stl │ │ │ │ │ ├── pr2_wheel.stl │ │ │ │ │ ├── wheel.dae │ │ │ │ │ ├── wheel.stl │ │ │ │ │ ├── wheel_color.png │ │ │ │ │ ├── wheel_h.dae │ │ │ │ │ ├── wheel_h_color.png │ │ │ │ │ └── wheel_normals.png │ │ │ │ ├── forearm_v0 │ │ │ │ │ ├── .gitignore │ │ │ │ │ ├── forearm.dae │ │ │ │ │ ├── forearm.jpg │ │ │ │ │ ├── forearm.stl │ │ │ │ │ ├── forearm_color.png │ │ │ │ │ ├── forearm_normals.png │ │ │ │ │ ├── wrist_color.png │ │ │ │ │ ├── wrist_flex.dae │ │ │ │ │ ├── wrist_flex.stl │ │ │ │ │ ├── wrist_normals.png │ │ │ │ │ ├── wrist_roll.stl │ │ │ │ │ └── wrist_roll_L.stl │ │ │ │ ├── gripper_v0 │ │ │ │ │ ├── .gitignore │ │ │ │ │ ├── finger_H_Color_100430.png │ │ │ │ │ ├── finger_H_UV_100430.dae │ │ │ │ │ ├── finger_tip_H_UV_100430.dae │ │ │ │ │ ├── finger_tip_l.stl │ │ │ │ │ ├── finger_tip_pad2_l.stl │ │ │ │ │ ├── finger_tip_pad2_r.stl │ │ │ │ │ ├── finger_tip_r.stl │ │ │ │ │ ├── fingertip_H_Color_100430.png │ │ │ │ │ ├── float_H_Color_100430.png │ │ │ │ │ ├── float_H_UV_100430.dae │ │ │ │ │ ├── gripper_palm.dae │ │ │ │ │ ├── gripper_palm.stl │ │ │ │ │ ├── gripper_palm_color.png │ │ │ │ │ ├── gripper_palm_normals.png │ │ │ │ │ ├── l_finger.dae │ │ │ │ │ ├── l_finger.stl │ │ │ │ │ ├── l_finger_color.png │ │ │ │ │ ├── l_finger_normals.png │ │ │ │ │ ├── l_finger_tip.dae │ │ │ │ │ ├── l_finger_tip.stl │ │ │ │ │ ├── l_finger_tip_color.png │ │ │ │ │ ├── l_finger_tip_normals.png │ │ │ │ │ ├── l_float.dae │ │ │ │ │ ├── l_float_color.png │ │ │ │ │ ├── l_float_normals.png │ │ │ │ │ ├── l_floating.stl │ │ │ │ │ ├── palm_H_Color_100430.png │ │ │ │ │ ├── palm_H_UV_100430.dae │ │ │ │ │ ├── upper_finger_l.stl │ │ │ │ │ └── upper_finger_r.stl │ │ │ │ ├── head_v0 │ │ │ │ │ ├── .gitignore │ │ │ │ │ ├── head_pan.dae │ │ │ │ │ ├── head_pan.stl │ │ │ │ │ ├── head_pan_L.stl │ │ │ │ │ ├── head_pan_color.png │ │ │ │ │ ├── head_pan_normals.png │ │ │ │ │ ├── head_tilt.dae │ │ │ │ │ ├── head_tilt.stl │ │ │ │ │ ├── head_tilt_L.stl │ │ │ │ │ ├── head_tilt_color.png │ │ │ │ │ ├── head_tilt_color_red.png │ │ │ │ │ ├── head_tilt_color_yellow.png │ │ │ │ │ ├── head_tilt_green.png │ │ │ │ │ └── head_tilt_normals.png │ │ │ │ ├── sensors │ │ │ │ │ ├── kinect2_v0 │ │ │ │ │ │ ├── kinect2_assembly.STL │ │ │ │ │ │ └── kinect2_assembly.dae │ │ │ │ │ ├── kinect_prosilica_v0 │ │ │ │ │ │ ├── 115x100_swept_back--coarse.STL │ │ │ │ │ │ ├── 115x100_swept_back_no_sensors--coarse.STL │ │ │ │ │ │ ├── 115x100_swept_fwd--coarse.STL │ │ │ │ │ │ ├── 115x100_swept_fwd_no_sensors--coarse.STL │ │ │ │ │ │ ├── 68-04546_Kinect_Sensor--coarse.STL │ │ │ │ │ │ └── Prosilica_w_Lens--coarse.STL │ │ │ │ │ └── kinect_v0 │ │ │ │ │ │ ├── kinect.dae │ │ │ │ │ │ ├── kinect.tga │ │ │ │ │ │ ├── kinect_color.tga │ │ │ │ │ │ └── kinect_mount.stl │ │ │ │ ├── shoulder_v0 │ │ │ │ │ ├── .gitignore │ │ │ │ │ ├── shoulder_lift.dae │ │ │ │ │ ├── shoulder_lift.stl │ │ │ │ │ ├── shoulder_lift_color.png │ │ │ │ │ ├── shoulder_lift_normals.png │ │ │ │ │ ├── shoulder_pan.dae │ │ │ │ │ ├── shoulder_pan.stl │ │ │ │ │ ├── shoulder_pan_color.png │ │ │ │ │ ├── shoulder_pan_normals.png │ │ │ │ │ ├── shoulder_yaw.stl │ │ │ │ │ ├── upper_arm_roll.dae │ │ │ │ │ ├── upper_arm_roll.stl │ │ │ │ │ ├── upper_arm_roll_L.stl │ │ │ │ │ ├── upper_arm_roll_color.png │ │ │ │ │ └── upper_arm_roll_normals.png │ │ │ │ ├── tilting_laser_v0 │ │ │ │ │ ├── .gitignore │ │ │ │ │ ├── hok_tilt.stl │ │ │ │ │ ├── tilting_hokuyo.dae │ │ │ │ │ ├── tilting_hokuyo.stl │ │ │ │ │ ├── tilting_hokuyo_L.stl │ │ │ │ │ ├── tilting_hokuyo_color.png │ │ │ │ │ └── tilting_hokuyo_normals.png │ │ │ │ ├── torso_v0 │ │ │ │ │ ├── .gitignore │ │ │ │ │ ├── torso.stl │ │ │ │ │ ├── torso_lift.dae │ │ │ │ │ ├── torso_lift.stl │ │ │ │ │ ├── torso_lift_L.stl │ │ │ │ │ ├── torso_lift_color.png │ │ │ │ │ └── torso_lift_normals.png │ │ │ │ └── upper_arm_v0 │ │ │ │ │ ├── .gitignore │ │ │ │ │ ├── elbow_flex.dae │ │ │ │ │ ├── elbow_flex.stl │ │ │ │ │ ├── elbow_flex_color.png │ │ │ │ │ ├── elbow_flex_normals.png │ │ │ │ │ ├── forearm_roll.stl │ │ │ │ │ ├── forearm_roll_L.stl │ │ │ │ │ ├── upper_arm.dae │ │ │ │ │ ├── upper_arm.jpg │ │ │ │ │ ├── upper_arm.stl │ │ │ │ │ ├── upper_arm_color.png │ │ │ │ │ └── upper_arm_normals.png │ │ │ └── urdf │ │ │ │ └── pr2.urdf │ │ └── ridgeback_ur5 │ │ │ ├── LICENSE │ │ │ ├── meshes │ │ │ ├── base │ │ │ │ ├── 3dm-gxX.stl │ │ │ │ ├── axle.stl │ │ │ │ ├── body-collision.stl │ │ │ │ ├── body.stl │ │ │ │ ├── end-cover.stl │ │ │ │ ├── lights.stl │ │ │ │ ├── rocker.stl │ │ │ │ ├── side-cover.stl │ │ │ │ ├── top.stl │ │ │ │ ├── ust-10lx.stl │ │ │ │ └── wheel.stl │ │ │ └── ur5 │ │ │ │ ├── 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 │ │ │ └── urdf │ │ │ └── ridgeback_ur5.urdf │ │ └── quadrotor │ │ ├── meshes │ │ └── quadrotor.obj │ │ └── urdf │ │ └── quadrotor.urdf ├── rm2023_sentry_msgs │ ├── .gitignore │ ├── CMakeLists.txt │ ├── README.md │ ├── msg │ │ └── referee_system │ │ │ ├── RobotStatus.msg │ │ │ ├── RobotsHP.msg │ │ │ └── slaver_speed.msg │ ├── package.xml │ └── srv │ │ └── GoTarget.srv ├── sentry_gazebo_2024 │ ├── README.md │ ├── RMchangdi1230 │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ └── joint_names_RMchangdi1230.yaml │ │ ├── export.log │ │ ├── launch │ │ │ ├── display.launch │ │ │ └── gazebo.launch │ │ ├── meshes │ │ │ ├── base_link.STL │ │ │ ├── base_link2022.STL │ │ │ └── base_link2025.STL │ │ ├── package.xml │ │ ├── urdf │ │ │ ├── RMchangdi1230.csv │ │ │ ├── RMchangdi1230.urdf │ │ │ └── RMchangdi12302025.urdf │ │ └── world │ │ │ ├── rmuc.world │ │ │ └── rmuc_static.world │ ├── doc │ │ ├── gazebo_1.png │ │ ├── lidar_scan.png │ │ ├── mbot.png │ │ ├── mbot_2.png │ │ └── rmuc_lidar.jpg │ ├── launch.sh │ ├── m_bot │ │ ├── README.md │ │ ├── mbot_control │ │ │ ├── CMakeLists.txt │ │ │ ├── config │ │ │ │ └── mbot_control.yaml │ │ │ ├── launch │ │ │ │ └── mbot_control.launch │ │ │ ├── package.xml │ │ │ └── src │ │ │ │ └── mbot_controller.cpp │ │ ├── mbot_description │ │ │ ├── CMakeLists.txt │ │ │ ├── config │ │ │ │ ├── fake_mbot_arbotix.yaml │ │ │ │ └── rviz │ │ │ │ │ ├── mbot.rviz │ │ │ │ │ ├── mbot_arbotix.rviz │ │ │ │ │ └── mbot_urdf.rviz │ │ │ ├── launch │ │ │ │ ├── arbotix_mbot_xacro.launch │ │ │ │ ├── display_mbot_with_camera_xacro.launch │ │ │ │ └── display_mbot_xacro.launch │ │ │ ├── meshes │ │ │ │ └── kinect.dae │ │ │ ├── package.xml │ │ │ ├── sensors │ │ │ │ └── imu.xacro │ │ │ └── urdf │ │ │ │ └── xacro │ │ │ │ ├── gazebo │ │ │ │ ├── mbot_base_gazebo.xacro │ │ │ │ ├── mbot_gazebo.xacro │ │ │ │ ├── mbot_velodyne.xacro │ │ │ │ └── mbot_velodyne_target.xacro │ │ │ │ ├── mbot.xacro │ │ │ │ └── mbot_base.xacro │ │ ├── mbot_gazebo │ │ │ ├── CMakeLists.txt │ │ │ ├── launch │ │ │ │ ├── mbot.launch │ │ │ │ ├── mbot_3d_lidar_gazebo.launch │ │ │ │ ├── mbot_empty_world.launch │ │ │ │ └── mbot_rmuc_lidar_gazebo.launch │ │ │ ├── package.xml │ │ │ └── worlds │ │ │ │ ├── playground.world │ │ │ │ ├── rmuc_mbot_HDL32.world │ │ │ │ ├── rmuc_mbot_VLP16.world │ │ │ │ ├── rmuc_std_mbot_HDL32.world │ │ │ │ ├── rmuc_std_mbot_HDL32_2.world │ │ │ │ └── room.world │ │ └── mbot_teleop │ │ │ ├── CMakeLists.txt │ │ │ ├── launch │ │ │ ├── logitech.launch │ │ │ └── mbot_teleop.launch │ │ │ ├── package.xml │ │ │ └── scripts │ │ │ └── mbot_teleop.py │ ├── requirements.sh │ ├── sentry │ │ ├── README.md │ │ ├── sentry_control │ │ │ ├── CMakeLists.txt │ │ │ ├── config │ │ │ │ └── sentry_control.yaml │ │ │ ├── launch │ │ │ │ └── sentry_control.launch │ │ │ ├── package.xml │ │ │ └── src │ │ │ │ └── sentry_controller.cpp │ │ ├── sentry_gazebo │ │ │ ├── CMakeLists.txt │ │ │ ├── launch │ │ │ │ ├── sentry.launch │ │ │ │ ├── sentry_3d_lidar_gazebo.launch │ │ │ │ ├── sentry_playground.launch │ │ │ │ └── sentry_rmuc.launch │ │ │ ├── package.xml │ │ │ └── worlds │ │ │ │ ├── playground.world │ │ │ │ ├── rmuc_sentry_lidar_imu.world │ │ │ │ └── room.world │ │ └── sentry_teleop │ │ │ ├── CMakeLists.txt │ │ │ ├── launch │ │ │ ├── logitech.launch │ │ │ └── sentry_teleop.launch │ │ │ ├── package.xml │ │ │ └── scripts │ │ │ └── sentry_teleop.py │ ├── sentry233333 │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ ├── joint_names_sentry233333.yaml │ │ │ ├── lidar.rviz │ │ │ ├── sentry_controller.yaml │ │ │ └── urdf.rviz │ │ ├── launch │ │ │ ├── controller.launch │ │ │ ├── display.launch │ │ │ ├── gazebo.launch │ │ │ ├── sentry23_teleop.launch │ │ │ ├── world_lidar.launch │ │ │ └── world_lidar_try.launch │ │ ├── meshes │ │ │ ├── base_link.STL │ │ │ ├── wheel_leftback_link.STL │ │ │ ├── wheel_leftfront_link.STL │ │ │ ├── wheel_rightback_link.STL │ │ │ └── wheel_rightfront_link.STL │ │ ├── package.xml │ │ ├── scripts │ │ │ └── sentry23_teleop.py │ │ ├── sensors │ │ │ └── imu.xacro │ │ ├── urdf │ │ │ ├── sentry233333.csv │ │ │ ├── sentry233333.urdf │ │ │ └── xacro │ │ │ │ ├── sentry2.xacro │ │ │ │ └── sentry_lidar.xacro │ │ └── world │ │ │ └── rmuc.world │ └── velodyne_simulator │ │ ├── .gitignore │ │ ├── LICENSE │ │ ├── README.md │ │ ├── bitbucket-pipelines.yml │ │ ├── gazebo_upgrade.md │ │ ├── img │ │ ├── gpu.png │ │ └── rviz.png │ │ ├── velodyne_description │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ └── example.launch │ │ ├── meshes │ │ │ ├── HDL32E_base.dae │ │ │ ├── HDL32E_base.stl │ │ │ ├── HDL32E_scan.dae │ │ │ ├── HDL32E_scan.stl │ │ │ ├── VLP16_base_1.dae │ │ │ ├── VLP16_base_1.stl │ │ │ ├── VLP16_base_2.dae │ │ │ ├── VLP16_base_2.stl │ │ │ ├── VLP16_scan.dae │ │ │ └── VLP16_scan.stl │ │ ├── package.xml │ │ ├── rviz │ │ │ └── example.rviz │ │ ├── urdf │ │ │ ├── HDL-32E.urdf.xacro │ │ │ ├── VLP-16.urdf.xacro │ │ │ └── example.urdf.xacro │ │ └── world │ │ │ └── example.world │ │ ├── velodyne_gazebo_plugins │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── velodyne_gazebo_plugins │ │ │ │ └── GazeboRosVelodyneLaser.h │ │ ├── package.xml │ │ └── src │ │ │ └── GazeboRosVelodyneLaser.cpp │ │ └── velodyne_simulator │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ └── package.xml └── sentry_planning │ ├── .gitignore │ ├── README.md │ ├── rviz_plugins │ ├── CMakeLists.txt │ ├── Makefile │ ├── config │ │ └── rviz_config.rviz │ ├── package.xml │ ├── plugin_description.xml │ └── src │ │ ├── aerialmap_display.cpp │ │ ├── aerialmap_display.h │ │ ├── goal_tool.cpp │ │ ├── goal_tool.h │ │ ├── multi_probmap_display.cpp │ │ ├── multi_probmap_display.h │ │ ├── pose_tool.cpp │ │ ├── pose_tool.h │ │ ├── probmap_display.cpp │ │ └── probmap_display.h │ ├── trajectory_generation │ ├── CMakeLists.txt │ ├── cfg │ │ └── 2D_map.rviz │ ├── include │ │ ├── Astar_searcher.h │ │ ├── RM_GridMap.h │ │ ├── TopoSearch.h │ │ ├── backward.hpp │ │ ├── node.h │ │ ├── path_smooth.h │ │ ├── plan_manager.h │ │ ├── reference_path.h │ │ ├── replan_fsm.h │ │ ├── root_solver │ │ │ ├── cubic_spline.hpp │ │ │ └── lbfgs.hpp │ │ └── visualization_utils.h │ ├── launch │ │ ├── global_searcher.launch │ │ ├── global_searcher_debug.launch │ │ ├── global_searcher_sim.launch │ │ └── rviz.launch │ ├── map │ │ ├── bev2024low.png │ │ ├── bevfinal.png │ │ ├── occ2024.png │ │ ├── occ2024low.png │ │ ├── occfinal.png │ │ ├── occtopo.png │ │ ├── occtopo2024low.png │ │ ├── old │ │ │ ├── bev1.png │ │ │ ├── bevfinal.png │ │ │ ├── occ.png │ │ │ └── occfinal.png │ │ └── region.png │ ├── msg │ │ └── trajectoryPoly.msg │ ├── occfinal.png │ ├── package.xml │ └── src │ │ ├── Astar_searcher.cpp │ │ ├── RM_GridMap.cpp │ │ ├── TopoSearch.cpp │ │ ├── path_smooth.cpp │ │ ├── plan_manager.cpp │ │ ├── reference_path.cpp │ │ ├── replan_fsm.cpp │ │ ├── trajectory_generator_node.cpp │ │ └── visualization_utils.cpp │ ├── trajectory_tracking │ ├── CMakeLists.txt │ ├── cfg │ │ ├── task.info │ │ └── trajectory_planning.yaml │ ├── include │ │ ├── KMF.h │ │ ├── RM_GridMap.h │ │ ├── backward.hpp │ │ ├── local_planner.h │ │ ├── node.h │ │ ├── ocs2_sentry │ │ │ ├── SentryRobotInterface.h │ │ │ ├── constraint │ │ │ │ ├── SentryRobotCollisionConstraint.h │ │ │ │ └── SentryRobotStateInputConstraint.h │ │ │ ├── cost │ │ │ │ └── SentryRobotQuadraticTrackingCost.h │ │ │ └── dynamics │ │ │ │ └── SentryRobotDynamtics.h │ │ ├── root_solver │ │ │ └── iosqp.hpp │ │ ├── tracking_manager.h │ │ └── visualization_utils.h │ ├── launch │ │ ├── trajectory_planning.launch │ │ ├── trajectory_planning_debug.launch │ │ └── trajectory_planning_sim.launch │ ├── package.xml │ └── src │ │ ├── KMF.cpp │ │ ├── RM_GridMap.cpp │ │ ├── local_planner.cpp │ │ ├── ocs2_sentry │ │ ├── SentryRobotInterface.cpp │ │ ├── constraint │ │ │ ├── SentryRobotCollisionConstraint.cpp │ │ │ 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