ocs2
Optimal Control for Switched Systems
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- AugmentedLagrangian.h
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- LoopshapingStateAugmentedLagrangian.h
- LoopshapingStateInputAugmentedLagrangian.h
- LoopshapingConstraint.h
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- LoopshapingStateConstraint.h
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- LoopshapingStateCost.h
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- LoopshapingInitializer.h
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- Numerics.h
- randomMatrices.h
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- ModelData.h
- ModelDataLinearInterpolation.h
- Multiplier.h
- AugmentedPenaltyBase.h
- ModifiedRelaxedBarrierPenalty.h
- QuadraticPenalty.h
- SlacknessSquaredHingePenalty.h
- SmoothAbsolutePenalty.h
- DoubleSidedPenalty.h
- PenaltyBase.h
- QuadraticPenalty.h
- RelaxedBarrierPenalty.h
- SmoothAbsolutePenalty.h
- SquaredHingePenalty.h
- MultidimensionalPenalty.h
- Penalties.h
- ModeSchedule.h
- TargetTrajectories.h
- StateInputSoftBoxConstraint.h
- StateInputSoftConstraint.h
- StateSoftConstraint.h
- BufferedValue.h
- ExecuteAndSleep.h
- SetThreadPriority.h
- Synchronized.h
- ThreadPool.h
- ComputationRequest.h
- NumericTraits.h
- PreComputation.h
- Types.h
- BugReportTest.cpp
- AugmentedLagrangian.cpp
- StateAugmentedLagrangian.cpp
- StateAugmentedLagrangianCollection.cpp
- StateInputAugmentedLagrangian.cpp
- StateInputAugmentedLagrangianCollection.cpp
- CppAdInterface.cpp
- CppAdSparsity.cpp
- FiniteDifferenceMethods.cpp
- LinearStateConstraint.cpp
- LinearStateInputConstraint.cpp
- StateConstraintCollection.cpp
- StateConstraintCppAd.cpp
- StateInputConstraintCollection.cpp
- StateInputConstraintCppAd.cpp
- FeedforwardController.cpp
- LinearController.cpp
- StateBasedLinearController.cpp
- QuadraticStateCost.cpp
- QuadraticStateInputCost.cpp
- StateCostCollection.cpp
- StateCostCppAd.cpp
- StateInputCostCollection.cpp
- StateInputCostCppAd.cpp
- StateInputGaussNewtonCostAd.cpp
- ControlledSystemBase.cpp
- LinearSystemDynamics.cpp
- SystemDynamicsBase.cpp
- SystemDynamicsBaseAD.cpp
- SystemDynamicsLinearizer.cpp
- TransferFunctionBase.cpp
- Integrator.cpp
- IntegratorBase.cpp
- Observer.cpp
- OdeBase.cpp
- RungeKuttaDormandPrince5.cpp
- SensitivityIntegrator.cpp
- SensitivityIntegratorImpl.cpp
- StateTriggeredEventHandler.cpp
- SystemEventHandler.cpp
- LoopshapingAugmentedLagrangian.cpp
- LoopshapingAugmentedLagrangianEliminatePattern.cpp
- LoopshapingAugmentedLagrangianOutputPattern.cpp
- LoopshapingStateAugmentedLagrangian.cpp
- LoopshapingStateInputAugmentedLagrangian.cpp
- LoopshapingConstraint.cpp
- LoopshapingConstraintEliminatePattern.cpp
- LoopshapingConstraintOutputPattern.cpp
- LoopshapingStateConstraint.cpp
- LoopshapingStateInputConstraint.cpp
- LoopshapingCost.cpp
- LoopshapingCostEliminatePattern.cpp
- LoopshapingCostOutputPattern.cpp
- LoopshapingStateCost.cpp
- LoopshapingStateInputCost.cpp
- LoopshapingDynamics.cpp
- LoopshapingDynamicsEliminatePattern.cpp
- LoopshapingDynamicsOutputPattern.cpp
- LoopshapingFilterDynamics.cpp
- LoopshapingInitializer.cpp
- LoopshapingSoftConstraint.cpp
- LoopshapingSoftConstraintEliminatePattern.cpp
- LoopshapingSoftConstraintOutputPattern.cpp
- LoopshapingStateInputSoftConstraint.cpp
- LoopshapingDefinition.cpp
- LoopshapingFilter.cpp
- LoopshapingPreComputation.cpp
- LoopshapingPropertyTree.cpp
- LinearAlgebra.cpp
- Log.cpp
- Metrics.cpp
- ModelData.cpp
- Multiplier.cpp
- RelaxedBarrierPenalty.cpp
- SquaredHingePenalty.cpp
- MultidimensionalPenalty.cpp
- Penalties.cpp
- ModeSchedule.cpp
- TargetTrajectories.cpp
- StateInputSoftBoxConstraint.cpp
- StateInputSoftConstraint.cpp
- StateSoftConstraint.cpp
- ThreadPool.cpp
- lintTarget.cpp
- Types.cpp
- testConstraintCollection.cpp
- testConstraintCppAd.cpp
- testConstraints.h
- testLinearConstraint.cpp
- testFeedforwardController.cpp
- testLinearController.cpp
- testCostCollection.cpp
- testCostCppAd.cpp
- testQuadraticCostFunction.cpp
- commonFixture.h
