robotoc

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Efficient optimal control solvers for robotic systems.

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최종 버전 다운로드 (.zip)

- - build.yaml
  - doxygen.yaml
- - CMakeLists.txt
- - ocp_solver_cpp.dox
  - ocp_solver_py.dox
  - ocp_solver_sto_cpp.dox
  - ocp_solver_sto_py.dox
  - surface_contacts_py.dox
  - unconstr_ocp_solver_cpp.dox
  - unconstr_ocp_solver_py.dox
- .gitignore
- Doxyfile
- examples.dox
- features.dox
- installation.dox
- mainpage.dox
- - bounce.cpp
  - CMakeLists.txt
  - crawl.cpp
  - jump.cpp
  - jump_sto.cpp
  - ocp_benchmark.cpp
  - pace.cpp
  - run.cpp
  - trot.cpp
- - CMakeLists.txt
  - config_space_ocp.cpp
  - ocp_benchmark.cpp
  - task_space_ocp.cpp
  - unconstr_ocp_benchmark.cpp
  - unconstr_parnmpc_benchmark.cpp
- README.md
- - constraint_component_base.cpp
  - constraint_component_data.cpp
  - constraints.cpp
  - constraints_data.cpp
  - contact_wrench_cone.cpp
  - friction_cone.cpp
  - impact_constraint_component_base.cpp
  - impact_friction_cone.cpp
  - impact_wrench_cone.cpp
  - joint_acceleration_lower_limit.cpp
  - joint_acceleration_upper_limit.cpp
  - joint_position_lower_limit.cpp
  - joint_position_upper_limit.cpp
  - joint_torques_lower_limit.cpp
  - joint_torques_upper_limit.cpp
  - joint_velocity_lower_limit.cpp
  - joint_velocity_upper_limit.cpp
- - direction.cpp
  - kkt_matrix.cpp
  - kkt_residual.cpp
  - performance_index.cpp
  - solution.cpp
  - split_direction.cpp
  - split_kkt_matrix.cpp
  - split_kkt_residual.cpp
  - split_solution.cpp
- - com_cost.cpp
  - configuration_space_cost.cpp
  - cost_function.cpp
  - cost_function_data.cpp
  - discrete_time_com_ref.cpp
  - discrete_time_swing_foot_ref.cpp
  - local_contact_force_cost.cpp
  - periodic_com_ref.cpp
  - periodic_swing_foot_ref.cpp
  - task_space_3d_cost.cpp
  - task_space_6d_cost.cpp
- - contact_dynamics.cpp
  - contact_dynamics_data.cpp
  - impact_dynamics.cpp
  - impact_state_equation.cpp
  - state_equation.cpp
  - state_equation_data.cpp
  - switching_constraint.cpp
  - switching_constraint_data.cpp
  - terminal_state_equation.cpp
  - unconstr_dynamics.cpp
  - unconstr_state_equation.cpp
- - line_search.cpp
  - line_search_filter.cpp
  - line_search_settings.cpp
  - unconstr_line_search.cpp
- - biped_walk_foot_step_planner.cpp
  - contact_planner_base.cpp
  - control_policy.cpp
  - crawl_foot_step_planner.cpp
  - flying_trot_foot_step_planner.cpp
  - jump_foot_step_planner.cpp
  - mpc_biped_walk.cpp
  - mpc_crawl.cpp
  - mpc_flying_trot.cpp
  - mpc_jump.cpp
  - mpc_pace.cpp
  - mpc_periodic_com_ref.cpp
  - mpc_periodic_configuration_ref.cpp
  - mpc_periodic_swing_foot_ref.cpp
  - mpc_trot.cpp
  - pace_foot_step_planner.cpp
  - raibert_heuristic.cpp
  - trot_foot_step_planner.cpp
- - direct_multiple_shooting.cpp
  - grid_info.cpp
  - impact_stage.cpp
  - intermediate_stage.cpp
  - ocp.cpp
  - terminal_stage.cpp
  - time_discretization.cpp
- - unconstr_backward_correction.cpp
  - unconstr_split_backward_correction.cpp
- - contact_sequence.cpp
  - discrete_event.cpp
- - backward_riccati_recursion_factorizer.cpp
  - riccati_factorization.cpp
  - riccati_factorizer.cpp
  - riccati_recursion.cpp
  - split_constrained_riccati_factorization.cpp
  - split_riccati_factorization.cpp
  - unconstr_backward_riccati_recursion_factorizer.cpp
  - unconstr_riccati_factorizer.cpp
  - unconstr_riccati_recursion.cpp
- - contact_model_info.cpp
  - contact_status.cpp
  - impact_status.cpp
  - point_contact.cpp
  - robot.cpp
  - robot_model_info.cpp
  - surface_contact.cpp
- - ocp_solver.cpp
  - solution_interpolator.cpp
  - solver_options.cpp
  - solver_statistics.cpp
  - unconstr_ocp_solver.cpp
  - unconstr_parnmpc_solver.cpp
- - sto_constraints.cpp
  - sto_cost_function.cpp
  - switching_time_optimization.cpp
- - parnmpc_intermediate_stage.cpp
  - parnmpc_terminal_stage.cpp
