├── .clang-format ├── .clang-tidy ├── .github └── workflows │ ├── github-actions-CI-basic.yml │ ├── github-actions-CI-clang-tidy.yml │ ├── github-actions-CI-sanitizers-address-memory.yml │ └── github-actions-CI-sanitizers-thread-UB.yml ├── .gitignore ├── CMakeLists.txt ├── Docker ├── Dockerfile └── install-dependencies-for-docker-image.sh ├── LICENSE ├── README.md ├── cmake ├── CMakeUninstall.cmake.in ├── FindCCD.cmake ├── FindEigen3.cmake ├── FindFCL.cmake ├── FindGMP.cmake ├── FindOMPL.cmake ├── Findsanitizers.cmake ├── Findstatic_analysis.cmake ├── sanitizers │ ├── FindASan.cmake │ ├── FindMSan.cmake │ ├── FindTSan.cmake │ ├── FindUBSan.cmake │ └── sanitize-helpers.cmake └── static_analysis │ └── clang_tidy.cmake ├── demo ├── CMakeLists.txt ├── DemoHRMRigidBodyPlanning3D.cpp ├── DemoOMPLArticulatedBodyPlanning3D.cpp ├── DemoOMPLRigidBodyPlanning3D.cpp ├── DemoProbHRMArticulatedBodyPlanning3D.cpp ├── matlab │ ├── geometry │ │ ├── Environment2D.m │ │ ├── Environment3D.m │ │ ├── MultiBodyTree2D.m │ │ ├── MultiBodyTree3D.m │ │ ├── RobotInit2D.m │ │ ├── RobotInit3D.m │ │ ├── SuperEllipse.m │ │ └── SuperQuadrics.m │ ├── initAddpath.m │ ├── loadPlanningScene.m │ ├── loadResults.m │ ├── movie_results_hrm_3D.m │ ├── planning_config_2D.m │ ├── planning_config_3D.m │ ├── plot_results_graph_2D.m │ ├── plot_results_graph_3D.m │ ├── plot_results_hrm_2D.m │ ├── plot_results_hrm_3D.m │ ├── plot_results_ompl_3D.m │ └── util │ │ ├── GJK.m │ │ ├── PathValidation3D.m │ │ ├── PlotBox.m │ │ ├── PlotRobotPose.m │ │ ├── generateRandomJointAngles.m │ │ ├── generateRobot.m │ │ ├── par2rotm.m │ │ ├── rot2.m │ │ ├── sc_eps.m │ │ └── vertexInterpolation.m └── python │ ├── MultiBodyTree.py │ ├── SuperQuadrics.py │ ├── environment.yml │ ├── plot_results_hrm_3D.py │ ├── plot_results_ompl_3D.py │ ├── requirements.txt │ ├── result_loader.py │ ├── robot_generator.py │ └── test_geometry.py ├── doc ├── Doxyfile └── readme.md ├── hrmConfig.cmake.in ├── include └── hrm │ ├── config.h.in │ ├── datastructure │ ├── DataType.h │ ├── FreeSpace-inl.h │ ├── FreeSpace.h │ ├── FreeSpace2D.h │ ├── FreeSpace3D.h │ ├── Interval.h │ ├── MultiBodyTree.h │ ├── MultiBodyTree2D.h │ └── MultiBodyTree3D.h │ ├── geometry │ ├── LineIntersection.h │ ├── MeshGenerator.h │ ├── PointInPoly.h │ ├── SuperEllipse.h │ ├── SuperQuadrics.h │ └── TightFitEllipsoid.h │ ├── planners │ ├── HRM2D.h │ ├── HRM2DKC.h │ ├── HRM3D.h │ ├── HRM3DAblation-inl.h │ ├── HRM3DAblation.h │ ├── HighwayRoadMap-inl.h │ ├── HighwayRoadMap.h │ ├── PlanningRequest.h │ ├── PlanningResult.h │ ├── ProbHRM3D.h │ └── ompl_interface │ │ ├── OMPL2D.h │ │ ├── OMPL3D.h │ │ ├── OMPL3DArticulated.h │ │ ├── OMPLInterface-inl.h │ │ └── OMPLInterface.h │ ├── test │ └── util │ │ ├── DisplayPlanningData-inl.h │ │ ├── DisplayPlanningData.h │ │ ├── GTestUtils-inl.h │ │ ├── GTestUtils.h │ │ └── ParsePlanningSettings.h │ └── util │ ├── DistanceMetric.h │ ├── EllipsoidSQCollisionFCL.h │ ├── EllipsoidSeparation.h │ ├── ExponentialFunction.h │ ├── InterpolateSE3.h │ ├── Parse2dCsvFile.h │ └── ParseURDF.h ├── resources ├── 2D │ ├── env_ellipse_cluttered_2D_arena.csv │ ├── env_ellipse_cluttered_2D_obstacle.csv │ ├── env_ellipse_gym_maze_2D_arena.csv │ ├── env_ellipse_gym_maze_2D_obstacle.csv │ ├── env_ellipse_maze_2D_arena.csv │ ├── env_ellipse_maze_2D_obstacle.csv │ ├── env_ellipse_sparse_2D_arena.csv │ ├── env_ellipse_sparse_2D_obstacle.csv │ ├── env_superellipse_NAO_lab_2D_arena.csv │ ├── env_superellipse_NAO_lab_2D_obstacle.csv │ ├── env_superellipse_cluttered_2D_arena.csv │ ├── env_superellipse_cluttered_2D_obstacle.csv │ ├── env_superellipse_maze1_2D_arena.csv │ ├── env_superellipse_maze1_2D_obstacle.csv │ ├── env_superellipse_maze2_2D_arena.csv │ ├── env_superellipse_maze2_2D_obstacle.csv │ ├── env_superellipse_maze3_2D_arena.csv │ ├── env_superellipse_maze3_2D_obstacle.csv │ ├── env_superellipse_sparse_2D_arena.csv │ ├── env_superellipse_sparse_2D_obstacle.csv │ ├── robot_NAO_silhouette_2D.csv │ ├── robot_S_shape_2D.csv │ ├── robot_rabbit_2D.csv │ ├── robot_single_body_2D.csv │ ├── setting_ellipse_cluttered_2D.csv │ ├── setting_ellipse_gym_maze_2D.csv │ ├── setting_ellipse_maze_2D.csv │ ├── setting_ellipse_sparse_2D.csv │ ├── setting_superellipse_NAO_lab_2D.csv │ ├── setting_superellipse_cluttered_2D.csv │ ├── setting_superellipse_maze1_2D.csv │ ├── setting_superellipse_maze2_2D.csv │ ├── setting_superellipse_maze3_2D.csv │ └── setting_superellipse_sparse_2D.csv ├── 3D │ ├── env_ellipsoid_cluttered_3D_arena.csv │ ├── env_ellipsoid_cluttered_3D_obstacle.csv │ ├── env_ellipsoid_maze_3D_arena.csv │ ├── env_ellipsoid_maze_3D_obstacle.csv │ ├── env_ellipsoid_sparse_3D_arena.csv │ ├── env_ellipsoid_sparse_3D_obstacle.csv │ ├── env_superquadrics_cluttered_3D_arena.csv │ ├── env_superquadrics_cluttered_3D_obstacle.csv │ ├── env_superquadrics_home_3D_arena.csv │ ├── env_superquadrics_home_3D_obstacle.csv │ ├── env_superquadrics_maze_3D_arena.csv │ ├── env_superquadrics_maze_3D_obstacle.csv │ ├── env_superquadrics_narrow_3D_arena.csv │ ├── env_superquadrics_narrow_3D_obstacle.csv │ ├── env_superquadrics_sparse_3D_arena.csv │ ├── env_superquadrics_sparse_3D_obstacle.csv │ ├── env_superquadrics_tunnel_3D_arena.csv │ ├── env_superquadrics_tunnel_3D_obstacle.csv │ ├── robot_chair_3D.csv │ ├── robot_rabbit2_3D.csv │ ├── robot_rabbit_3D.csv │ ├── robot_snake_3D.csv │ ├── robot_tree_3D.csv │ ├── setting_ellipsoid_cluttered_3D.csv │ ├── setting_ellipsoid_maze_3D.csv │ ├── setting_ellipsoid_sparse_3D.csv │ ├── setting_superquadrics_cluttered_3D.csv │ ├── setting_superquadrics_home_3D.csv │ ├── setting_superquadrics_maze_3D.csv │ ├── setting_superquadrics_narrow_3D.csv │ ├── setting_superquadrics_sparse_3D.csv │ ├── setting_superquadrics_tunnel_3D.csv │ └── urdf │ │ ├── rabbit.urdf │ │ ├── rabbit.xacro │ │ ├── snake.urdf │ │ ├── snake.xacro │ │ ├── tree.urdf │ │ └── tree.xacro ├── SO3_sequence │ ├── q_hopf_10.csv │ ├── q_hopf_100.csv │ ├── q_hopf_2.csv │ ├── q_hopf_5.csv │ ├── q_hopf_60.csv │ ├── q_hopf_72.csv │ └── q_icosahedron_60.csv └── readme.md ├── script ├── format-clang.sh ├── format-cmake.sh ├── install-dependencies-on-localhost-macOS.sh ├── install-dependencies-on-localhost.sh └── start-docker.sh ├── src ├── CMakeLists.txt ├── datastructure │ ├── CMakeLists.txt │ ├── FreeSpace2D.cpp │ ├── FreeSpace3D.cpp │ ├── Interval.cpp │ ├── MultiBodyTree2D.cpp │ └── MultiBodyTree3D.cpp ├── geometry │ ├── CMakeLists.txt │ ├── LineIntersection.cpp │ ├── MeshGenerator.cpp │ ├── PointInPoly.cpp │ ├── SuperEllipse.cpp │ ├── SuperQuadrics.cpp │ └── TightFitEllipsoid.cpp ├── planners │ ├── CMakeLists.txt │ ├── HRM2D.cpp │ ├── HRM2DKC.cpp │ ├── HRM3D.cpp │ ├── HighwayRoadMap.cpp │ ├── ProbHRM3D.cpp │ └── ompl_interface │ │ ├── CMakeLists.txt │ │ ├── OMPL2D.cpp │ │ ├── OMPL3D.cpp │ │ └── OMPL3DArticulated.cpp ├── test │ └── util │ │ ├── CMakeLists.txt │ │ ├── DisplayPlanningData.cpp │ │ ├── GTestUtils.cpp │ │ └── ParsePlanningSettings.cpp └── util │ ├── CMakeLists.txt 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