- LinearSystemDynamicsAD.h
- testCppADCG_dynamics.cpp
- testCppAdInterface.cpp
- testSparsityHelpers.cpp
- testSystemDynamicsLinearizer.cpp
- testSystemDynamicsPreComputation.cpp
- testTransferfunctionBase.cpp
- testTools.h
- InitializationTest.cpp
- IntegrationTest.cpp
- testRungeKuttaDormandPrince5.cpp
- testSensitivityIntegrator.cpp
- TrapezoidalIntegrationTest.cpp
- 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
- pairVectors.info
- testInterpolation.cpp
- testLinearAlgebra.cpp
- testLoadData.cpp
- testLogging.cpp
- testLookup.cpp
- testMetrics.cpp
- testModelData.cpp
- testMultiplier.cpp
- testModeSchedule.cpp
- testDoubleSidedPenalty.cpp
- testSoftConstraint.cpp
- testBufferedValue.cpp
- testSynchronized.cpp
- testThreadPool.cpp
- testPrecomputation.cpp
- testTypes.cpp
- CMakeLists.txt
- package.xml
- ContinuousTimeRiccatiEquations.h
- DiscreteTimeRiccatiEquations.h
- RiccatiModification.h
- RiccatiModificationInterpolation.h
- RiccatiTransversalityConditions.h
- LevenbergMarquardtStrategy.h
- LineSearchStrategy.h
- SearchStrategyBase.h
- StrategySettings.h
- BVPEquations.h
- SolveBVP.h
- SLQ_Hamiltonian.h
- MPC_OCS2.h
- SLQ_Hamiltonian.h
- 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
- ContinuousTimeRiccatiEquations.cpp
- DiscreteTimeRiccatiEquations.cpp
- RiccatiModification.cpp
- LevenbergMarquardtStrategy.cpp
- LineSearchStrategy.cpp
- StrategySettings.cpp
- MPC_OCS2.cpp
- ContinuousTimeLqr.cpp
- DDP_DataCollector.cpp
- DDP_HelperFunctions.cpp
- DDP_Settings.cpp
- GaussNewtonDDP.cpp
- HessianCorrection.cpp
- ILQR.cpp
- lintTarget.cpp
- SLQ.cpp
- BouncingMassTest.cpp
- OverallReference.cpp
- Reference.cpp
- OverallReference.h
- Reference.h
- SystemModel.h
- CircularKinematicsTest.cpp
- CorrectnessTest.cpp
- Exp0Test.cpp
- Exp1Test.cpp
- HybridSlqTest.cpp
- RiccatiTest.cpp
- testContinuousTimeLqr.cpp
- testDdpHelperFunction.cpp
- testReachingTask.cpp
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- overview.rst
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- refs.bib
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- Exp0Test.cpp
- Exp1Test.cpp
- testCircularKinematics.cpp
- testSwitchedProblem.cpp
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- MrtObserver.h
- SystemObservation.h
- lintTarget.cpp
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- MPC_BASE.cpp
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- MPC_Settings.cpp
- MRT_BASE.cpp
- SystemObservation.cpp
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- MpcnetMetrics.h
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- onnxruntimeConfig.cmake
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- __init__.py
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- behavioral_cloning.py
- cross_entropy.py
- hamiltonian.py
- __init__.py
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- __init__.py
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- linear.py
- mixture_of_linear_experts.py
- mixture_of_nonlinear_experts.py
- nonlinear.py
- __init__.py
- config.py
- helper.py
- mpcnet.py
- MpcnetBehavioralController.cpp
- MpcnetOnnxController.cpp
- MpcnetDummyLoopRos.cpp
- MpcnetDummyObserverRos.cpp
- MpcnetDataGeneration.cpp
- MpcnetPolicyEvaluation.cpp
- MpcnetRolloutBase.cpp
- MpcnetRolloutManager.cpp
- MpcnetInterfaceBase.cpp
- MpcnetPybindings.cpp
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- LagrangianEvaluation.h
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- PerformanceIndexComputation.h
- ProjectionMultiplierCoefficients.h
- Transcription.h
- DualSolution.h
- LoopshapingPrimalSolution.h
- PerformanceIndex.h
- PrimalSolution.h
- ProblemMetrics.h
- TimeDiscretization.h
- LoopshapingOptimalControlProblem.h
- OcpSize.h
- OcpToKkt.h
- OptimalControlProblem.h
- OptimalControlProblemHelperFunction.h
- SolverBase.h
- Ruzi.h
- InitializerRollout.h
- PerformanceIndicesRollout.h
- RolloutBase.h
- RolloutSettings.h
- RootFinder.h
- RootFinderType.h
- StateTriggeredRollout.h
- TimeTriggeredRollout.h
- FilterLinesearch.h
- LoopshapingReferenceManager.h
- LoopshapingSynchronizedModule.h
