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@article{Yakubovich1986,
  author    = {Yakubovich, V. A.},
  title     = {A linear-quadratic optimization problem and the frequency theorem for nonperiodic systems. I},
  journal   = {Siberian Mathematical Journal},
  volume    = {27},
  number    = {4},
  pages     = {614--630},
  year      = {1986},
  doi       = {10.1007/BF00969175}
}

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#!/bin/bash

TMPDIR="/tmp"
TMPNAME="$TMPDIR/out.mp4"

function getsize {
    echo $(stat -c%s "$1")
}

function compress {

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{
	"plates_inertia": 0.89e-3,
	"plates_distance": 0.027,
	"ball_radius": 0.017,
	"max_torque": 0.15,
	"ball_inertia": 5.8e-7,
	"ball_mass": 3.0e-3,
	"gravity_acceleration": 9.81,
	"friction_coefficient": 0.60,
	"plates_shape": [

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"""
===========
Basic Units
===========

"""

import math

from packaging.version import parse as parse_version

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{
	"plates_inertia": 0.89e-3,
	"plates_distance": 0.02700000,
	"ball_radius": 0.01700000,
	"max_torque": 0.15,
	"ball_inertia": 5.8e-7,
	"ball_mass": 3e-3,
	"gravity_acceleration": 9.81,
	"friction_coefficient": 0.4,
	"plates_shape": [

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import numpy as np
from functools import reduce


def quat_make_continuous(q):
    R'''
        Brief:
        ------
        The function makes a trajectory `q` continuous

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import casadi as ca

class MyFun(ca.Callback):
    def __init__(self, coefs):
        ca.Callback.__init__(self)
        self.coefs = coefs
        self.construct('MyFun')

    def has_jacobian(self):
        return True

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#include <iostream>
#include <stdio.h>
#include <png.h>


int read_png_file(char const* filename, uint8_t*& pimg, int& width, int& stridex, int& height)
{
    FILE *fp = nullptr;
    png_structp png = nullptr;
    png_infop info = nullptr;

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import numpy as np


def quat_make_continuous(q):
    R'''
        Brief:
        ------
        The function makes a trajectory `q` continuous

        Detailed: