├── README.md ├── hw_1 ├── hw_1.md ├── hw_1教程.pdf └── src │ ├── rviz_plugins │ ├── CMakeLists.txt │ ├── Makefile │ ├── build │ │ ├── CATKIN_IGNORE │ │ ├── CMakeCache.txt │ │ ├── CMakeFiles │ │ │ ├── 2.8.12.2 │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ ├── CompilerIdC │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ └── a.out │ │ │ │ └── CompilerIdCXX │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ └── a.out │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── CMakeError.log │ │ │ ├── CMakeOutput.log │ │ │ ├── CMakeRuleHashes.txt │ │ │ ├── Makefile.cmake │ │ │ ├── Makefile2 │ │ │ ├── ROSBUILD_genmsg_cpp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_genmsg_lisp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_gensrv_cpp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_gensrv_lisp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── TargetDirectories.txt │ │ │ ├── _catkin_empty_exported_target.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── clean_test_results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── cmake.check_cache │ │ │ ├── doxygen.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── progress.marks │ │ │ ├── rosbuild_clean-test-results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rosbuild_precompile.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rosbuild_premsgsrvgen.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rospack_genmsg.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rospack_genmsg_libexe.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rospack_gensrv.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── run_tests.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rviz_plugins.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── src │ │ │ │ │ ├── aerialmap_display.cpp.o │ │ │ │ │ ├── goal_tool.cpp.o │ │ │ │ │ ├── moc_aerialmap_display.cxx.o │ │ │ │ │ ├── moc_goal_tool.cxx.o │ │ │ │ │ ├── moc_multi_probmap_display.cxx.o │ │ │ │ │ ├── moc_probmap_display.cxx.o │ │ │ │ │ ├── multi_probmap_display.cpp.o │ │ │ │ │ ├── pose_tool.cpp.o │ │ │ │ │ └── probmap_display.cpp.o │ │ │ ├── test-future.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-results-run.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ └── tests.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ ├── Makefile │ │ ├── catkin │ │ │ └── catkin_generated │ │ │ │ └── version │ │ │ │ └── package.cmake │ │ ├── catkin_generated │ │ │ ├── env_cached.sh │ │ │ ├── generate_cached_setup.py │ │ │ ├── installspace │ │ │ │ ├── .rosinstall │ │ │ │ ├── _setup_util.py │ │ │ │ ├── env.sh │ │ │ │ ├── setup.bash │ │ │ │ ├── setup.sh │ │ │ │ └── setup.zsh │ │ │ ├── ordered_paths.cmake │ │ │ ├── setup_cached.sh │ │ │ └── stamps │ │ │ │ └── rviz_plugins │ │ │ │ ├── interrogate_setup_dot_py.py.stamp │ │ │ │ └── package.xml.stamp │ │ ├── cmake_install.cmake │ │ ├── devel │ │ │ ├── .catkin │ │ │ ├── .rosinstall │ │ │ ├── _setup_util.py │ │ │ ├── env.sh │ │ │ ├── etc │ │ │ │ └── catkin │ │ │ │ │ └── profile.d │ │ │ │ │ ├── 05.catkin-test-results.sh │ │ │ │ │ ├── 05.catkin_make.bash │ │ │ │ │ └── 05.catkin_make_isolated.bash │ │ │ ├── setup.bash │ │ │ ├── setup.sh │ │ │ └── setup.zsh │ │ ├── gtest │ │ │ ├── CMakeFiles │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ ├── gtest.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ └── progress.make │ │ │ │ ├── gtest_main.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ └── progress.make │ │ │ │ └── progress.marks │ │ │ ├── Makefile │ │ │ └── cmake_install.cmake │ │ └── src │ │ │ ├── moc_aerialmap_display.cxx │ │ │ ├── moc_aerialmap_display.cxx_parameters │ │ │ ├── moc_goal_tool.cxx │ │ │ ├── moc_goal_tool.cxx_parameters │ │ │ ├── moc_multi_probmap_display.cxx │ │ │ ├── moc_multi_probmap_display.cxx_parameters │ │ │ ├── moc_probmap_display.cxx │ │ │ └── moc_probmap_display.cxx_parameters │ ├── config │ │ └── rviz_config.rviz │ ├── lib │ │ └── librviz_plugins.so │ ├── package.xml │ ├── plugin_description.xml │ └── src │ │ ├── aerialmap_display.cpp │ │ ├── aerialmap_display.h │ │ ├── goal_tool.cpp │ │ ├── goal_tool.h │ │ ├── multi_probmap_display.cpp │ │ ├── multi_probmap_display.h │ │ ├── pose_tool.cpp │ │ ├── pose_tool.h │ │ ├── probmap_display.cpp │ │ └── probmap_display.h │ └── waypoint_generator │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ ├── sample_waypoints.h │ └── waypoint_generator.cpp ├── hw_2 ├── hw_2.md ├── matlab版本作业 │ ├── Astar1.png │ ├── Astar2.png │ ├── Astar3.png │ ├── README.txt │ ├── code │ │ ├── A_star │ │ │ ├── distance.m │ │ │ ├── expand_array.m │ │ │ ├── insert_open.m │ │ │ ├── min_fn.m │ │ │ └── node_index.m │ │ ├── A_star_search.m │ │ ├── main.m │ │ ├── obstacle_map.m │ │ └── visualize_map.m │ └── hw2_assignment.pdf └── ros版本作业 │ ├── Astar1.png │ ├── Astar2.png │ ├── JPS1.png │ ├── JPS2.png │ ├── hw_2作业说明.pdf │ └── src │ ├── rviz_plugins │ ├── CMakeLists.txt │ ├── Makefile │ ├── build │ │ ├── CATKIN_IGNORE │ │ ├── CMakeCache.txt │ │ ├── CMakeFiles │ │ │ ├── 2.8.12.2 │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ ├── CompilerIdC │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ └── a.out │ │ │ │ └── CompilerIdCXX │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ └── a.out │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── CMakeError.log │ │ │ ├── CMakeOutput.log │ │ │ ├── CMakeRuleHashes.txt │ │ │ ├── Makefile.cmake │ │ │ ├── Makefile2 │ │ │ ├── ROSBUILD_genmsg_cpp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_genmsg_lisp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_gensrv_cpp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_gensrv_lisp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── TargetDirectories.txt │ │ │ ├── _catkin_empty_exported_target.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── clean_test_results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── cmake.check_cache │ │ │ ├── doxygen.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── progress.marks │ │ │ ├── rosbuild_clean-test-results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rosbuild_precompile.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rosbuild_premsgsrvgen.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rospack_genmsg.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rospack_genmsg_libexe.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rospack_gensrv.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── run_tests.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rviz_plugins.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── src │ │ │ │ │ ├── aerialmap_display.cpp.o │ │ │ │ │ ├── goal_tool.cpp.o │ │ │ │ │ ├── moc_aerialmap_display.cxx.o │ │ │ │ │ ├── moc_goal_tool.cxx.o │ │ │ │ │ ├── moc_multi_probmap_display.cxx.o │ │ │ │ │ ├── moc_probmap_display.cxx.o │ │ │ │ │ ├── multi_probmap_display.cpp.o │ │ │ │ │ ├── pose_tool.cpp.o │ │ │ │ │ └── probmap_display.cpp.o │ │ │ ├── test-future.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-results-run.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ └── tests.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ ├── Makefile │ │ ├── catkin │ │ │ └── catkin_generated │ │ │ │ └── version │ │ │ │ └── package.cmake │ │ ├── catkin_generated │ │ │ ├── env_cached.sh │ │ │ ├── generate_cached_setup.py │ │ │ ├── installspace │ │ │ │ ├── .rosinstall │ │ │ │ ├── _setup_util.py │ │ │ │ ├── env.sh │ │ │ │ ├── setup.bash │ │ │ │ ├── setup.sh │ │ │ │ └── setup.zsh │ │ │ ├── ordered_paths.cmake │ │ │ ├── setup_cached.sh │ │ │ └── stamps │ │ │ │ └── rviz_plugins │ │ │ │ ├── interrogate_setup_dot_py.py.stamp │ │ │ │ └── package.xml.stamp │ │ ├── cmake_install.cmake │ │ ├── devel │ │ │ ├── .catkin │ │ │ ├── .rosinstall │ │ │ ├── _setup_util.py │ │ │ ├── env.sh │ │ │ ├── etc │ │ │ │ └── catkin │ │ │ │ │ └── profile.d │ │ │ │ │ ├── 05.catkin-test-results.sh │ │ │ │ │ ├── 05.catkin_make.bash │ │ │ │ │ └── 05.catkin_make_isolated.bash │ │ │ ├── setup.bash │ │ │ ├── setup.sh │ │ │ └── setup.zsh │ │ ├── gtest │ │ │ ├── CMakeFiles │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ ├── gtest.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ └── progress.make │ │ │ │ ├── gtest_main.