- ReferenceManager.h
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- ReferenceManagerInterface.h
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- TrajectorySpreading.h
- TrajectorySpreadingHelperFunctions.h
- ChangeOfInputVariables.cpp
- LinearQuadraticApproximator.cpp
- Helpers.cpp
- Initialization.cpp
- LagrangianEvaluation.cpp
- MetricsComputation.cpp
- PerformanceIndexComputation.cpp
- ProjectionMultiplierCoefficients.cpp
- Transcription.cpp
- LoopshapingPrimalSolution.cpp
- PerformanceIndex.cpp
- TimeDiscretization.cpp
- LoopshapingOptimalControlProblem.cpp
- OcpSize.cpp
- OcpToKkt.cpp
- OptimalControlProblem.cpp
- OptimalControlProblemHelperFunction.cpp
- SolverBase.cpp
- Ruzi.cpp
- InitializerRollout.cpp
- PerformanceIndicesRollout.cpp
- RolloutBase.cpp
- RolloutSettings.cpp
- RootFinder.cpp
- StateTriggeredRollout.cpp
- TimeTriggeredRollout.cpp
- FilterLinesearch.cpp
- LoopshapingReferenceManager.cpp
- LoopshapingSynchronizedModule.cpp
- ReferenceManager.cpp
- SolverObserver.cpp
- TrajectorySpreading.cpp
- lintTarget.cpp
- ball_dynamics_staterollout.h
- circular_kinematics.h
- DoubleIntegratorReachingTask.h
- dynamics_hybrid_slq_test.h
- EXP0.h
- EXP1.h
- pendulum_dynamics_staterollout.h
- testProblemsGeneration.h
- testProjectionMultiplierCoefficients.cpp
- testTranscriptionMetrics.cpp
- testTranscriptionPerformanceIndex.cpp
- testTimeDiscretization.cpp
- testOcpToKkt.cpp
- testPrecondition.cpp
- testStateTriggeredRollout.cpp
- testTimeTriggeredRollout.cpp
- TrajectorySpreadingTest.cpp
- testChangeOfInputVariables.cpp
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- GDDP.h
- GSLQSolver.h
- NumGDDP.h
- OCS2.h
- BvpSensitivityEquations.h
- BvpSensitivityErrorEquations.h
- RolloutSensitivityEquations.h
- SensitivitySequentialRiccatiEquations.h
- UpperLevelConstraints.h
- UpperLevelCost.h
- FrankWolfeGDDP.h
- GDDP.h
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- GSLQPSolver.h
- NumGDDP.h
- OCS2.h
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- exp0_gddp_test.cpp
- exp0_ocs2_test.cpp
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- exp1_ocs2_test.cpp
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- EndEffectorDistanceConstraint.cpp
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- testBilinearInterpolation.cpp
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- CentroidalModelPinocchioMapping.h
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- FactoryFunctions.h
- ModelHelperFunctions.h
- PinocchioCentroidalDynamics.h
- PinocchioCentroidalDynamicsAD.h
- CentroidalModelInfo.cpp
- CentroidalModelPinocchioMapping.cpp
- CentroidalModelRbdConversions.cpp
- FactoryFunctions.cpp
- ModelHelperFunctions.cpp
- PinocchioCentroidalDynamics.cpp
- PinocchioCentroidalDynamicsAD.cpp
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- pinocchio_forward_declaration.h
- PinocchioEndEffectorKinematics.h
- PinocchioEndEffectorKinematicsCppAd.h
- PinocchioInterface.h
- PinocchioStateInputMapping.h
- urdf.h
- PinocchioEndEffectorKinematics.cpp
- PinocchioEndEffectorKinematicsCppAd.cpp
- PinocchioInterface.cpp
- PinocchioInterfaceCppAd.cpp
- urdf.cpp
- CartPoleUrdf.h
- ManipulatorArmUrdf.h
- testPinocchioEndEffectorKinematics.cpp
- testPinocchioInterface.cpp
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- SelfCollisionConstraint.h
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- SelfCollisionCppAd.h
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- SelfCollision.cpp
- SelfCollisionConstraint.cpp
- SelfCollisionConstraintCppAd.cpp
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- SphereApproximation.h
- PinocchioSphereInterface.cpp
- PinocchioSphereKinematics.cpp
- PinocchioSphereKinematicsCppAd.cpp
- SphereApproximation.cpp
- testPinocchioSphereKinematics.cpp
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- legged_robot_ddp_raisim.launch
- legged_robot_sqp_raisim.launch
- LeggedRobotRaisimConversions.cpp
- LeggedRobotRaisimDummyNode.cpp
- LeggedRobotRaisimVisualizer.cpp
- testLeggedRobotRaisimConversions.cpp
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- __init__.py
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- gait.info
- reference.info
- task.info
- friction_cone.xml
- zero_velocity.xml
- ModelSettings.h
- Types.h
- utils.h
- EndEffectorLinearConstraint.h
- FrictionConeConstraint.h
- NormalVelocityConstraintCppAd.h
- ZeroForceConstraint.h
- ZeroVelocityConstraintCppAd.h
- LeggedRobotQuadraticTrackingCost.h
- LeggedRobotDynamicsAD.h
- CubicSpline.h
- SplineCpg.h
- SwingTrajectoryPlanner.h
- Gait.h
- GaitSchedule.h
- LegLogic.h
- ModeSequenceTemplate.h
- MotionPhaseDefinition.h
- LeggedRobotInitializer.h
- SwitchedModelReferenceManager.h
- LeggedRobotInterface.h
- LeggedRobotPreComputation.h
- package_path.h.in
- ModelSettings.cpp
- EndEffectorLinearConstraint.cpp
- FrictionConeConstraint.cpp
- NormalVelocityConstraintCppAd.cpp
- ZeroForceConstraint.cpp
- ZeroVelocityConstraintCppAd.cpp
- LeggedRobotDynamicsAD.cpp
- CubicSpline.cpp
- SplineCpg.cpp
- SwingTrajectoryPlanner.cpp
- Gait.cpp
- GaitSchedule.cpp
- LegLogic.cpp
- ModeSequenceTemplate.cpp
- LeggedRobotInitializer.cpp
- SwitchedModelReferenceManager.cpp
- LeggedRobotInterface.cpp
- LeggedRobotPreComputation.cpp
- testEndEffectorLinearConstraint.cpp
- testFrictionConeConstraint.cpp
- testZeroForceConstraint.cpp
- AnymalFactoryFunctions.h
- AnymalFactoryFunctions.cpp
- CMakeLists.txt
- package.xml
- GaitKeyboardPublisher.h
- GaitReceiver.h
- ModeSequenceTemplateRos.h
- LeggedRobotVisualizer.h
- legged_robot_ddp.launch
- legged_robot_ipm.launch
- legged_robot_sqp.launch
- multiplot.launch
- legged_robot.rviz
- GaitKeyboardPublisher.cpp
- GaitReceiver.cpp
- LeggedRobotVisualizer.cpp
- LeggedRobotDdpMpcNode.cpp
- LeggedRobotDummyNode.cpp
- LeggedRobotGaitCommandNode.cpp
- LeggedRobotIpmMpcNode.cpp
- LeggedRobotPoseCommandNode.cpp
- LeggedRobotSqpMpcNode.cpp
- CMakeLists.txt
- package.xml
- .gitignore
- task.info
- task_j2n6.info
- task_j2n7.info
- task.info
- task.info
- task.info
- EndEffectorConstraint.h
- MobileManipulatorSelfCollisionConstraint.h
- QuadraticInputCost.h
- DefaultManipulatorDynamics.h
- FloatingArmManipulatorDynamics.h
- FullyActuatedFloatingArmManipulatorDynamics.h
- WheelBasedMobileManipulatorDynamics.h
- AccessHelperFunctionsImpl.h
- AccessHelperFunctions.h
- FactoryFunctions.h
- ManipulatorModelInfo.h
- MobileManipulatorInterface.h
- MobileManipulatorPinocchioMapping.h
- MobileManipulatorPreComputation.h
- package_path.h.in
- EndEffectorConstraint.cpp
- DefaultManipulatorDynamics.cpp
- FloatingArmManipulatorDynamics.cpp
- FullyActuatedFloatingArmManipulatorDynamics.cpp
- WheelBasedMobileManipulatorDynamics.cpp
- FactoryFunctions.cpp
- MobileManipulatorInterface.cpp
- MobileManipulatorPinocchioMapping.cpp
- MobileManipulatorPreComputation.cpp
- testDummyMobileManipulator.cpp
- testEndEffectorConstraint.cpp
- testSelfCollision.cpp
- CMakeLists.txt
- package.xml
- MobileManipulatorDummyVisualization.h
- mobile_manipulator.launch
- mobile_manipulator_distance.launch
- visualize.launch
- manipulator_franka.launch
- manipulator_kinova_j2n6.launch
- manipulator_kinova_j2n7.launch
- manipulator_mabi_mobile.launch
- manipulator_pr2.launch
- manipulator_ridgeback_ur5.launch
- mobile_manipulator.rviz
- mobile_manipulator_distance.rviz
- MobileManipulatorDistanceVisualization.cpp
- MobileManipulatorDummyMRT.cpp
- MobileManipulatorDummyVisualization.cpp
- MobileManipulatorMpcNode.cpp
- MobileManipulatorTarget.cpp
- CMakeLists.txt
- package.xml
- CMakeLists.txt
- package.xml
- demo_motion.txt
- walking.txt
- gait.info
- motions.info
- LoadMotions.h
- ModeSequenceKeyboard.h
- MotionCommandController.h
- MotionCommandDummy.h
- MotionCommandInterface.h
- PoseCommandToCostDesiredRos.h
- ReferenceExtrapolation.h
- TerrainAdaptation.h
- AnymalGaitNode.cpp
- AnymalMotionCommandNode.cpp
- AnymalPoseCommandNode.cpp
- LoadMotions.cpp
- ModeSequenceKeyboard.cpp
- MotionCommandController.cpp
- MotionCommandDummy.cpp
- MotionCommandInterface.cpp
- PoseCommandToCostDesiredRos.cpp
- ReferenceExtrapolation.cpp
- TerrainAdaptation.cpp
- animatedMotion.txt
- cartesianMotion.txt
