WAFR upload

Author: plancherb1

.gitignore

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+# temporary files for debug (which I often use)
+t.txt
+t2.txt
+t3.txt
+t4.txt
+
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+*.ko
+*.elf
+
+# Linker output
+*.ilk
+*.map
+*.exp
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.so.*
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+*.lo
+
+# Executables
+*.exe
+*.out
+*.app
+*.i*86
+*.x86_64
+*.hex
+
+# Debug files
+*.dSYM/
+*.su
+*.idb
+*.pdb
+
+# Kernel Module Compile Results
+*.mod*
+*.cmd
+.tmp_versions/
+modules.order
+Module.symvers
+Mkfile.old
+dkms.conf
+
+# CUDA
+*.i
+*.ii
+*.gpu
+*.ptx
+*.cubin
+*.fatbin

DDPHelpers.cuh

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+/*****************************************************************
+ * DDP Helper Functions
+ * (currently only supports iLQR - UDP in future release)
+ *
+ * Combines the following files (note they have cross dependencies 
+ *                               which defines the order of imports):
+ *   1: Backward Pass Helpers
+ *   2: Forward Pass Helpers
+ *   3: Next Iteration Setup and Init Helpers
+ *	 4: DDP Algorithm Wrappers
+ *   5: MPC Helpers
+ *
+ *****************************************************************/
+// include util functions and config parameters file
+#include "config.h"
+
+// include the correct set of cost and dynamics functions
+#if PLANT == 1
+	#include "plants/cost_pend.cuh"
+	#include "plants/dynamics_pend.cuh"
+#elif PLANT == 2
+	#include "plants/cost_cart.cuh"
+ 	#include "plants/dynamics_cart.cuh"
+#elif PLANT == 3
+	#include "plants/cost_quad.cuh"
+ 	#include "plants/dynamics_quad.cuh"
+#elif PLANT == 4
+	#include "plants/cost_arm.cuh"
+ 	#include "plants/dynamics_arm.cuh"
+#endif
+
+// include integrators for those dynamics
+#include "utils/integrators.cuh"
+
+// 1: Backward Pass Helpers
+#include "DDPHelpers/bpHelpers.cuh"
+
+// 2: Forward Pass Helpers
+#include "DDPHelpers/fpHelpers.cuh"
+
+// 3: Next Iteration Setup and Init Helpers
+#include "DDPHelpers/nisInitHelpers.cuh"
+
+// 4: DDP Algorithm Wrappers
+#if !defined(MPC_MODE) || MPC_MODE == 0
+	#include "DDPHelpers/DDPWrappers.cuh"
+#endif
+
+// 5: MPC Helpers and Wrappers//
+#if defined(MPC_MODE) && MPC_MODE == 1
+	#include "DDPHelpers/MPCHelpers.cuh"       
+#endif