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ └── progress.make │ │ │ │ └── progress.marks │ │ │ ├── Makefile │ │ │ └── cmake_install.cmake │ │ └── src │ │ │ ├── moc_aerialmap_display.cxx │ │ │ ├── moc_aerialmap_display.cxx_parameters │ │ │ ├── moc_goal_tool.cxx │ │ │ ├── moc_goal_tool.cxx_parameters │ │ │ ├── moc_multi_probmap_display.cxx │ │ │ ├── moc_multi_probmap_display.cxx_parameters │ │ │ ├── moc_probmap_display.cxx │ │ │ └── moc_probmap_display.cxx_parameters │ ├── config │ │ └── rviz_config.rviz │ ├── lib │ │ └── librviz_plugins.so │ ├── package.xml │ ├── plugin_description.xml │ └── src │ │ ├── aerialmap_display.cpp │ │ ├── aerialmap_display.h │ │ ├── goal_tool.cpp │ │ ├── goal_tool.h │ │ ├── multi_probmap_display.cpp │ │ ├── multi_probmap_display.h │ │ ├── pose_tool.cpp │ │ ├── pose_tool.h │ │ ├── probmap_display.cpp │ │ └── probmap_display.h │ └── waypoint_generator │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ ├── sample_waypoints.h │ └── waypoint_generator.cpp ├── hw_3 ├── Matlab作业 │ ├── RRT.m │ ├── RRT_1.png │ ├── RRT_2.png │ ├── collisionChecking.m │ └── newmap.png ├── Ros作业 │ ├── RRT_Star1.png │ ├── RRT_Star2.png │ ├── ompl 学习.pdf │ └── src │ │ ├── grid_path_searcher │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── include │ │ │ ├── backward.hpp │ │ │ ├── graph_searcher.h │ │ │ └── node.h │ │ ├── launch │ │ │ ├── demo.launch │ │ │ └── rviz_config │ │ │ │ ├── demo.rviz │ │ │ │ └── jps_demo.rviz │ │ ├── package.xml │ │ └── src │ │ │ ├── demo_node.cpp │ │ │ ├── graph_searcher.cpp │ │ │ └── random_complex_generator.cpp │ │ ├── rviz_plugins │ │ ├── CMakeLists.txt │ │ ├── Makefile │ │ ├── build │ │ │ ├── CATKIN_IGNORE │ │ │ ├── CMakeCache.txt │ │ │ ├── CMakeFiles │ │ │ │ ├── 2.8.12.2 │ │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ │ ├── CompilerIdC │ │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ │ └── a.out │ │ │ │ │ └── CompilerIdCXX │ │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ │ └── a.out │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ ├── CMakeError.log │ │ │ │ ├── CMakeOutput.log │ │ │ │ ├── CMakeRuleHashes.txt │ │ │ │ ├── Makefile.cmake │ │ │ │ ├── Makefile2 │ │ │ │ ├── ROSBUILD_genmsg_cpp.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── ROSBUILD_genmsg_lisp.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── ROSBUILD_gensrv_cpp.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── ROSBUILD_gensrv_lisp.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── TargetDirectories.txt │ │ │ │ ├── _catkin_empty_exported_target.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── clean_test_results.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── cmake.check_cache │ │ │ │ ├── doxygen.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── progress.marks │ │ │ │ ├── rosbuild_clean-test-results.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── rosbuild_precompile.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ └── progress.make │ │ │ │ ├── rosbuild_premsgsrvgen.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── rospack_genmsg.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── rospack_genmsg_libexe.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ └── progress.make │ │ │ │ ├── rospack_gensrv.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── run_tests.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── rviz_plugins.dir │ │ │ │ │ ├── CXX.includecache │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ ├── progress.make │ │ │ │ │ └── src │ │ │ │ │ │ ├── aerialmap_display.cpp.o │ │ │ │ │ │ ├── goal_tool.cpp.o │ │ │ │ │ │ ├── moc_aerialmap_display.cxx.o │ │ │ │ │ │ ├── moc_goal_tool.cxx.o │ │ │ │ │ │ ├── moc_multi_probmap_display.cxx.o │ │ │ │ │ │ ├── moc_probmap_display.cxx.o │ │ │ │ │ │ ├── multi_probmap_display.cpp.o │ │ │ │ │ │ ├── pose_tool.cpp.o │ │ │ │ │ │ └── probmap_display.cpp.o │ │ │ │ ├── test-future.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── test-results-run.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── test-results.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── test.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ └── tests.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ ├── Makefile │ │ │ ├── catkin │ │ │ │ └── catkin_generated │ │ │ │ │ └── version │ │ │ │ │ └── package.cmake │ │ │ ├── catkin_generated │ │ │ │ ├── env_cached.sh │ │ │ │ ├── generate_cached_setup.py │ │ │ │ ├── installspace │ │ │ │ │ ├── .rosinstall │ │ │ │ │ ├── _setup_util.py │ │ │ │ │ ├── env.sh │ │ │ │ │ ├── setup.bash │ │ │ │ │ ├── setup.sh │ │ │ │ │ └── setup.zsh │ │ │ │ ├── ordered_paths.cmake │ │ │ │ ├── setup_cached.sh │ │ │ │ └── stamps │ │ │ │ │ └── rviz_plugins │ │ │ │ │ ├── interrogate_setup_dot_py.py.stamp │ │ │ │ │ └── package.xml.stamp │ │ │ ├── cmake_install.cmake │ │ │ ├── devel │ │ │ │ ├── .catkin │ │ │ │ ├── .rosinstall │ │ │ │ ├── _setup_util.py │ │ │ │ ├── env.sh │ │ │ │ ├── etc │ │ │ │ │ └── catkin │ │ │ │ │ │ └── profile.d │ │ │ │ │ │ ├── 05.catkin-test-results.sh │ │ │ │ │ │ ├── 05.catkin_make.bash │ │ │ │ │ │ └── 05.catkin_make_isolated.bash │ │ │ │ ├── setup.bash │ │ │ │ ├── setup.sh │ │ │ │ └── setup.zsh │ │ │ ├── gtest │ │ │ │ ├── CMakeFiles │ │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ │ ├── gtest.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ ├── depend.make │ │ │ │ │ │ ├── flags.make │ │ │ │ │ │ ├── link.txt │ │ │ │ │ │ └── progress.make │ │ │ │ │ ├── gtest_main.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ ├── depend.make │ │ │ │ │ │ ├── flags.make │ │ │ │ │ │ ├── link.txt │ │ │ │ │ │ └── progress.make │ │ │ │ │ └── progress.marks │ │ │ │ ├── Makefile │ │ │ │ └── cmake_install.cmake │ │ │ └── src │ │ │ │ ├── moc_aerialmap_display.cxx │ │ │ │ ├── moc_aerialmap_display.cxx_parameters │ │ │ │ ├── moc_goal_tool.cxx │ │ │ │ ├── moc_goal_tool.cxx_parameters │ │ │ │ ├── moc_multi_probmap_display.cxx │ │ │ │ ├── moc_multi_probmap_display.cxx_parameters │ │ │ │ ├── moc_probmap_display.cxx │ │ │ │ └── moc_probmap_display.cxx_parameters │ │ ├── config │ │ │ └── rviz_config.rviz │ │ ├── lib │ │ │ └── librviz_plugins.so │ │ ├── package.xml │ │ ├── plugin_description.xml │ │ └── src │ │ │ ├── aerialmap_display.cpp │ │ │ ├── aerialmap_display.h │ │ │ ├── goal_tool.cpp │ │ │ ├── goal_tool.h │ │ │ ├── multi_probmap_display.cpp │ │ │ ├── multi_probmap_display.h │ │ │ ├── pose_tool.cpp │ │ │ ├── pose_tool.h │ │ │ ├── probmap_display.cpp │ │ │ └── probmap_display.h │ │ └── waypoint_generator │ │ ├── CMakeLists.txt │ │ ├── package.xml │ │ └── src │ │ ├── sample_waypoints.h │ │ └── waypoint_generator.cpp ├── hw_3.md └── hw_3作业说明.pdf ├── hw_4 ├── hw4.pdf ├── hw_4.md ├── local_lattice_planner.png └── src │ ├── rviz_plugins │ ├── CMakeLists.txt │ ├── Makefile │ ├── build │ │ ├── CATKIN_IGNORE │ │ ├── CMakeCache.txt │ │ ├── CMakeFiles │ │ │ ├── 2.8.12.2 │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ ├── CompilerIdC │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ └── a.out │ │ │ │ └── CompilerIdCXX │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ └── a.out │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── CMakeError.log │ │ │ ├── CMakeOutput.log │ │ │ ├── CMakeRuleHashes.txt │ │ │ ├── Makefile.cmake │ │ │ ├── Makefile2 │ │ │ ├── ROSBUILD_genmsg_cpp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_genmsg_lisp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_gensrv_cpp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_gensrv_lisp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── TargetDirectories.txt │ │ │ ├── _catkin_empty_exported_target.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── clean_test_results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── cmake.check_cache │ │ │ ├── doxygen.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── progress.marks │ │ │ ├── rosbuild_clean-test-results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rosbuild_precompile.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rosbuild_premsgsrvgen.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rospack_genmsg.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rospack_genmsg_libexe.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rospack_gensrv.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── run_tests.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rviz_plugins.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── src │ │ │ │ │ ├── aerialmap_display.cpp.o │ │ │ │ │ ├── goal_tool.cpp.o │ │ │ │ │ ├── moc_aerialmap_display.cxx.o │ │ │ │ │ ├── moc_goal_tool.cxx.o │ │ │ │ │ ├── moc_multi_probmap_display.cxx.o │ │ │ │ │ ├── moc_probmap_display.cxx.o │ │ │ │ │ ├── multi_probmap_display.cpp.o │ │ │ │ │ ├── pose_tool.cpp.o │ │ │ │ │ └── probmap_display.cpp.o │ │ │ ├── test-future.