- testCsv.txt
- testMotion.txt
- testLoadMotions.cpp
- testReferenceExtrapolation.cpp
- testTerrainAdaptation.cpp
- CMakeLists.txt
- package.xml
- frame_declaration.info
- loopshaping.info
- multiple_shooting.info
- task.info
- demo_config.rviz
- demo_terrain.png
- gaps.png
- hurdles.png
- side_gap.png
- step.png
- stepping_stones.png
- AnymalLoopshapingInterface.h
- anymal_c.launch
- camel.launch
- mpc.launch
- perceptive_mpc_demo.launch
- AnymalLoopshapingDummyMrt.cpp
- AnymalLoopshapingInterface.cpp
- AnymalLoopshapingMpcNode.cpp
- PerceptiveMpcDemo.cpp
- testMotionTracking.cpp
- testProblemFormulation.cpp
- testSensitivity.cpp
- CMakeLists.txt
- package.xml
- visualize_urdf.rviz
- .gitignore
- AnymalModels.h
- DynamicsHelpers.h
- FrameDeclaration.h
- package_path.h.in
- QuadrupedCom.h
- QuadrupedInverseKinematics.h
- QuadrupedKinematics.h
- QuadrupedPinocchioMapping.h
- load_urdf.launch
- vizualize_urdf.launch
- AnymalModels.cpp
- FrameDeclaration.cpp
- QuadrupedCom.cpp
- QuadrupedInverseKinematics.cpp
- QuadrupedKinematics.cpp
- QuadrupedPinocchioMapping.cpp
- declarations.h
- default_dynparams_getter.h
- dynamics_parameters.h
- forward_dynamics.h
- forward_dynamics.impl.h
- inertia_properties.h
- inertia_properties.impl.h
- inverse_dynamics.h
- inverse_dynamics.impl.h
- jacobians.h
- jacobians.impl.h
- joint_data_map.h
- jsim.h
- jsim.impl.h
- kinematics_parameters.h
- link_data_map.h
- miscellaneous.cpp
- miscellaneous.h
- traits.h
- transforms.h
- transforms.impl.h
- AnymalCamelCom.cpp
- AnymalCamelCom.h
- AnymalCamelKinematics.cpp
- AnymalCamelKinematics.h
- RobcogenHelpers.h
- TestDynamicsHelpers.cpp
- TestFrameDeclaration.cpp
- TestInverseKinematics.cpp
- TestQuadrupedPinocchioCom.cpp
- TestQuadrupedPinocchioKinematics.cpp
- anymal_camel_rsl.urdf
- frame_declaration_anymal_c.info
- CMakeLists.txt
- package.xml
- frame_declaration.info
- multiple_shooting.info
- targetCommand.info
- task.info
- AnymalInterface.h
- camel.launch
- mpc.launch
- AnymalDummyMRT.cpp
- AnymalInterface.cpp
- AnymalMpcNode.cpp
- testProblemFormulation.cpp
- CMakeLists.txt
- package.xml
- config.rviz
- QuadrupedDummyNode.h
- QuadrupedInterface.h
- QuadrupedLogger.h
- QuadrupedMpc.h
- QuadrupedMpcNode.h
- QuadrupedPointfootInterface.h
- QuadrupedTfPublisher.h
- QuadrupedVisualizer.h
- SwingPlanningVisualizer.h
- TerrainPlaneVisualizer.h
- TerrainReceiver.h
- visualization.launch
- QuadrupedDummyNode.cpp
- QuadrupedInterface.cpp
- QuadrupedLogger.cpp
- QuadrupedMpc.cpp
- QuadrupedMpcNode.cpp
- QuadrupedPointfootInterface.cpp
- QuadrupedTfPublisher.cpp
- QuadrupedVisualizer.cpp
- SwingPlanningVisualizer.cpp
- TerrainPlaneVisualizer.cpp
- TerrainReceiver.cpp
- CMakeLists.txt
- package.xml
- LoopshapingDimensions.h
- QuadrupedLoopshapingDummyNode.h
- QuadrupedLoopshapingInterface.h
- QuadrupedLoopshapingMpc.h
- QuadrupedLoopshapingMpcNode.h
- QuadrupedLoopshapingDummyNode.cpp
- QuadrupedLoopshapingInterface.cpp
- QuadrupedLoopshapingMpc.cpp
- QuadrupedLoopshapingMpcNode.cpp
- CMakeLists.txt
- package.xml
- AnalyticalInverseKinematics.h
- LegInverseKinematicParameters.h
- EndEffectorVelocityConstraint.h
- FootNormalConstraint.h
- FrictionConeConstraint.h
- ZeroForceConstraint.h
- ComModelBase.h
- InverseKinematicsModelBase.h
- KinematicsModelBase.h
- ModelSettings.h
- MotionPhaseDefinition.h
- Rotations.h
- SwitchedModel.h
- SwitchedModelPrecomputation.h
- TorqueApproximation.h
- CollisionAvoidanceCost.h
- CostElements.h
- FootPlacementCost.h
- FrictionConeCost.h
- LinearStateInequalitySoftconstraint.h
- MotionTrackingCost.h
- MotionTrackingTerminalCost.h
- TorqueLimitsSoftConstraint.h
- ComKinoDynamicsParameters.h
- ComKinoSystemDynamicsAd.h
- CubicSpline.h
- FootPhase.h
- KinematicFootPlacementPenalty.h
- QuinticSplineSwing.h
- SplineCpg.h
- SwingSpline3d.h
- SwingTrajectoryPlanner.h
- ComKinoInitializer.h
- DynamicsParametersSynchronizedModule.h
- Gait.h
- GaitAdaptation.h
- GaitReceiver.h
- GaitSchedule.h
- GaitSwitching.h
- ModeSequenceTemplate.h
- SingleLegLogic.h
- SwitchedModelModeScheduleManager.h
- RosMsgConversions.h
- ConvexTerrain.h
- PlanarSignedDistanceField.h
- PlanarTerrainModel.h
- PlaneFitting.h
- SignedDistanceField.h
- TerrainModel.h
- TerrainPlane.h
- TestEvaluateConstraints.h
- AnalyticalInverseKinematics.cpp
- LegInverseKinematicParameters.cpp
- EndEffectorVelocityConstraint.cpp
- FootNormalConstraint.cpp
- FrictionConeConstraint.cpp
- ZeroForceConstraint.cpp
- ComModelBase.cpp
- KinematicsModelBase.cpp
- ModelSettings.cpp
- SwitchedModelPrecomputation.cpp
- TorqueApproximation.cpp
- CollisionAvoidanceCost.cpp
- FootPlacementCost.cpp
- FrictionConeCost.cpp
- LinearStateInequalitySoftConstraint.cpp
- MotionTrackingCost.cpp
- MotionTrackingTerminalCost.cpp
- TorqueLimitsSoftConstraint.cpp
- ComKinoDynamicsParameters.cpp
- ComKinoSystemDynamicsAd.cpp
- CubicSpline.cpp
- FootPhase.cpp
- KinematicFootPlacementPenalty.cpp
- QuinticSplineSwing.cpp
- SplineCpg.cpp
- SwingSpline3d.cpp
- SwingTrajectoryPlanner.cpp
- ComKinoInitializer.cpp
- DynamicsParametersSynchronizedModule.cpp
- Gait.cpp
- GaitAdaptation.cpp
- GaitReceiver.cpp
- GaitSchedule.cpp
- ModeSequenceTemplate.cpp
- SingleLegLogic.cpp
- SwitchedModelModeScheduleManager.cpp
- RosMsgConversions.cpp
- PlanarSignedDistanceField.cpp
- PlanarTerrainModel.cpp
- PlaneFitting.cpp
- TerrainPlane.cpp
- testConstraints.cpp
- testFrictionConeConstraint.cpp
- testZeroForceConstraint.cpp
- testRotation.cpp
- testFootplacementCost.cpp
- testFrictionConeCost.cpp
- testTorqueLimitsSoftConstraint.cpp
- testSwingPhase.cpp
- testEarlyTouchDown.cpp
- testExtractContractTimings.cpp
- testGait.cpp
- testGaitSchedule.cpp
- testGaitSwitching.cpp
- testSingleLegLogic.cpp
- testConvexTerrain.cpp
- testTerrainPlane.cpp
- CMakeLists.txt
- package.xml
- gait.msg
- gait_sequence.msg
- scheduled_gait_sequence.msg
- trajectory_request.srv
- CMakeLists.txt
- package.xml
- SegmentedPlanesSignedDistanceField.h
- SegmentedPlanesTerrainModel.h
- SegmentedPlanesTerrainModelRos.h
- SegmentedPlanesTerrainVisualization.h
- SegmentedPlanesTerrainModel.cpp
- SegmentedPlanesTerrainModelRos.cpp
- SegmentedPlanesTerrainVisualization.cpp
- CMakeLists.txt
- package.xml
- .gitignore
- task.info
- QuadrotorSystemDynamics.h
- definitions.h
- package_path.h.in
- QuadrotorInterface.h
- QuadrotorParameters.h
- QuadrotorPyBindings.h
- __init__.py
- pyBindModule.cpp
- QuadrotorInterface.cpp
- QuadrotorSystemDynamics.cpp
- PyBindingsTest.cpp
- CMakeLists.txt
- package.xml
- setup.py
- QuadrotorDummyVisualization.h
- multiplot.launch
- quadrotor.launch
- visualize.launch
- quadrotor.rviz
- DummyQuadrotorNode.cpp
- QuadrotorDummyVisualization.cpp
- QuadrotorMpcNode.cpp
- QuadrotorTargetPoseCommand.cpp
- CMakeLists.txt
- package.xml
- CMakeLists.txt
- package.xml
- AngularVelocityMapping.h
- LoopshapingRobotInterface.h
- RobotInterface.h
- RotationDerivativesTransforms.h
- RotationTransforms.h
- SkewSymmetricMatrix.h
- EndEffectorKinematics.h
- LoopshapingRobotInterface.cpp
- RotationTransforms.cpp
- lintTarget.cpp
- TestRotationDerivativesTransforms.cpp
- TestRotationTransforms.cpp
- CMakeLists.txt
- package.xml
- TargetTrajectoriesInteractiveMarker.h
- TargetTrajectoriesKeyboardPublisher.h
- TargetTrajectoriesRosPublisher.h
- RosMsgConversions.h
- RosMsgHelpers.h
- MPC_ROS_Interface.h
- DummyObserver.h
- LoopshapingDummyObserver.h
- MRT_ROS_Dummy_Loop.h
- MRT_ROS_Interface.h
- RosReferenceManager.h
- SolverObserverRosCallbacks.h
- VisualizationColors.h
- VisualizationHelpers.h
- performance_indices.launch
- performance_indices.xml
- TargetTrajectoriesInteractiveMarker.cpp
- TargetTrajectoriesKeyboardPublisher.cpp
- TargetTrajectoriesRosPublisher.cpp
- RosMsgConversions.cpp
- RosMsgHelpers.cpp
- MPC_ROS_Interface.cpp
- LoopshapingDummyObserver.cpp
- MRT_ROS_Dummy_Loop.cpp
- MRT_ROS_Interface.cpp
- MultiplotRemap.cpp
- RosReferenceManager.cpp
- SolverObserverRosCallbacks.cpp
- VisualizationColors.cpp
- VisualizationHelpers.cpp
- lintTarget.cpp
- test_custom_callback_queue.cpp
- CMakeLists.txt
- package.xml
- PipgBounds.h
- PipgSettings.h
- PipgSolver.h
- PipgSolverStatus.h
- SingleThreadPipg.h
- Helpers.h
- SlpMpc.h
- SlpSettings.h
- SlpSolver.h
- SlpSolverStatus.h
- PipgSettings.cpp
- PipgSolver.cpp
- SingleThreadPipg.cpp
- Helpers.cpp
- lintTarget.cpp
- SlpSettings.cpp
- SlpSolver.cpp
- testHelpers.cpp
- testPipgSolver.cpp
- testSlpSolver.cpp
- CMakeLists.txt
- package.xml
- blasfeo-extras.cmake.in
- CMakeLists.txt
- package.xml
- HpipmInterface.h
- HpipmInterfaceSettings.h
- HpipmInterface.cpp
- HpipmInterfaceSettings.cpp
- testHpipmInterface.cpp
- CMakeLists.txt
- package.xml
- deduction.pdf
- LQR_full.pdf
- SqpLogging.h
- SqpMpc.h
- SqpSettings.h
- SqpSolver.h
- SqpSolverStatus.h
- .gitignore
- ReadSqpLog.py
- SqpLogging.cpp
- SqpSettings.cpp
- SqpSolver.cpp
- testCircularKinematics.cpp
- testLogging.cpp
- testSwitchedProblem.cpp
- testUnconstrained.cpp
- testValuefunction.cpp
- CMakeLists.txt
- package.xml
- README.md
- Ocs2QpSolver.h
- QpDiscreteTranscription.h
- QpSolver.h
- QpSolverTypes.h
- QpTrajectories.h
- Ocs2QpSolver.cpp
- QpDiscreteTranscription.cpp
- QpSolver.cpp
- QpTrajectories.cpp
- testProblemsGeneration.h
- testDiscreteTranscription.cpp
- testOcs2QpSolver.cpp
- testQpSolver.cpp
- CMakeLists.txt
- package.xml
- 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
- evaluator.hpp
- evaluator_ad.hpp
- evaluator_adcg.hpp
- evaluator_adolc.hpp
- evaluator_cg.hpp
- evaluator_solve.hpp
- declare_extra.hpp
- extra.hpp
- sparse_forjac_hessian.hpp
- sparsity.hpp
- 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.hpp
- dot_util.hpp
- language_dot.hpp
- language_dot_arrays.hpp
- language_dot_index_patterns.hpp
- 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
- 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
- lang_stream_stack.hpp
- language.hpp
- abstract_c_compiler.hpp
- c_compiler.hpp
- clang_compiler.hpp
- gcc_compiler.hpp
- linux_dynamic_model_library_processor.hpp
- linux_dynamiclib.hpp
- linux_dynamiclib_model.hpp
- ar_archiver.hpp
- archiver.hpp
- dynamic_library_processor.hpp
- dynamiclib.hpp
- llvm3_2.hpp
- llvm_model_library_3_2.hpp
- llvm_model_library_processor.hpp
- llvm3_4.hpp
- llvm_model_library_3_4.hpp
- llvm_model_library_processor.hpp
- llvm3_6.hpp
- llvm_model_library_3_6.hpp
- llvm_model_library_processor.hpp
- llvm3_8.hpp
- llvm_model_library_3_8.hpp
- llvm_model_library_processor.hpp
- llvm4_0.hpp
- llvm_model_library_4_0.hpp
- llvm_model_library_processor.hpp
- llvm5_0.hpp
- llvm_base_model_library_processor_impl.hpp
- llvm_model_library_impl.hpp
- llvm_model_library_processor.hpp
- llvm6_0.hpp
- llvm_model_library_processor.hpp
- llvm7_0.hpp
- llvm_model_library_processor.hpp
- llvm8_0.hpp
- llvm_model_library_processor.hpp
- llvm.hpp
- llvm_base_model_library_processor.hpp
- llvm_model.hpp
- llvm_model_library.hpp
- 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
- linux_system.hpp
- system.hpp
- multi_threading_type.hpp
- openmp_c.hpp
- openmp_h.hpp
- pthread_pool_c.hpp
- pthread_pool_h.hpp
- thread_pool_schedule_strategy.hpp
- atomic_external_function_wrapper.hpp
- atomic_generic_model.hpp
- external_function_wrapper.hpp
- functor_generic_model.hpp
- functor_model_library.hpp
- generic_model.hpp
- generic_model_external_function_wrapper.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
- save_files_model_library_processor.hpp
- index_assign_operation_node.hpp
- index_operation_node.hpp
- loop_end_operation_node.hpp
- loop_start_operation_node.hpp
- print_operation_node.hpp
- 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
- dependent_pattern_matcher.hpp
- equation_group.hpp
- equation_pattern.hpp
- independent_node_sorter.hpp
- iter_equation_group.hpp
- loop.hpp
- loop_free_model.hpp
- loop_model.hpp
- loop_position.hpp
- cppadcg_eigen.hpp
- 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
- AUTHORS
- 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
- COPYING
- cppadcg.hpp
- cppadcg_assert.hpp
- custom_position.hpp
- debug.hpp
- declare_cg.hpp
- declare_cg_loops.hpp
- default.hpp
- epl-v10.txt
- exception.hpp
- gpl3.txt
- graph_mod.hpp
- identical.hpp
- job_timer.hpp
- math.hpp
- math_other.hpp
- nan.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
