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@ompugao
ompugao / introduction_to_numerical_optimal_control.ipynb
Created May 25, 2022 13:21 — forked from mayataka/introduction_to_numerical_optimal_control.ipynb
数値最適制御入門の入門
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@ompugao
ompugao / casadi_mpc.py
Last active October 8, 2021 02:56 — forked from mayataka/casadi_mpc.py
MPC via CasADi
from casadi import *
import math
import numpy as np
class MPC:
def __init__(self):
# 問題設定
T = 1.0 # ホライゾン長さ (MPCなので短め)
N = 20 # ホライゾン離散化グリッド数 (MPCなので荒め)
@ompugao
ompugao / linux_magic.cpp
Created August 15, 2020 15:30 — forked from xymopen/linux_magic.cpp
C++ equivalences of the famous offset_of and container_of(owner_of) macro from Linux kernel
template< class T, class M >
static inline constexpr ptrdiff_t offset_of( const M T::*member ) {
return reinterpret_cast< ptrdiff_t >( &( reinterpret_cast< T* >( 0 )->*member ) );
}
template< class T, class M >
static inline constexpr T* owner_of( M *ptr, const M T::*member ) {
return reinterpret_cast< T* >( reinterpret_cast< intptr_t >( ptr ) - offset_of( member ) );
}
@ompugao
ompugao / LICENSE
Created December 10, 2019 13:02 — forked from IshitaTakeshi/LICENSE
Huber weighted IRLS
Copyright (C) 2006, Jonathan E. Taylor
All rights reserved.
Copyright (c) 2006-2008 Scipy Developers.
All rights reserved.
Copyright (c) 2009-2018 statsmodels Developers.
All rights reserved.
@ompugao
ompugao / dstarlite.cpp
Created May 4, 2019 14:13
D* Lite implementation in C++ (experimental)
////
// D* Lite implementation in C++
// @tokoro10g
// Reference: http://idm-lab.org/bib/abstracts/papers/aaai02b.pdf
////
#include <bits/stdc++.h>
using namespace std;
using Cost = float;
@ompugao
ompugao / README.md
Created March 3, 2019 06:51 — forked from gunyarakun/README.md
旺文社『表現のための実践ロイヤル英文法』別冊付録「英作文のための暗記用例文300」JSON
@ompugao
ompugao / changeslope.py
Created July 30, 2018 07:54 — forked from 8bit-pixies/changeslope.py
Interactive tkinter matlibplot example.
import Tkinter
from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
from matplotlib.figure import Figure
class App:
def __init__(self, master):
# Create a container
frame = Tkinter.Frame(master)
# Create 2 buttons
self.button_left = Tkinter.Button(frame,text="< Decrease Slope",
@ompugao
ompugao / cute_AA.txt
Created September 18, 2017 14:49 — forked from Tosainu/cute_AA.txt
顔文字詰め合わせ
あせ (・_・;) 顔文字
あせ (･∀･；) 顔文字
あせ (＾ω＾;;) 顔文字
あせ (ﾟ∀ﾟ ；)ﾀﾗｰ 顔文字
あたふた ヽ(´･ω･｀ヽ)​ 顔文字
あつい (｡＞﹏＜)あㄘ”ゅい 顔文字
あつい ι(´Д｀υ)ｱｼﾞｨｰ 顔文字
あつい あㄘ”ゅい(>﹏<｡Ξ｡>﹏<)あㄘ”ゅい 顔文字
あはは ( ﾟ∀ﾟ)ｱﾊﾊ八八ﾉヽﾉヽﾉヽﾉ ＼ / ＼/ ＼ 顔文字
あひゃ ｱﾋｬﾋｬﾋｬ(ﾟ∀ﾟ≡ﾟ∀ﾟ)ﾋｬﾋｬﾋｬ 顔文字
@ompugao
ompugao / extend.sh
Last active February 6, 2017 14:19 — forked from wvengen/extend.sh
Extend non-HiDPI external display above HiDPI internal display
#!/bin/sh
# extend non-HiDPI external display on DP* above HiDPI internal display eDP*
# see also https://wiki.archlinux.org/index.php/HiDPI
# you may run into https://bugs.freedesktop.org/show_bug.cgi?id=39949
# https://bugs.launchpad.net/ubuntu/+source/xorg-server/+bug/883319
EXT=`xrandr --current | sed 's/^\(.*\) connected.*$/\1/p;d' | grep -v '^eDP' | head -n 1`
INT=`xrandr --current | sed 's/^\(.*\) connected.*$/\1/p;d' | grep -v '^DP' |grep -v 'HDMI' | head -n 1`
ext_w=`xrandr | sed 's/^'"${EXT}"' [^0-9]* \([0-9]\+\)x.*$/\1/p;d'`
@ompugao
ompugao / git-submodule-fetch
Last active September 1, 2015 10:18 — forked from ianhinder/git-submodule-fetch
Parallel submodule fetch
#!/bin/bash
set -e
set -u
if [ $# -eq 0 ]; then
git submodule -q foreach 'echo $name' | xargs -n 1 -P 10 git-submodule-fetch
else
while [ $# -gt 0 ]; do
(cd $1; git fetch -q || echo "Failed to fetch $1">&2)