├── .gitignore ├── CMakeLists_ros1.cmake ├── CMakeLists_ros2.cmake ├── LICENSE ├── README.md ├── config ├── example_bot.urdf ├── gps_waypoints_hilltop.yaml ├── gps_waypoints_hilltop_west.yaml ├── map_obstacles.yaml ├── no_waypoints.yaml ├── shorter_waypoints.yaml ├── waypoints.yaml ├── waypoints_proving_ground_enu.yaml ├── wh_map_obstacles.yaml └── wh_waypoints.yaml ├── include └── nature │ ├── CImg.h │ ├── common │ ├── common_objects.h │ └── conversion.h │ ├── control │ ├── pid_controller.h │ ├── pure_pursuit_controller.h │ └── tinyfiledialogs.h │ ├── nature_utils.h │ ├── node │ ├── clock_publisher.h │ ├── node_proxy.h │ └── ros_types.h │ ├── perception │ ├── elevation_grid.h │ ├── ftte │ │ ├── matrix.h │ │ ├── moreland.h │ │ ├── plane.h │ │ ├── traverse_cell.h │ │ ├── vehicle.h │ │ └── voxel_grid.h │ └── point_cloud_generator.h │ ├── planning │ ├── global │ │ ├── astar.h │ │ ├── astar_cell.h │ │ └── coord_conversions │ │ │ ├── coord_conversions.h │ │ │ ├── ellipsoid.h │ │ │ └── matrix.h │ └── local │ │ ├── candidate.h │ │ ├── pf_planner.h │ │ ├── polynomial.h │ │ ├── rviz_spline_plotter.h │ │ ├── spline_path.h │ │ ├── spline_planner.h │ │ └── spline_plotter.h │ ├── thirdparty │ ├── CImg.h │ └── glm │ │ ├── CMakeLists.txt │ │ ├── common.hpp │ │ ├── detail │ │ ├── _features.hpp │ │ ├── _fixes.hpp │ │ ├── _noise.hpp │ │ ├── _swizzle.hpp │ │ ├── _swizzle_func.hpp │ │ ├── _vectorize.hpp │ │ ├── compute_common.hpp │ │ ├── compute_vector_relational.hpp │ │ ├── func_common.inl │ │ ├── func_common_simd.inl │ │ ├── func_exponential.inl │ │ ├── func_exponential_simd.inl │ │ ├── func_geometric.inl │ │ ├── func_geometric_simd.inl │ │ ├── func_integer.inl │ │ ├── func_integer_simd.inl │ │ ├── func_matrix.inl │ │ ├── func_matrix_simd.inl │ │ ├── func_packing.inl │ │ ├── func_packing_simd.inl │ │ ├── func_trigonometric.inl │ │ ├── func_trigonometric_simd.inl │ │ ├── func_vector_relational.inl │ │ ├── func_vector_relational_simd.inl │ │ ├── glm.cpp │ │ ├── qualifier.hpp │ │ ├── setup.hpp │ │ ├── type_float.hpp │ │ ├── type_half.hpp │ │ ├── type_half.inl │ │ ├── type_mat2x2.hpp │ │ ├── type_mat2x2.inl │ │ ├── type_mat2x3.hpp │ │ ├── type_mat2x3.inl │ │ ├── type_mat2x4.hpp │ │ ├── type_mat2x4.inl │ │ ├── type_mat3x2.hpp │ │ ├── type_mat3x2.inl │ │ ├── type_mat3x3.hpp │ │ ├── type_mat3x3.inl │ │ ├── type_mat3x4.hpp │ │ ├── type_mat3x4.inl │ │ ├── type_mat4x2.hpp │ │ ├── type_mat4x2.inl │ │ ├── type_mat4x3.hpp │ │ ├── type_mat4x3.inl │ │ ├── type_mat4x4.hpp │ │ ├── type_mat4x4.inl │ │ ├── type_mat4x4_simd.inl │ │ ├── type_quat.hpp │ │ ├── type_quat.inl │ │ ├── type_quat_simd.inl │ │ ├── type_vec1.hpp │ │ ├── type_vec1.inl │ │ ├── type_vec2.hpp │ │ ├── type_vec2.inl │ │ ├── type_vec3.hpp │ │ ├── type_vec3.inl │ │ ├── type_vec4.hpp │ │ ├── type_vec4.inl │ │ └── type_vec4_simd.inl │ │ ├── exponential.hpp │ │ ├── ext.hpp │ │ ├── ext │ │ ├── matrix_clip_space.hpp │ │ ├── matrix_clip_space.inl │ │ ├── matrix_common.hpp │ │ ├── matrix_common.inl │ │ ├── matrix_double2x2.hpp │ │ ├── matrix_double2x2_precision.hpp │ │ ├── matrix_double2x3.hpp │ │ ├── matrix_double2x3_precision.hpp │ │ ├── matrix_double2x4.hpp │ │ ├── matrix_double2x4_precision.hpp │ │ ├── matrix_double3x2.hpp │ │ ├── matrix_double3x2_precision.hpp │ │ ├── matrix_double3x3.hpp │ │ ├── matrix_double3x3_precision.hpp │ │ ├── matrix_double3x4.hpp │ │ ├── matrix_double3x4_precision.hpp │ │ ├── matrix_double4x2.hpp │ │ ├── matrix_double4x2_precision.hpp │ │ ├── matrix_double4x3.hpp │ │ ├── matrix_double4x3_precision.hpp │ │ ├── matrix_double4x4.hpp │ │ ├── matrix_double4x4_precision.hpp │ │ ├── matrix_float2x2.hpp │ │ ├── matrix_float2x2_precision.hpp │ │ ├── matrix_float2x3.hpp │ │ ├── matrix_float2x3_precision.hpp │ │ ├── matrix_float2x4.hpp │ │ ├── matrix_float2x4_precision.hpp │ │ ├── matrix_float3x2.hpp │ │ ├── matrix_float3x2_precision.hpp │ │ ├── matrix_float3x3.hpp │ │ ├── matrix_float3x3_precision.hpp │ │ ├── matrix_float3x4.hpp │ │ ├── matrix_float3x4_precision.hpp │ │ ├── matrix_float4x2.hpp │ │ ├── matrix_float4x2_precision.hpp │ │ ├── matrix_float4x3.hpp │ │ ├── matrix_float4x3_precision.hpp │ │ ├── matrix_float4x4.hpp │ │ ├── matrix_float4x4_precision.hpp │ │ ├── matrix_int2x2.hpp │ │ ├── matrix_int2x2_sized.hpp │ │ ├── matrix_int2x3.hpp │ │ ├── matrix_int2x3_sized.hpp │ │ ├── matrix_int2x4.hpp │ │ ├── matrix_int2x4_sized.hpp │ │ ├── matrix_int3x2.hpp │ │ ├── matrix_int3x2_sized.hpp │ │ ├── matrix_int3x3.hpp │ │ ├── matrix_int3x3_sized.hpp │ │ ├── matrix_int3x4.hpp │ │ ├── matrix_int3x4_sized.hpp │ │ ├── matrix_int4x2.hpp │ │ ├── matrix_int4x2_sized.hpp │ │ ├── matrix_int4x3.hpp │ │ ├── matrix_int4x3_sized.hpp │ │ ├── matrix_int4x4.hpp │ │ ├── matrix_int4x4_sized.hpp │ │ ├── matrix_projection.hpp │ │ ├── matrix_projection.inl │ │ ├── matrix_relational.hpp │ │ ├── matrix_relational.inl │ │ ├── matrix_transform.hpp │ │ ├── matrix_transform.inl │ │ ├── matrix_uint2x2.hpp │ │ ├── matrix_uint2x2_sized.hpp │ │ ├── matrix_uint2x3.hpp │ │ ├── matrix_uint2x3_sized.hpp │ │ ├── matrix_uint2x4.hpp │ │ ├── matrix_uint2x4_sized.hpp │ │ ├── matrix_uint3x2.hpp │ │ ├── matrix_uint3x2_sized.hpp │ │ ├── matrix_uint3x3.hpp │ │ ├── matrix_uint3x3_sized.hpp │ │ ├── matrix_uint3x4.hpp │ │ ├── matrix_uint3x4_sized.hpp │ │ ├── matrix_uint4x2.hpp │ │ ├── matrix_uint4x2_sized.hpp │ │ ├── matrix_uint4x3.hpp │ │ ├── matrix_uint4x3_sized.hpp │ │ ├── matrix_uint4x4.hpp │ │ ├── matrix_uint4x4_sized.hpp │ │ ├── quaternion_common.hpp │ │ ├── quaternion_common.inl │ │ ├── quaternion_common_simd.inl │ │ ├── quaternion_double.hpp │ │ ├── quaternion_double_precision.hpp │ │ ├── quaternion_exponential.hpp │ │ ├── quaternion_exponential.inl │ │ ├── quaternion_float.hpp │ │ ├── quaternion_float_precision.hpp │ │ ├── quaternion_geometric.hpp │ │ ├── quaternion_geometric.inl │ │ ├── quaternion_relational.hpp │ │ ├── quaternion_relational.inl │ │ ├── quaternion_transform.hpp │ │ ├── quaternion_transform.inl │ │ ├── quaternion_trigonometric.hpp │ │ ├── quaternion_trigonometric.inl │ │ ├── scalar_common.hpp │ │ ├── scalar_common.inl │ │ ├── scalar_constants.hpp │ │ ├── scalar_constants.inl │ │ ├── scalar_int_sized.hpp │ │ ├── scalar_integer.hpp │ │ ├── scalar_integer.inl │ │ ├── scalar_packing.hpp │ │ ├── scalar_packing.inl │ │ ├── scalar_relational.hpp │ │ ├── scalar_relational.inl │ │ ├── scalar_uint_sized.hpp │ │ ├── scalar_ulp.hpp │ │ ├── scalar_ulp.inl │ │ ├── vector_bool1.hpp │ │ ├── vector_bool1_precision.hpp │ │ ├── vector_bool2.hpp │ │ ├── vector_bool2_precision.hpp │ │ ├── vector_bool3.hpp │ │ ├── vector_bool3_precision.hpp │ │ ├── vector_bool4.hpp │ │ ├── vector_bool4_precision.hpp │ │ ├── vector_common.hpp │ │ ├── vector_common.inl │ │ ├── vector_double1.hpp │ │ ├── vector_double1_precision.hpp │ │ ├── vector_double2.hpp │ │ ├── vector_double2_precision.hpp │ │ ├── vector_double3.hpp │ │ ├── vector_double3_precision.hpp │ │ ├── vector_double4.hpp │ │ ├── vector_double4_precision.hpp │ │ ├── vector_float1.hpp │ │ ├── vector_float1_precision.hpp │ │ ├── vector_float2.hpp │ │ ├── vector_float2_precision.hpp │ │ ├── vector_float3.hpp │ │ ├── vector_float3_precision.hpp │ │ ├── vector_float4.hpp │ │ ├── vector_float4_precision.hpp │ │ ├── vector_int1.hpp │ │ ├── vector_int1_sized.hpp │ │ ├── vector_int2.hpp │ │ ├── vector_int2_sized.hpp │ │ ├── vector_int3.hpp │ │ ├── vector_int3_sized.hpp │ │ ├── vector_int4.hpp │ │ ├── vector_int4_sized.hpp │ │ ├── vector_integer.hpp │ │ ├── vector_integer.inl │ │ ├── vector_packing.hpp │ │ ├── vector_packing.inl │ │ ├── vector_relational.hpp │ │ ├── vector_relational.inl │ │ ├── vector_uint1.hpp │ │ ├── vector_uint1_sized.hpp │ │ ├── vector_uint2.hpp │ │ ├── vector_uint2_sized.hpp │ │ ├── vector_uint3.hpp │ │ ├── vector_uint3_sized.hpp │ │ ├── vector_uint4.hpp │ │ ├── vector_uint4_sized.hpp │ │ ├── vector_ulp.hpp │ │ └── vector_ulp.inl │ │ ├── fwd.hpp │ │ ├── geometric.hpp │ │ ├── glm.hpp │ │ ├── gtc │ │ ├── bitfield.hpp │ │ ├── bitfield.inl │ │ ├── color_space.hpp │ │ ├── color_space.inl │ │ ├── constants.hpp │ │ ├── constants.inl │ │ ├── epsilon.hpp │ │ ├── epsilon.inl │ │ ├── integer.hpp │ │ ├── integer.inl │ │ ├── matrix_access.hpp │ │ ├── matrix_access.inl │ │ ├── matrix_integer.hpp │ │ ├── matrix_inverse.hpp │ │ ├── matrix_inverse.inl │ │ ├── matrix_transform.hpp │ │ ├── matrix_transform.inl │ │ ├── noise.hpp │ │ ├── noise.inl │ │ ├── packing.hpp │ │ ├── packing.inl │ │ ├── quaternion.hpp │ │ ├── quaternion.inl │ │ ├── quaternion_simd.inl │ │ ├── random.hpp │ │ ├── random.inl │ │ ├── reciprocal.hpp │ │ ├── reciprocal.inl │ │ ├── round.hpp │ │ ├── round.inl │ │ ├── type_aligned.hpp │ │ ├── type_precision.hpp │ │ ├── type_precision.inl │ │ ├── type_ptr.hpp │ │ ├── type_ptr.inl │ │ ├── ulp.hpp │ │ ├── ulp.inl │ │ └── vec1.hpp │ │ ├── gtx │ │ ├── associated_min_max.hpp │ │ ├── associated_min_max.inl │ │ ├── bit.hpp │ │ ├── bit.inl │ │ ├── closest_point.hpp │ │ ├── closest_point.inl │ │ ├── color_encoding.hpp │ │ ├── color_encoding.inl │ │ ├── color_space.hpp │ │ ├── color_space.inl │ │ ├── color_space_YCoCg.hpp │ │ ├── color_space_YCoCg.inl │ │ ├── common.hpp │ │ ├── common.inl │ │ ├── compatibility.hpp │ │ ├── compatibility.inl │ │ ├── component_wise.hpp │ │ ├── component_wise.inl │ │ ├── dual_quaternion.hpp │ │ ├── dual_quaternion.inl │ │ ├── easing.hpp │ │ ├── easing.inl │ │ ├── euler_angles.hpp │ │ ├── euler_angles.inl │ │ ├── extend.hpp │ │ ├── extend.inl │ │ ├── extended_min_max.hpp │ │ ├── extended_min_max.inl │ │ ├── exterior_product.hpp │ │ ├── exterior_product.inl │ │ ├── fast_exponential.hpp │ │ ├── fast_exponential.inl │ │ ├── fast_square_root.hpp │ │ ├── fast_square_root.inl │ │ ├── fast_trigonometry.hpp │ │ ├── fast_trigonometry.inl │ │ ├── float_notmalize.inl │ │ ├── functions.hpp │ │ ├── functions.inl │ │ ├── gradient_paint.hpp │ │ ├── gradient_paint.inl │ │ ├── handed_coordinate_space.hpp │ │ ├── handed_coordinate_space.inl │ │ ├── hash.hpp │ │ ├── hash.inl │ │ ├── integer.hpp │ │ ├── integer.inl │ │ ├── intersect.hpp │ │ ├── intersect.inl │ │ ├── io.hpp │ │ ├── io.inl │ │ ├── log_base.hpp │ │ ├── log_base.inl │ │ ├── matrix_cross_product.hpp │ │ ├── matrix_cross_product.inl │ │ ├── matrix_decompose.hpp │ │ ├── matrix_decompose.inl │ │ ├── matrix_factorisation.hpp │ │ ├── matrix_factorisation.inl │ │ ├── matrix_interpolation.hpp │ │ ├── matrix_interpolation.inl │ │ ├── matrix_major_storage.hpp │ │ ├── matrix_major_storage.inl │ │ ├── matrix_operation.hpp │ │ ├── matrix_operation.inl │ │ ├── matrix_query.hpp │ │ ├── matrix_query.inl │ │ ├── matrix_transform_2d.hpp │ │ ├── matrix_transform_2d.inl │ │ ├── mixed_product.hpp │ │ ├── mixed_product.inl │ │ ├── norm.hpp │ │ ├── norm.inl │ │ ├── normal.hpp │ │ ├── normal.inl │ │ ├── normalize_dot.hpp │ │ ├── normalize_dot.inl │ │ ├── number_precision.hpp │ │ ├── number_precision.inl │ │ ├── optimum_pow.hpp │ │ ├── optimum_pow.inl │ │ ├── orthonormalize.hpp │ │ ├── orthonormalize.inl │ │ ├── perpendicular.hpp │ │ ├── perpendicular.inl │ │ ├── polar_coordinates.hpp │ │ ├── polar_coordinates.inl │ │ ├── projection.hpp │ │ ├── projection.inl │ │ ├── quaternion.hpp │ │ ├── quaternion.inl │ │ ├── range.hpp │ │ ├── raw_data.hpp │ │ ├── raw_data.inl │ │ ├── rotate_normalized_axis.hpp │ │ ├── rotate_normalized_axis.inl │ │ ├── rotate_vector.hpp │ │ ├── rotate_vector.inl │ │ ├── scalar_multiplication.hpp │ │ ├── scalar_relational.hpp │ │ ├── scalar_relational.inl │ │ ├── spline.hpp │ │ ├── spline.inl │ │ ├── std_based_type.hpp │ │ ├── std_based_type.inl │ │ ├── string_cast.hpp │ │ ├── string_cast.inl │ │ ├── texture.hpp │ │ ├── texture.inl │ │ ├── transform.hpp │ │ ├── transform.inl │ │ ├── transform2.hpp │ │ ├── transform2.inl │ │ ├── type_aligned.hpp │ │ ├── type_aligned.inl │ │ ├── type_trait.hpp │ │ ├── type_trait.inl │ │ ├── vec_swizzle.hpp │ │ ├── vector_angle.hpp │ │ ├── vector_angle.inl │ │ ├── vector_query.hpp │ │ ├── vector_query.inl │ │ ├── wrap.hpp │ │ └── wrap.inl │ │ ├── integer.hpp │ │ ├── mat2x2.hpp │ │ ├── mat2x3.hpp │ │ ├── mat2x4.hpp │ │ ├── mat3x2.hpp │ │ ├── mat3x3.hpp │ │ ├── mat3x4.hpp │ │ ├── mat4x2.hpp │ │ ├── mat4x3.hpp │ │ ├── mat4x4.hpp │ │ ├── matrix.hpp │ │ ├── packing.hpp │ │ ├── simd │ │ ├── common.h │ │ ├── exponential.h │ │ ├── geometric.h │ │ ├── integer.h │ │ ├── matrix.h │ │ ├── neon.h │ │ ├── packing.h │ │ ├── platform.h │ │ ├── trigonometric.h │ │ └── vector_relational.h │ │ ├── trigonometric.hpp │ │ ├── vec2.hpp │ │ ├── vec3.hpp │ │ ├── vec4.hpp │ │ └── vector_relational.hpp │ └── visualization │ ├── base_visualizer.h │ ├── image_visualizer.h │ └── visualization_factory.h ├── launch ├── base.launch ├── base.launch.py ├── example.launch ├── example.launch.py ├── latlon_convert.launch ├── launch_planning_and_control.py ├── launch_replay_ftte.launch ├── launch_vehicle_control_node.py ├── mavs_example.launch ├── mavs_example.launch.py ├── mavs_example_base.launch ├── mavs_example_map.launch ├── mavs_example_proving_ground.launch ├── mavs_example_proving_ground.launch.py ├── mavs_pf_example.launch ├── mavs_pf_ftte_example.launch ├── msu_base.launch ├── msu_base_sim.launch ├── msu_base_sim_proving_ground.launch ├── msu_example.launch └── skid_steer_example.launch ├── mavs_result_logger.py ├── package_ros1.xml ├── package_ros2.xml ├── rviz └── nature.rviz └── src ├── control ├── nature_bot_state_publisher.cpp ├── nature_control_node.cpp ├── pid_controller.cpp ├── pure_pursuit_controller.cpp ├── tinyfiledialogs.c └── tinyfiledialogs.h ├── node ├── clock_publisher.cpp └── node_proxy.cpp ├── perception ├── elevation_grid.cpp ├── ftte │ ├── matrix.cpp │ ├── moreland.cpp │ ├── nature_ftte_node.cpp │ ├── vehicle.cpp │ └── voxel_grid.cpp ├── nature_map_publisher_node.cpp ├── nature_perception_node.cpp └── point_cloud_generator.cpp ├── planning ├── global │ ├── astar.cpp │ ├── coord_conversions │ │ ├── coord_conversions.cpp │ │ ├── ellipsoid.cpp │ │ └── matrix.cpp │ ├── gps_spoof_node.cpp │ ├── gps_to_enu_node.cpp │ ├── nature_global_path_node.cpp │ └── path_manager_node.cpp └── local │ ├── nature_local_planner_node.cpp │ ├── nature_pf_planner_node.cpp │ ├── pf_planner.cpp │ ├── rviz_spline_plotter.cpp │ ├── spline_path.cpp │ ├── spline_planner.cpp │ └── spline_plotter.cpp ├── simulation └── nature_sim_test_node.cpp └── visualization └── image_visualizer.cpp /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CGoodin/nature-stack/HEAD/.gitignore -------------------------------------------------------------------------------- /CMakeLists_ros1.cmake: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CGoodin/nature-stack/HEAD/CMakeLists_ros1.cmake -------------------------------------------------------------------------------- /CMakeLists_ros2.cmake: -------------------------------------------------------------------------------- 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