├── .gitattributes ├── .gitignore ├── .gitmodules ├── README.md ├── control_tree_car ├── CMakeLists.txt ├── applications │ ├── CMakeLists.txt │ ├── common │ │ ├── CMakeLists.txt │ │ ├── common │ │ │ ├── CMakeLists.txt │ │ │ └── common │ │ │ │ ├── behavior_base.h │ │ │ │ ├── behavior_manager.cpp │ │ │ │ ├── behavior_manager.h │ │ │ │ ├── common.cpp │ │ │ │ ├── common.h │ │ │ │ ├── control_tree.h │ │ │ │ ├── utility.cpp │ │ │ │ └── utility.h │ │ └── nodes │ │ │ ├── CMakeLists.txt │ │ │ └── nodes │ │ │ └── trajectory_controller_node.cpp │ ├── obstacles │ │ ├── CMakeLists.txt │ │ ├── komo │ │ │ ├── CMakeLists.txt │ │ │ └── komo │ │ │ │ ├── komo_factory.cpp │ │ │ │ ├── komo_factory.h │ │ │ │ ├── obstacle_avoidance_dec.cpp │ │ │ │ ├── obstacle_avoidance_dec.h │ │ │ │ ├── obstacle_avoidance_linear.h │ │ │ │ ├── obstacle_avoidance_tree.cpp │ │ │ │ ├── obstacle_avoidance_tree.h │ │ │ │ ├── trajectory_plot.cpp │ │ │ │ ├── trajectory_plot.h │ │ │ │ ├── utility_komo.cpp │ │ │ │ ├── utility_komo.h │ │ │ │ └── velocity_axis.h │ │ └── nodes │ │ │ ├── CMakeLists.txt │ │ │ └── nodes │ │ │ ├── obstacle_avoidance_evaluation_node.cpp │ │ │ ├── obstacle_avoidance_tree_node.cpp │ │ │ ├── obstacle_common.cpp │ │ │ ├── obstacle_common.h │ │ │ └── obstacle_popping_control_node.cpp │ └── pedestrians │ │ ├── CMakeLists.txt │ │ ├── nodes │ │ ├── CMakeLists.txt │ │ └── nodes │ │ │ ├── pedestrian_common.cpp │ │ │ ├── pedestrian_common.h │ │ │ ├── pedestrian_popping_control_node.cpp │ │ │ └── pedestrian_tree_qp_node.cpp │ │ ├── qp │ │ ├── CMakeLists.txt │ │ └── qp │ │ │ ├── MPC_model.cpp │ │ │ ├── MPC_model.h │ │ │ ├── QP_constraints.cpp │ │ │ ├── QP_constraints.h │ │ │ ├── QP_tree_problem_DecQP.cpp │ │ │ ├── QP_tree_problem_DecQP.h │ │ │ ├── QP_tree_problem_DecQP_utils.cpp │ │ │ ├── QP_tree_problem_DecQP_utils.h │ │ │ ├── QP_tree_problem_OSQP.cpp │ │ │ ├── QP_tree_problem_OSQP.h │ │ │ ├── QP_tree_solver_base.cpp │ │ │ ├── QP_tree_solver_base.h │ │ │ ├── control_tree_plot.cpp │ │ │ ├── control_tree_plot.h │ │ │ ├── stopline_qp_tree.cpp │ │ │ └── stopline_qp_tree.h │ │ └── test │ │ ├── CMakeLists.txt │ │ ├── common │ │ ├── komo_problems_cpp │ │ ├── komo_problems_h │ │ ├── qp_problems.cpp │ │ └── qp_problems.h │ │ ├── test_KOMO_collision_avoidance_cpp │ │ ├── test_KOMO_utility_cpp │ │ ├── test_MPC_model.cpp │ │ ├── test_QP_DecQP.cpp │ │ ├── test_QP_DecQP_utils.cpp │ │ ├── test_QP_OSQP.cpp │ │ ├── test_QP_constraints.cpp │ │ ├── test_emergency_braking.cpp │ │ ├── test_obstacle_markers_cpp │ │ ├── test_probability_fusion.cpp │ │ ├── test_sparsification.cpp │ │ └── test_utility_cpp ├── data │ ├── LGP-real-time-1d.g │ ├── LGP-real-time.g │ ├── doc │ │ ├── obstacles.png │ │ └── pedestrians.png │ ├── meshes │ │ ├── bmw │ │ │ ├── BMW.png │ │ │ ├── G12Pos8.dae │ │ │ ├── G12Pos8simple.dae │ │ │ ├── _6a00d83451db4269e200e55380b5f68834-800wi.jpg │ │ │ ├── black_walnut.jpg │ │ │ ├── bleather.png.001.png │ │ │ ├── bmw.dae │ │ │ ├── bmw_.dae │ │ │ ├── bmw__.dae │ │ │ ├── buton.png.002.png │ │ │ ├── carpet.jpg │ │ │ ├── disp.png.001.png │ │ │ ├── grill.png │ │ │ ├── tleather.png │ │ │ └── wheel.png │ │ ├── person_standing │ │ │ ├── materials │ │ │ │ └── textures │ │ │ │ │ ├── eyebrow001-unmodified.png │ │ │ │ │ ├── eyebrow001.png │ │ │ │ │ ├── green_eye.png │ │ │ │ │ ├── jeans01_normals.png │ │ │ │ │ ├── jeans_basic_diffuse.png │ │ │ │ │ ├── male02_diffuse_black-unmodified.png │ │ │ │ │ ├── male02_diffuse_black.png │ │ │ │ │ ├── teeth.png │ │ │ │ │ ├── tshirt02_normals.png │ │ │ │ │ ├── tshirt02_texture.png │ │ │ │ │ └── young_lightskinned_male_diffuse.png │ │ │ ├── meshes │ │ │ │ └── standing.dae │ │ │ ├── model.config │ │ │ └── model.sdf │ │ └── person_walking │ │ │ ├── materials │ │ │ └── textures │ │ │ │ ├── eyebrow001-unmodified.png │ │ │ │ ├── eyebrow001.png │ │ │ │ ├── green_eye.png │ │ │ │ ├── jeans01_normals.png │ │ │ │ ├── jeans_basic_diffuse.png │ │ │ │ ├── male02_diffuse_black-unmodified.png │ │ │ │ ├── male02_diffuse_black.png │ │ │ │ ├── teeth.png │ │ │ │ ├── tshirt02_normals.png │ │ │ │ ├── tshirt02_texture.png │ │ │ │ └── young_lightskinned_male_diffuse.png │ │ │ ├── meshes │ │ │ └── walking.dae │ │ │ ├── model.config │ │ │ └── model.sdf │ └── urdf │ │ └── car.urdf ├── externals │ └── CMakeLists.txt ├── launch │ ├── display_obstacle_avoidance.launch │ ├── display_pedestrian.launch │ ├── display_single_car.launch │ ├── display_three_cars.launch │ ├── display_two_cars.launch │ ├── obstacle_avoidance.launch │ ├── obstacle_avoidance_.launch │ ├── pedestrian.launch │ ├── pedestrian_komo.launch │ ├── single_car.launch │ ├── three_cars.launch │ └── two_cars.launch ├── package.xml └── rviz │ ├── car.rviz │ ├── car.vcg │ ├── obstacle_avoidance.rviz │ ├── pedestrian.rviz │ ├── three_cars.rviz │ └── two_cars.rviz ├── lgp_car_gazebo_plugin ├── CMakeLists.txt ├── meshes │ ├── car.blend │ ├── car.blend1 │ └── car.dae ├── package.xml ├── src │ ├── lgp_car.cpp │ ├── lgp_car.hpp │ ├── lgp_pedestrian.cpp │ └── lgp_pedestrian.hpp └── 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