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-results-run.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ └── tests.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ ├── Makefile │ │ ├── catkin │ │ │ └── catkin_generated │ │ │ │ └── version │ │ │ │ └── package.cmake │ │ ├── catkin_generated │ │ │ ├── env_cached.sh │ │ │ ├── generate_cached_setup.py │ │ │ ├── installspace │ │ │ │ ├── .rosinstall │ │ │ │ ├── _setup_util.py │ │ │ │ ├── env.sh │ │ │ │ ├── setup.bash │ │ │ │ ├── setup.sh │ │ │ │ └── setup.zsh │ │ │ ├── ordered_paths.cmake │ │ │ ├── setup_cached.sh │ │ │ └── stamps │ │ │ │ └── rviz_plugins │ │ │ │ ├── interrogate_setup_dot_py.py.stamp │ │ │ │ └── package.xml.stamp │ │ ├── cmake_install.cmake │ │ ├── devel │ │ │ ├── .catkin │ │ │ ├── .rosinstall │ │ │ ├── _setup_util.py │ │ │ ├── env.sh │ │ │ ├── etc │ │ │ │ └── catkin │ │ │ │ │ └── profile.d │ │ │ │ │ ├── 05.catkin-test-results.sh │ │ │ │ │ ├── 05.catkin_make.bash │ │ │ │ │ └── 05.catkin_make_isolated.bash │ │ │ ├── setup.bash │ │ │ ├── setup.sh │ │ │ └── setup.zsh │ │ ├── gtest │ │ │ ├── CMakeFiles │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ ├── gtest.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ └── progress.make │ │ │ │ ├── gtest_main.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ └── progress.make │ │ │ │ └── progress.marks │ │ │ ├── Makefile │ │ │ └── cmake_install.cmake │ │ └── src │ │ │ ├── moc_aerialmap_display.cxx │ │ │ ├── moc_aerialmap_display.cxx_parameters │ │ │ ├── moc_goal_tool.cxx │ │ │ ├── moc_goal_tool.cxx_parameters │ │ │ ├── moc_multi_probmap_display.cxx │ │ │ ├── moc_multi_probmap_display.cxx_parameters │ │ │ ├── moc_probmap_display.cxx │ │ │ └── moc_probmap_display.cxx_parameters │ ├── config │ │ └── rviz_config.rviz │ ├── lib │ │ └── librviz_plugins.so │ ├── package.xml │ ├── plugin_description.xml │ └── src │ │ ├── aerialmap_display.cpp │ │ ├── aerialmap_display.h │ │ ├── goal_tool.cpp │ │ ├── goal_tool.h │ │ ├── multi_probmap_display.cpp │ │ ├── multi_probmap_display.h │ │ ├── pose_tool.cpp │ │ ├── pose_tool.h │ │ ├── probmap_display.cpp │ │ └── probmap_display.h │ └── waypoint_generator │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ ├── sample_waypoints.h │ └── waypoint_generator.cpp ├── hw_5 ├── hw5_matlab.pdf ├── hw5_ros.pdf ├── hw_5.md ├── matlab │ ├── getAbeq.m │ ├── getCoeff.m │ ├── getCt.m │ ├── getM.m │ ├── getQ.m │ ├── hw1_1.m │ ├── hw1_1_yes.png │ ├── hw1_2.m │ └── hw1_2_yes.png └── ros │ ├── closed-form1.png │ ├── closed-form2.png │ ├── ooqp_yes.png │ └── src │ ├── quadrotor_msgs │ ├── CMakeLists.txt │ ├── include │ │ └── quadrotor_msgs │ │ │ ├── comm_types.h │ │ │ ├── decode_msgs.h │ │ │ └── encode_msgs.h │ ├── msg │ │ ├── AuxCommand.msg │ │ ├── Bspline.msg │ │ ├── Corrections.msg │ │ ├── Gains.msg │ │ ├── Odometry.msg │ │ ├── OptimalTimeAllocator.msg │ │ ├── OutputData.msg │ │ ├── PPROutputData.msg │ │ ├── PolynomialTrajectory.msg │ │ ├── PositionCommand.msg │ │ ├── PositionCommand_back.msg │ │ ├── Replan.msg │ │ ├── ReplanCheck.msg │ │ ├── SO3Command.msg │ │ ├── Serial.msg │ │ ├── SpatialTemporalTrajectory.msg │ │ ├── StatusData.msg │ │ ├── SwarmCommand.msg │ │ ├── SwarmInfo.msg │ │ ├── SwarmOdometry.msg │ │ ├── TRPYCommand.msg │ │ └── TrajectoryMatrix.msg │ ├── package.xml │ └── src │ │ ├── decode_msgs.cpp │ │ ├── encode_msgs.cpp │ │ └── quadrotor_msgs │ │ ├── __init__.py │ │ ├── __init__.pyc │ │ └── msg │ │ ├── _AuxCommand.py │ │ ├── _Corrections.py │ │ ├── _Gains.py │ │ ├── _OutputData.py │ │ ├── _PPROutputData.py │ │ ├── _PositionCommand.py │ │ ├── _SO3Command.py │ │ ├── _Serial.py │ │ ├── _StatusData.py │ │ ├── _TRPYCommand.py │ │ └── __init__.py │ ├── rviz_plugins │ ├── CMakeLists.txt │ ├── Makefile │ ├── build │ │ ├── CATKIN_IGNORE │ │ ├── CMakeCache.txt │ │ ├── CMakeFiles │ │ │ ├── 2.8.12.2 │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ ├── CompilerIdC │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ └── a.out │ │ │ │ └── CompilerIdCXX │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ └── a.out │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── CMakeError.log │ │ │ ├── CMakeOutput.log │ │ │ ├── CMakeRuleHashes.txt │ │ │ ├── Makefile.cmake │ │ │ ├── Makefile2 │ │ │ ├── ROSBUILD_genmsg_cpp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_genmsg_lisp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_gensrv_cpp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_gensrv_lisp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── TargetDirectories.txt │ │ │ ├── _catkin_empty_exported_target.