- range.hpp
- scope_path_element.hpp
- smart_containers.hpp
- solver.hpp
- unary.hpp
- util.hpp
- variable.hpp
- variable_name_generator.hpp
- Version.txt
- 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
- 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.hpp
- ctor.hpp
- dynamic.hpp
- for_type.hpp
- forward.hpp
- hes_sparsity.hpp
- jac_sparsity.hpp
- rev_depend.hpp
- reverse.hpp
- cpp_graph.hpp
- from_graph.hpp
- from_json.hpp
- graph_op_enum.hpp
- to_graph.hpp
- to_json.hpp
- 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
- 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
- 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
- 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
- mat_mul.hpp
- 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
- solve.hpp
- solve_callback.hpp
- solve_result.hpp
- cpp_graph_itr.hpp
- cpp_graph_op.hpp
- json_lexer.hpp
- json_parser.hpp
- json_writer.hpp
- 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
- addr_enum.hpp
- atom_op_info.hpp
- player.hpp
- random_iterator.hpp
- random_setup.hpp
- sequential_iterator.hpp
- subgraph_iterator.hpp
- comp_op.hpp
- cond_exp.hpp
- put_dyn_atomic.hpp
- put_var_atomic.hpp
- recorder.hpp
- binary_op.hpp
- internal.hpp
- list_setvec.hpp
- pack_setvec.hpp
- svec_setvec.hpp
- unary_op.hpp
- arg_variable.hpp
- entire_call.hpp
- get_rev.hpp
- info.hpp
- init_rev.hpp
- sparsity.hpp
- 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
- cppad_vector_itr.hpp
- vector_bool.hpp
- 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
- 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
- parameter_op.hpp
- pod_vector.hpp
- pow_op.hpp
- print_op.hpp
- prototype_op.hpp
- recorder.hpp
- set_get_in_parallel.hpp
- sign_op.hpp
- sin_op.hpp
- sinh_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
- tan_op.hpp
- tanh_op.hpp
- zmul_op.hpp
- 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
- 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
- authors
- base_require.hpp
- cg.hpp
- configure.hpp
- COPYING
- cppad.hpp
- epl-2.0.txt
- utility.hpp
- Version.txt
- wno_conversion.hpp
- CppADCodegenTrait.h
- DoubleTrait.h
- FloatTrait.h
- TraitSelector.h
- eigen_traits.h
- InertiaMatrix.h
- internals.h
- rbd.h
- robcogen_commons.h
- StateDependentBase.h
- StateDependentMatrix.h
- TransformsBase.h
- types.h
- utils.h
- CMakeLists.txt
- package.xml
- .gitattributes
- .gitignore
- jenkins-pipeline
- LICENCE.txt
- README.md
# Installation Guide
1. Get the code
git clone https://github.com/leggedrobotics/ocs2
Downloads the entire project code from GitHub to your computer.
cd ocs2
Moves into the project folder you just downloaded.
2. Docker
Easy RecommendedPrerequisites
- Git Needed to download the project code from GitHub.
- Docker Desktop Needed to build and run containers. Install it and keep it running in the background.
docker build -f ocs2_doc/Dockerfile -t ocs2 .
Builds a runnable image based on the Dockerfile.
docker run -p 8080:80 ocs2
Runs the built image as an actual container.
Run docker compose ps to check the containers are Up. If the README mentions a port, open http://localhost:PORT in your browser.
3. CMake
MediumPrerequisites
cd ocs2
This project's files live in a subfolder, so move into it first.
mkdir build && cd build
Creates a folder to hold the build output and moves into it.
cmake ..
Analyzes the source code and generates build configuration files (must be run inside the build folder).
make
Compiles the code based on the generated build configuration to produce an executable.
Check that an executable was created inside the build folder, then run it directly (e.g. ./build/app_name).
4. Python
EasyPrerequisites
pip install -r ocs2_mpcnet/ocs2_mpcnet_core/requirements.txt
Installs the Python libraries listed in requirements.txt (or similar).
python <μ€νν νμΌλͺ
>.py # READMEμμ μ νν μ€ν νμΌλͺ
μ νμΈνμΈμ
Runs the Python script (or module).
If it runs without errors and prints output in the terminal, it worked.
// repository documentation
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