We introduce a novel method for handling endpoint constraints in constrained differential dynamic programming (DDP). Unlike existing approaches, our method guarantees quadratic convergence and is exact, effectively managing rank deficiencies in both endpoint and stagewise equality constraints. It is applicable to both forward and inverse dynamics formulations, making it particularly well-suited for model predictive control (MPC) applications and for accelerating optimal control (OC) solvers. We demonstrate the efficacy of our approach across a broad range of robotics problems and provide a userfriendly open-source implementation within Crocoddyl.

Although a lot of work has been done in the field of network traffic modeling since the discovery of its fractal properties (self-similarity, long-range dependence, and multifractality), most researches are usually focused on the theoretical aspects rather than on the practical ones. This paper describes a high-performance, simple, and inexpensive piece of software capable of generating and analyzing Ethernet traffic at high speeds (up to Gbit/s) using the new WinPcap architecture for Windows systems. The algorithm utilizes the discrete wavelet transform (DWT) for synthesis and analysis of fractal traffic based on stationary wavelet transform (SWT) and wavelet packet transform (WPT).