  - unconstr_direct_multiple_shooting.cpp
  - unconstr_intermediate_stage.cpp
  - unconstr_terminal_stage.cpp
- - derivative_checker.cpp
- - gtest.cmake
- - CMakeLists.txt
  - constraint_component_data_test.cpp
  - constraints_data_test.cpp
  - constraints_test.cpp
  - contact_wrench_cone_test.cpp
  - friction_cone_test.cpp
  - impact_friction_cone_test.cpp
  - impact_wrench_cone_test.cpp
  - joint_acceleration_lower_limit_test.cpp
  - joint_acceleration_upper_limit_test.cpp
  - joint_position_lower_limit_test.cpp
  - joint_position_upper_limit_test.cpp
  - joint_torques_lower_limit_test.cpp
  - joint_torques_upper_limit_test.cpp
  - joint_velocity_lower_limit_test.cpp
  - joint_velocity_upper_limit_test.cpp
  - pdipm_test.cpp
- - CMakeLists.txt
  - split_direction_test.cpp
  - split_kkt_matrix_test.cpp
  - split_kkt_residual_test.cpp
  - split_solution_test.cpp
- - CMakeLists.txt
  - com_cost_test.cpp
  - configuration_space_cost_test.cpp
  - cost_function_test.cpp
  - discrete_time_com_ref.cpp
  - discrete_time_swing_foot_ref_test.cpp
  - local_contact_force_cost_test.cpp
  - periodic_com_ref_test.cpp
  - periodic_swing_foot_ref_test.cpp
  - task_space_3d_cost_test.cpp
  - task_space_6d_cost_test.cpp
- - CMakeLists.txt
  - contact_dynamics_data_test.cpp
  - contact_dynamics_test.cpp
  - impact_dynamics_test.cpp
  - impact_state_equation_test.cpp
  - state_equation_test.cpp
  - switching_constraint_test.cpp
  - terminal_state_equation_test.cpp
  - unconstr_dynamics_test.cpp
- - CMakeLists.txt
  - line_search_filter_test.cpp
  - line_search_test.cpp
  - unconstr_line_search_test.cpp
- - biped_walk_foot_step_planner_test.cpp
  - CMakeLists.txt
  - crawl_foot_step_planner_test.cpp
  - flying_trot_foot_step_planner_test.cpp
  - jump_foot_step_planner_test.cpp
  - moving_window_filter_test.cpp
  - pace_foot_step_planner_test.cpp
  - raibert_heuristic_test.cpp
  - trot_foot_step_planner_test.cpp
- - CMakeLists.txt
  - direct_multiple_shooting_test.cpp
  - impact_stage_test.cpp
  - intermediate_stage_test.cpp
  - terminal_stage_test.cpp
  - time_discretization_test.cpp
- - CMakeLists.txt
  - unconstr_kkt_matrix_inverter_test.cpp
  - unconstr_split_backward_correction_test.cpp
- - CMakeLists.txt
  - contact_sequence_test.cpp
  - discrete_event_test.cpp
- - backward_riccati_recursion_factorizer_test.cpp
  - CMakeLists.txt
  - riccati_factorizer_test.cpp
  - riccati_recursion_test.cpp
  - split_riccati_factorization_test.cpp
  - unconstr_backward_riccati_recursion_factorizer_test.cpp
  - unconstr_riccati_factorizer_test.cpp
  - unconstr_riccati_recursion_test.cpp
- - CMakeLists.txt
  - contact_status_test.cpp
  - impact_status_test.cpp
  - point_contact_test.cpp
  - robot_test.cpp
  - se3_jacobian_inverse_test.cpp
  - surface_contact_test.cpp
- - CMakeLists.txt
  - ocp_solver_test.cpp
  - solver_options_test.cpp
  - solver_statistics_test.cpp
  - unconstr_ocp_solver_test.cpp
  - unconstr_parnmpc_solver_test.cpp
- - CMakeLists.txt
  - sto_constraints_test.cpp
  - sto_cost_function_test.cpp
- - CMakeLists.txt
  - constraints_factory.cpp
  - constraints_factory.hpp
  - contact_sequence_factory.cpp
  - contact_sequence_factory.hpp
  - contact_status_factory.cpp
  - contact_status_factory.hpp
  - cost_factory.cpp
  - cost_factory.hpp
  - direction_factory.cpp
  - direction_factory.hpp
  - kkt_factory.cpp
  - kkt_factory.hpp
  - riccati_factory.cpp
  - riccati_factory.hpp
  - robot_factory.cpp
  - robot_factory.hpp
  - solution_factory.cpp
  - solution_factory.hpp
  - test_helper.hpp
  - urdf_factory.cpp
  - urdf_factory.hpp
- - CMakeLists.txt
  - parnmpc_intermediate_stage_test.cpp
  - parnmpc_terminal_stage_test.cpp
  - unconstr_intermediate_stage_test.cpp
  - unconstr_terminal_stage_test.cpp
- CMakeLists.txt
.gitignore
CMakeLists.txt
LICENSE
README.md
requirements.txt

// repository documentation

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