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── clean_test_results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── cmake.check_cache │ │ │ ├── doxygen.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── progress.marks │ │ │ ├── rosbuild_clean-test-results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rosbuild_precompile.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rosbuild_premsgsrvgen.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rospack_genmsg.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rospack_genmsg_libexe.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rospack_gensrv.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── run_tests.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rviz_plugins.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── src │ │ │ │ │ ├── aerialmap_display.cpp.o │ │ │ │ │ ├── goal_tool.cpp.o │ │ │ │ │ ├── moc_aerialmap_display.cxx.o │ │ │ │ │ ├── moc_goal_tool.cxx.o │ │ │ │ │ ├── moc_multi_probmap_display.cxx.o │ │ │ │ │ ├── moc_probmap_display.cxx.o │ │ │ │ │ ├── multi_probmap_display.cpp.o │ │ │ │ │ ├── pose_tool.cpp.o │ │ │ │ │ └── probmap_display.cpp.o │ │ │ ├── test-future.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-results-run.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ └── tests.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ ├── Makefile │ │ ├── catkin │ │ │ └── catkin_generated │ │ │ │ └── version │ │ │ │ └── package.cmake │ │ ├── catkin_generated │ │ │ ├── env_cached.sh │ │ │ ├── generate_cached_setup.py │ │ │ ├── installspace │ │ │ │ ├── .rosinstall │ │ │ │ ├── _setup_util.py │ │ │ │ ├── env.sh │ │ │ │ ├── setup.bash │ │ │ │ ├── setup.sh │ │ │ │ └── setup.zsh │ │ │ ├── ordered_paths.cmake │ │ │ ├── setup_cached.sh │ │ │ └── stamps │ │ │ │ └── rviz_plugins │ │ │ │ ├── interrogate_setup_dot_py.py.stamp │ │ │ │ └── package.xml.stamp │ │ ├── cmake_install.cmake │ │ ├── devel │ │ │ ├── .catkin │ │ │ ├── .rosinstall │ │ │ ├── _setup_util.py │ │ │ ├── env.sh │ │ │ ├── etc │ │ │ │ └── catkin │ │ │ │ │ └── profile.d │ │ │ │ │ ├── 05.catkin-test-results.sh │ │ │ │ │ ├── 05.catkin_make.bash │ │ │ │ │ └── 05.catkin_make_isolated.bash │ │ │ ├── setup.bash │ │ │ ├── setup.sh │ │ │ └── setup.zsh │ │ ├── gtest │ │ │ ├── CMakeFiles │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ ├── gtest.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ └── progress.make │ │ │ │ ├── gtest_main.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ └── progress.make │ │ │ │ └── progress.marks │ │ │ ├── Makefile │ │ │ └── cmake_install.cmake │ │ └── src │ │ │ ├── moc_aerialmap_display.cxx │ │ │ ├── moc_aerialmap_display.cxx_parameters │ │ │ ├── moc_goal_tool.cxx │ │ │ ├── moc_goal_tool.cxx_parameters │ │ │ ├── moc_multi_probmap_display.cxx │ │ │ ├── moc_multi_probmap_display.cxx_parameters │ │ │ ├── moc_probmap_display.cxx │ │ │ └── moc_probmap_display.cxx_parameters │ ├── config │ │ └── rviz_config.rviz │ ├── lib │ │ └── librviz_plugins.so │ ├── package.xml │ ├── plugin_description.xml │ └── src │ │ ├── aerialmap_display.cpp │ │ ├── aerialmap_display.h │ │ ├── goal_tool.cpp │ │ ├── goal_tool.h │ │ ├── multi_probmap_display.cpp │ │ ├── multi_probmap_display.h │ │ ├── pose_tool.cpp │ │ ├── pose_tool.h │ │ ├── probmap_display.cpp │ │ └── probmap_display.h │ ├── waypoint_generator │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ ├── sample_waypoints.h │ │ └── waypoint_generator.cpp │ └── waypoint_trajectory_generator │ ├── CMakeLists.txt │ ├── launch │ ├── rviz_config │ │ └── test_traj.rviz │ └── test.launch │ ├── package.xml │ └── src │ ├── trajectory_generator_node.cpp │ ├── trajectory_generator_waypoint.cpp │ └── trajectory_generator_waypoint.h ├── hw_6 ├── bezier.png ├── code │ ├── getAbeq.m │ ├── getAbieq.m │ ├── getM.m │ ├── getQM.m │ ├── hw6.m │ └── nearestSPD.m ├── hw6_matlab.pdf └── hw_6.md └── ooqp安装包 ├── OOQP ├── .gitignore ├── GNUmakefile.in ├── INSTALLED-MANIFEST ├── MANIFEST ├── NEWS ├── PetscMakefile.in ├── VERSION ├── config │ ├── config.guess │ ├── config.sub │ └── install-sh ├── configure ├── configure.ac ├── doc-src │ ├── Doxyfile │ ├── GNUmakefile │ ├── distribution-docs │ │ ├── COPYRIGHT.pod │ │ ├── INSTALL.pod │ │ ├── README.pod │ │ ├── README_Matlab.pod │ │ └── README_Windows.pod │ ├── examples │ │ └── README.pod │ ├── formulations │ │ ├── Huber.pod │ │ ├── QpBound.pod │ │ └── Svm.pod │ └── ooqp-userguide │ │ ├── extra.sty │ │ ├── ooqp-userguide.tex │ │ ├── ooqp1intro.tex │ │ ├── ooqp2qpgen.tex │ │ ├── ooqp3develop.tex │ │ ├── ooqp4qpsolver.tex │ │ ├── ooqp5creating.tex │ │ ├── ooqp6usinglinalg.tex │ │ ├── ooqp7newlinalg.tex │ │ ├── ooqp8copyright.tex │ │ ├── refs.bib │ │ └── subeqn.sty ├── doc │ ├── .gitignore │ ├── distribution-docs │ │ ├── COPYRIGHT.html │ │ ├── INSTALL.html │ │ ├── README.html │ │ ├── README_Matlab.html │ │ └── README_Windows.html │ ├── examples │ │ └── README.html │ ├── formulations │ │ ├── Huber.html │ │ ├── QpBound.html │ │ └── Svm.html │ └── index.html ├── examples │ ├── Huber │ │ └── cpuSmall.data │ ├── QpBound │ │ └── simple.qps │ ├── QpGen │ │ ├── ampl │ │ │ ├── example.dat │ │ │ └── example.mod │ │ ├── cinterface │ │ │ ├── Makefile │ │ │ ├── dense_example.c │ │ │ ├── example.c │ │ │ ├── hb_example.c │ │ │ ├── mps.c │ │ │ └── qpgen.c │ │ ├── cplusplus │ │ │ ├── Makefile │ │ │ └── example.C │ │ ├── random │ │ │ ├── Makefile │ │ │ └── QpGenSparseRandomDriver.C │ │ └── sample-qps │ │ │ └── Example.qps │ ├── README │ └── Svm │ │ └── svm.wisconsin.data ├── include │ └── .gitignore ├── lib │ └── .gitignore └── src │ ├── Abstract │ ├── Data.C │ ├── Data.h │ ├── DoubleLinearSolver.h │ ├── DoubleMatrix.h │ ├── DoubleMatrixHandle.h │ ├── DoubleMatrixTypes.h │ ├── IotrRefCount.C │ ├── IotrRefCount.h │ ├── LinearAlgebraPackage.h │ ├── LinearSystem.h │ ├── Makefile.inc │ ├── MakefileTargets.inc │ ├── OoqpMonitor.C │ ├── OoqpMonitor.h │ ├── OoqpMonitorData.h │ ├── OoqpPetscMonitor.C │ ├── OoqpPetscMonitor.h │ ├── OoqpStartStrategy.h │ ├── OoqpVersion.C │ ├── OoqpVersion.h │ ├── ProblemFormulation.h │ ├── Residuals.h │ ├── SmartPointer.h │ ├── Solver.C │ ├── Solver.h │ ├── Status.C │ ├── Status.h │ ├── Variables.C │ └── Variables.h │ ├── Ampl │ ├── .gitignore │ ├── Makefile.inc.in │ ├── MakefileTargets.inc.in │ ├── configure │ ├── configure.ac │ └── qpgen-sparse-gondzio-ampl.C │ ├── CInterface │ ├── Makefile.inc │ ├── MakefileTargets.inc │ ├── cBounds.c │ ├── cBounds.h │ ├── cMpsReader.C │ ├── cMpsReader.h │ ├── cMpsReaderPetsc.C │ ├── cMpsReaderPetsc.h │ ├── cQpBound.C │ ├── cQpBound.h │ ├── cQpBoundDense.C │ ├── cQpBoundDense.h │ ├── cQpBoundPetsc.C │ ├── cQpBoundPetsc.h │ ├── cQpGen.C │ ├── cQpGen.h │ ├── cQpGenDense.C │ ├── cQpGenDense.h │ ├── cQpGenPetsc.C │ ├── cQpGenPetsc.h │ ├── cQpGenSparse.C │ └── cQpGenSparse.h │ ├── DenseLinearAlgebra │ ├── DeSymIndefSolver.C │ ├── DeSymIndefSolver.h │ ├── DeSymPSDSolver.C │ ├── DeSymPSDSolver.h │ ├── DenseGenMatrix.C │ ├── DenseGenMatrix.h │ ├── DenseGenMatrixHandle.h │ ├── DenseLinearAlgebraPackage.C │ ├── DenseLinearAlgebraPackage.h │ ├── DenseStorage.C │ ├── DenseStorage.h │ ├── DenseStorageHandle.h │ ├── DenseSymMatrix.C │ ├── DenseSymMatrix.h │ ├── DenseSymMatrixHandle.h │ ├── Makefile.inc │ └── MakefileTargets.inc │ ├── Huber │ ├── Huber.C │ ├── Huber.h │ ├── HuberData.C │ ├── HuberData.h │ ├── HuberGondzioDriver.C │ ├── HuberLinsys.C │ ├── HuberLinsys.h │ ├── HuberResiduals.C │ ├── HuberResiduals.h │ ├── HuberVars.C │ ├── HuberVars.h │ ├── Makefile.inc │ └── MakefileTargets.inc │ ├── LinearSolvers │ ├── Ma27Solver │ │ ├── Ma27Solver.C │ │ ├── Ma27Solver.h │ │ └── Makefile.inc │ ├── Ma57Solver │ │ ├── Ma57Solver.C │ │ ├── Ma57Solver.h │ │ └── Makefile.inc │ └── Makefile.inc │ ├── Mex │ ├── .gitignore │ ├── Makefile.inc.in │ ├── MakefileTargets.inc.in │ ├── README │ ├── cfunc_ooqp_huber.C │ ├── cfunc_ooqp_svm.C │ ├── configure │ ├── configure.ac │ ├── mexUtility.c │ ├── mexUtility.h │ ├── ooqp.m │ ├── ooqp_huber.c │ ├── ooqp_huber.m │ ├── ooqp_huber.proto │ ├── ooqp_mex.c │ ├── ooqp_start.m │ ├── ooqp_start.proto │ ├── ooqp_start_cpp.C │ ├── ooqp_start_mex.c │ ├── ooqp_svm.c │ ├── ooqp_svm.help │ ├── ooqp_svm.m │ ├── ooqp_svm.proto │ ├── qpgen_sparse.proto │ ├── readmps.m │ ├── readmps.proto │ ├── readmps_mex.c │ └── unsparsify.m │ ├── PetscLinearAlgebra │ ├── Makefile.inc │ ├── MakefileTargets.inc │ ├── PetscIterativeSolver.C │ ├── PetscIterativeSolver.h │ ├── PetscLinearAlgebraPackage.C │ ├── PetscLinearAlgebraPackage.h │ ├── PetscSpGenMatrix.C │ ├── PetscSpGenMatrix.h │ ├── PetscSpGenMatrixHandle.h │ ├── PetscSpSymMatrix.C │ ├── PetscSpSymMatrix.h │ ├── PetscSpSymMatrixHandle.h │ ├── PetscSparseStorage.C │ ├── PetscSparseStorage.h │ ├── PetscSparseStorageHandle.h │ ├── PetscVector.C │ ├── PetscVector.h │ └── PetscVectorHandle.h │ ├── QpBound │ ├── Makefile.inc │ ├── MakefileTargets.inc │ ├── QpBound.C │ ├── QpBound.h │ ├── QpBoundData.C │ ├── QpBoundData.h │ ├── QpBoundDense.C │ ├── QpBoundDense.h │ ├── QpBoundDenseGondzioDriver.C │ ├── QpBoundDenseLinsys.C │ ├── QpBoundDenseLinsys.h │ ├── QpBoundLinsys.C │ ├── QpBoundLinsys.h │ ├── QpBoundPetsc.C │ ├── QpBoundPetsc.h │ ├── QpBoundPetscMehrotraDriver.C │ ├── QpBoundResiduals.C │ ├── QpBoundResiduals.h │ ├── QpBoundVars.C │ └── QpBoundVars.h │ ├── QpExample │ ├── Makefile.inc │ ├── MakefileTargets.inc │ ├── QpExampleData.C │ ├── QpExampleData.h │ ├── QpExampleDense.C │ ├── QpExampleDense.h │ ├── QpExampleDenseLinsys.C │ ├── QpExampleDenseLinsys.h │ ├── QpExampleGondzioDriver.C │ ├── QpExampleResids.C │ ├── QpExampleResids.h │ ├── QpExampleVars.C │ └── QpExampleVars.h │ ├── QpGen │ ├── Makefile.inc │ ├── MakefileTargets.inc │ ├── QpGen.C │ ├── QpGen.h │ ├── QpGenData.C │ ├── QpGenData.h │ ├── QpGenDense.C │ ├── QpGenDense.h │ ├── QpGenDenseGondzioDriver.C │ ├── QpGenDenseLinsys.C │ ├── QpGenDenseLinsys.h │ ├── QpGenDriver.h │ ├── QpGenLinsys.C │ ├── QpGenLinsys.h │ ├── QpGenResiduals.C │ ├── QpGenResiduals.h │ ├── QpGenSparseGondzioDriver.C │ ├── QpGenSparseLinsys.C │ ├── QpGenSparseLinsys.h │ ├── QpGenSparseMa27.C │ ├── QpGenSparseMa27.h │ ├── QpGenSparseMa57.C │ ├── QpGenSparseMa57.h │ ├── QpGenSparseMa57GondzioDriver.C │ ├── QpGenSparseMehrotraDriver.C │ ├── QpGenSparseOblio.C │ ├── QpGenSparseOblio.h │ ├── QpGenSparseSeq.C │ ├── QpGenSparseSeq.h │ ├── QpGenSparseSuperLu.C │ ├── QpGenSparseSuperLu.h │ ├── QpGenVars.C │ └── QpGenVars.h │ ├── QpSolvers │ ├── GondzioSolver.C │ ├── GondzioSolver.h │ ├── Makefile.inc │ ├── MakefileTargets.inc │ ├── MehrotraSolver.C │ └── MehrotraSolver.h │ ├── Readers │ ├── Makefile.inc │ ├── MakefileTargets.inc │ ├── MpsReader.C │ ├── MpsReader.h │ ├── hash.C │ └── hash.h │ ├── SparseLinearAlgebra │ ├── Makefile.inc │ ├── MakefileTargets.inc │ ├── SparseGenMatrix.C │ ├── SparseGenMatrix.h │ ├── SparseGenMatrixHandle.h │ ├── SparseLinearAlgebraPackage.C │ ├── SparseLinearAlgebraPackage.h │ ├── SparseStorage.C │ ├── SparseStorage.h │ ├── SparseStorageHandle.h │ ├── SparseSymMatrix.C │ ├── SparseSymMatrix.h │ └── SparseSymMatrixHandle.h │ ├── Svm │ ├── Makefile.inc │ ├── MakefileTargets.inc │ ├── Svm.C │ ├── Svm.h │ ├── SvmData.C │ ├── SvmData.h │ ├── SvmGondzioDriver.C │ ├── SvmLinsys.C │ ├── SvmLinsys.h │ ├── SvmResiduals.C │ ├── SvmResiduals.h │ ├── SvmVars.C │ └── SvmVars.h │ ├── Utilities │ ├── Makefile.inc │ ├── OoqpBlas.h │ ├── drand.C │ └── sort.C │ └── Vector │ ├── Makefile.inc │ ├── OoqpVector.C │ ├── OoqpVector.h │ ├── OoqpVectorHandle.h │ ├── SimpleVector.C │ ├── SimpleVector.h │ ├── SimpleVectorHandle.h │ ├── VectorUtilities.C │ └── VectorUtilities.h └── ma27-1.0.0 ├── LICENCE ├── Makefile.am ├── Makefile.in ├── README ├── acinclude.m4 ├── aclocal.m4 ├── configure ├── configure.ac ├── doc └── ma27_Fortran.pdf ├── example ├── Makefile.am ├── Makefile.in ├── ma27ds.data ├── ma27ds.f ├── ma27ds.output ├── ma27ss.data ├── ma27ss.f ├── ma27ss.output └── runtest.sh ├── install-sh ├── m4 └── ax_f90_module_flag.m4 ├── missing └── src ├── Makefile.am ├── Makefile.in ├── ma27d.f └── ma27s.f /README.md: -------------------------------------------------------------------------------- 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