Add license.

Add authors.
Add readme

AUTHORS

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+Vincent Samy <vincent dot samy at lirmm dot fr>

COPYING.LESSER

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+                   GNU LESSER GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+  This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
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+Library.

README.md

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+# preview_controller
+
+preview_controller is a library implementing a model preview controller.
+It uses QP softwares to solve its problem. A python binding is available.
+
+## Installing
+
+### Manual
+
+#### Dependencies
+
+To compile you need the following tools:
+
+ * [Git]()
+ * [CMake]() >= 2.8
+ * [pkg-config]()
+ * [doxygen]()
+ * [c++ compiler]() Version to compile C++14 (g++ => 5.0, clang++ >= 3.4)
+ * [gfortran]()
+ * [gcc]()
+ * [Boost](http://www.boost.org/doc/libs/1_58_0/more/getting_started/unix-variants.html) >= 1.58 (>= 1.49 may work)
+ * [Eigen](http://eigen.tuxfamily.org/index.php?title=Main_Page) >= 3.2
+
+#### Building
+
+```sh
+git clone --recursive https://github.com/vsamy/preview_controller
+cd preview_controller
+./build_and_install
+gedit build_and_install_config
+./build_and_install
+```
+
+Please defines in build_and_install_config where to install the library, the build type, the number of core, etc...
+Note that you leave the BOOST_ROOT empty if boost has been installed by default. 
+
+Where the main options are:
+
+#### Testing and performace test
+
+You can test the C++ and python version. Those are still basic tests and need to be completed
+
+For c++
+```sh
+cd _build/tests
+./TestSolvers
+./TestPreviewControl --log_level=all
+```
+
+For python
+```sh
+cd _build/binding/python/tests
+python TestPreviewControl.py
+```
+
+#### Examples
+
+There is not basic examples yet. Please see test files for an overview.
+Please see the doxygen files for the documentation.

src/Constrains.cpp

@@ -1,3 +1,18 @@
+//This file is part of ModelPreviewController.
+
+//ModelPreviewController is free software: you can redistribute it and/or modify
+//it under the terms of the GNU Lesser General Public License as published by
+//the Free Software Foundation, either version 3 of the License, or
+//(at your option) any later version.
+//
+//ModelPreviewController is distributed in the hope that it will be useful,
+//but WITHOUT ANY WARRANTY; without even the implied warranty of
+//MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+//GNU Lesser General Public License for more details.
+//
+//You should have received a copy of the GNU Lesser General Public License
+//along with ModelPreviewController.  If not, see <http://www.gnu.org/licenses/>.
+
 #include "Constrains.h"
 
 #include "PreviewSystem.h"

src/Constrains.h

@@ -1,3 +1,18 @@
+//This file is part of ModelPreviewController.
+
+//ModelPreviewController is free software: you can redistribute it and/or modify
+//it under the terms of the GNU Lesser General Public License as published by
+//the Free Software Foundation, either version 3 of the License, or
+//(at your option) any later version.
+//
+//ModelPreviewController is distributed in the hope that it will be useful,
+//but WITHOUT ANY WARRANTY; without even the implied warranty of
+//MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+//GNU Lesser General Public License for more details.
+//
+//You should have received a copy of the GNU Lesser General Public License
+//along with ModelPreviewController.  If not, see <http://www.gnu.org/licenses/>.
+
 #pragma once
 
 #include <Eigen/Core>

src/LSSOLSolver.cpp

@@ -1,3 +1,18 @@
+//This file is part of ModelPreviewController.
+
+//ModelPreviewController is free software: you can redistribute it and/or modify
+//it under the terms of the GNU Lesser General Public License as published by
+//the Free Software Foundation, either version 3 of the License, or
+//(at your option) any later version.
+//
+//ModelPreviewController is distributed in the hope that it will be useful,
+//but WITHOUT ANY WARRANTY; without even the implied warranty of
+//MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+//GNU Lesser General Public License for more details.
+//
+//You should have received a copy of the GNU Lesser General Public License
+//along with ModelPreviewController.  If not, see <http://www.gnu.org/licenses/>.
+
 #include "LSSOLSolver.h"
 
 namespace mpc

src/LSSOLSolver.h

@@ -1,3 +1,18 @@
+//This file is part of ModelPreviewController.
+
+//ModelPreviewController is free software: you can redistribute it and/or modify
+//it under the terms of the GNU Lesser General Public License as published by
+//the Free Software Foundation, either version 3 of the License, or
+//(at your option) any later version.
+//
+//ModelPreviewController is distributed in the hope that it will be useful,
+//but WITHOUT ANY WARRANTY; without even the implied warranty of
+//MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+//GNU Lesser General Public License for more details.
+//
+//You should have received a copy of the GNU Lesser General Public License
+//along with ModelPreviewController.  If not, see <http://www.gnu.org/licenses/>.
+
 #pragma once
 
 #include "SolverInterface.h"

src/PreviewController.cpp

@@ -1,3 +1,18 @@
+//This file is part of ModelPreviewController.
+
+//ModelPreviewController is free software: you can redistribute it and/or modify
+//it under the terms of the GNU Lesser General Public License as published by
+//the Free Software Foundation, either version 3 of the License, or
+//(at your option) any later version.
+//
+//ModelPreviewController is distributed in the hope that it will be useful,
+//but WITHOUT ANY WARRANTY; without even the implied warranty of
+//MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+//GNU Lesser General Public License for more details.
+//
+//You should have received a copy of the GNU Lesser General Public License
+//along with ModelPreviewController.  If not, see <http://www.gnu.org/licenses/>.
+
 #include "PreviewController.h"
 
 #include <numeric>

src/PreviewController.h

@@ -1,3 +1,18 @@
+//This file is part of ModelPreviewController.
+
+//ModelPreviewController is free software: you can redistribute it and/or modify
+//it under the terms of the GNU Lesser General Public License as published by
+//the Free Software Foundation, either version 3 of the License, or
+//(at your option) any later version.
+//
+//ModelPreviewController is distributed in the hope that it will be useful,
+//but WITHOUT ANY WARRANTY; without even the implied warranty of
+//MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+//GNU Lesser General Public License for more details.
+//
+//You should have received a copy of the GNU Lesser General Public License
+//along with ModelPreviewController.  If not, see <http://www.gnu.org/licenses/>.
+
 #pragma once
 
 #include "solverUtils.h"

src/PreviewSystem.cpp

@@ -1,3 +1,18 @@
+//This file is part of ModelPreviewController.
+
+//ModelPreviewController is free software: you can redistribute it and/or modify
+//it under the terms of the GNU Lesser General Public License as published by
+//the Free Software Foundation, either version 3 of the License, or
+//(at your option) any later version.
+//
+//ModelPreviewController is distributed in the hope that it will be useful,
+//but WITHOUT ANY WARRANTY; without even the implied warranty of
+//MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+//GNU Lesser General Public License for more details.
+//
+//You should have received a copy of the GNU Lesser General Public License
+//along with ModelPreviewController.  If not, see <http://www.gnu.org/licenses/>.
+
 #include "PreviewSystem.h"
 
 namespace mpc

src/PreviewSystem.h

@@ -1,3 +1,18 @@
+//This file is part of ModelPreviewController.
+
+//ModelPreviewController is free software: you can redistribute it and/or modify
+//it under the terms of the GNU Lesser General Public License as published by
+//the Free Software Foundation, either version 3 of the License, or
+//(at your option) any later version.
+//
+//ModelPreviewController is distributed in the hope that it will be useful,
+//but WITHOUT ANY WARRANTY; without even the implied warranty of
+//MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+//GNU Lesser General Public License for more details.
+//
+//You should have received a copy of the GNU Lesser General Public License
+//along with ModelPreviewController.  If not, see <http://www.gnu.org/licenses/>.
+
 #pragma once
 
 #include <Eigen/Core>