├── .gitignore ├── .vscode ├── c_cpp_properties.json ├── launch.json └── settings.json ├── README.md ├── docker └── install_build_run.sh ├── docker_compose ├── .gitignore ├── README.md ├── docker-compose.yml └── docker │ └── ros1 │ ├── .gazebo │ └── .gitkeep │ ├── .ros │ └── .gitkeep │ ├── Dockerfile │ └── script │ └── install_extra_libs.sh ├── extralibs └── DecomROS │ ├── decom_ros_msgs │ ├── CMakeLists.txt │ ├── msg │ │ ├── Ellipsoid.msg │ │ ├── EllipsoidArray.msg │ │ ├── Polyhedron.msg │ │ └── PolyhedronArray.msg │ └── package.xml │ └── decom_rviz_plugins │ ├── CMakeLists.txt │ ├── icons │ └── classes │ │ ├── EllipsoidArray.png │ │ └── PolyhedronArray.png │ ├── include │ └── decom_rviz_plugins │ │ ├── data_ros_utils.h │ │ ├── data_type.h │ │ ├── data_utils.h │ │ ├── decomp_base.h │ │ ├── ellipsoid.h │ │ ├── ellipsoid_decomp.h │ │ ├── geometric_utils.h │ │ ├── iterative_decomp.h │ │ ├── line_segment.h │ │ ├── multi_detector.h │ │ ├── polyhedron.h │ │ └── seed_decomp.h │ ├── package.xml │ ├── plugin_description.xml │ └── src │ ├── bound_visual.cpp │ ├── bound_visual.h │ ├── ellipsoid_array_display.cpp │ ├── ellipsoid_array_display.h │ ├── ellipsoid_array_visual.cpp │ ├── ellipsoid_array_visual.h │ ├── mesh_visual.cpp │ ├── mesh_visual.h │ ├── multi_detector.cpp │ ├── polyhedron_array_display.cpp │ ├── polyhedron_array_display.h │ ├── vector_visual.cpp │ └── vector_visual.h ├── hagen_planner ├── drone_traj_contol │ ├── .idea │ │ ├── .gitignore │ │ ├── drone_path_traj_contol.iml │ │ ├── misc.xml │ │ ├── modules.xml │ │ └── vcs.xml │ ├── CMakeLists.txt │ ├── cfg │ │ ├── DroneReg.cfg │ │ ├── pid_params_f450.yaml │ │ ├── pid_params_path.yaml │ │ └── pid_params_path_boat.yaml │ ├── package.xml │ └── src │ │ ├── interactive_goal.cpp │ │ ├── mav_ros_take_off.cc │ │ ├── path_traj_mhe.cpp │ │ ├── path_traj_mhe.h │ │ ├── path_traj_reg.cpp │ │ └── path_traj_reg.h ├── estimation_opt │ ├── CMakeLists.txt │ ├── include │ │ └── estimation_opt │ │ │ └── kalman.h │ ├── package.xml │ └── src │ │ └── kalman.cpp ├── map_building_opt │ ├── CMakeLists.txt │ ├── include │ │ └── map_building_opt │ │ │ ├── edt_environment.h │ │ │ └── edtoctomap.h │ ├── package.xml │ └── src │ │ ├── edt_environment.cpp │ │ └── edtoctomap.cpp ├── motion_model │ ├── CMakeLists.txt │ ├── include │ │ └── motion_model │ │ │ ├── model.h │ │ │ ├── spatial_bicycle_models.h │ │ │ ├── spatial_state.h │ │ │ └── temporal_state.h │ ├── package.xml │ └── src │ │ ├── model.cpp │ │ ├── spatial_bicycle_models.cpp │ │ ├── spatial_state.cpp │ │ └── temporal_state.cpp ├── mpc_opt │ ├── CMakeLists.txt │ ├── include │ │ └── mpc_opt │ │ │ ├── linear_mpc_opt.h │ │ │ ├── linear_mpc_trajectory_tracker.h │ │ │ ├── linearized_mpc_opt.h │ │ │ ├── linearized_mpc_trajectory_tracker.h │ │ │ ├── mpc_opt.h │ │ │ ├── mpc_solver.h │ │ │ ├── nonlinear_mpc_opt.h │ │ │ ├── sparse_utils.h │ │ │ ├── trajectory_regulator.h │ │ │ └── trajectory_tracker.h │ ├── models │ │ └── model_f.casadi │ ├── package.xml │ └── src │ │ ├── linear_mpc_opt.cpp │ │ ├── linear_mpc_trajectory_tracker.cpp │ │ ├── linearized_mpc_opt.cpp │ │ ├── linearized_mpc_trajectory_tracker.cpp │ │ ├── mpc_opt.cpp │ │ ├── mpc_solver.cpp │ │ ├── nonlinear_mpc_opt.cpp │ │ ├── trajectory_regulator.cpp │ │ └── trajectory_tracker.cpp ├── path_finding_opt │ ├── CMakeLists.txt │ ├── include │ │ └── path_finding_opt │ │ │ ├── dyn_a_star.h │ │ │ ├── graph_search.h │ │ │ ├── jps_planner.h │ │ │ └── timer.hpp │ ├── package.xml │ └── src │ │ ├── dyn_a_star.cpp │ │ ├── graph_search.cpp │ │ └── jps_planner.cpp ├── quad_description │ ├── CMakeLists.txt │ ├── Media │ │ └── materials │ │ │ ├── scripts │ │ │ └── artag.material │ │ │ └── textures │ │ │ └── artag.png │ ├── launch │ │ ├── frames.gv │ │ ├── frames.pdf │ │ └── quad_rviz.launch │ ├── maps │ │ ├── base_local_planner_params.yaml │ │ ├── costmap_common_params.yaml │ │ ├── global_costmap_params.yaml │ │ ├── local_costmap_params.yaml │ │ ├── wg_map.pgm │ │ └── wg_map.yaml │ ├── materials │ │ ├── scripts │ │ │ └── artag.material │ │ └── textures │ │ │ └── artag.png │ ├── meshes │ │ ├── asus_camera_simple.dae │ │ ├── camera.dae │ │ ├── hummingbird.dae │ │ ├── iris.dae │ │ ├── iris_prop_ccw.dae │ │ ├── iris_prop_cw.dae │ │ ├── kinect.dae │ │ ├── kinect.tga │ │ ├── kinect_camera_simple.dae │ │ ├── kinect_camera_simple.stl │ │ ├── max_sonar_ez4.dae │ │ ├── propeller_ccw.dae │ │ ├── propeller_cw.dae │ │ ├── robotparts.png │ │ ├── thermaleye_camera_hector_v1.dae │ │ └── thermaleye_camera_hector_v2.dae │ ├── package.xml │ ├── resource │ │ ├── quad.rviz │ │ ├── quad_kinect.rviz │ │ └── quad_laser.rviz │ ├── scripts │ │ └── quad_descriptor.py │ └── urdf │ │ ├── component_snippets.xacro │ │ ├── iris.xacro │ │ ├── iris_base.xacro │ │ ├── kit_c.urdf │ │ ├── kit_c.xacro │ │ ├── kit_c_base.xacro │ │ ├── kit_c_generic_odometry_sensor.gazebo │ │ ├── kit_c_kinect.xacro │ │ ├── multirotor_base.xacro │ │ └── sensors │ │ ├── generic_camera.urdf.xacro │ │ ├── sonar_sensor.urdf.xacro │ │ ├── static_camera.gazebo.xacro │ │ └── static_camera.urdf.xacro ├── rebound_opt │ ├── CMakeLists.txt │ ├── include │ │ └── rebound_opt │ │ │ ├── LBFGS.h │ │ │ ├── LBFGSB.h │ │ │ ├── LBFGSpp │ │ │ ├── BFGSMat.h │ │ │ ├── BKLDLT.h │ │ │ ├── Cauchy.h │ │ │ ├── LineSearchBacktracking.h │ │ │ ├── LineSearchBracketing.h │ │ │ ├── LineSearchMoreThuente.h │ │ │ ├── LineSearchNocedalWright.h │ │ │ ├── Param.h │ │ │ └── SubspaceMin.h │ │ │ ├── gradient_descent_optimizer.h │ │ │ ├── lbfgs.hpp │ │ │ ├── rebound_optimizer.h │ │ │ └── uniform_bspline.h │ ├── package.xml │ └── src │ │ ├── gradient_descent_optimizer.cpp │ │ ├── rebound_optimizer.cpp │ │ └── uniform_bspline.cpp ├── scripts │ ├── install_geographiclib_datasets.sh │ ├── startup_linearized.smux │ ├── startup_regulator.smux │ ├── startup_remote.smux │ ├── startup_tracker.smux │ └── startup_water.smux ├── spline_opt │ ├── CMakeLists.txt │ ├── include │ │ └── spline_opt │ │ │ ├── non_uniform_bspline.h │ │ │ └── reference_path.h │ ├── package.xml │ └── src │ │ ├── non_uniform_bspline.cpp │ │ └── reference_path.cpp ├── state_machine │ ├── CMakeLists.txt │ ├── README.md │ ├── config.in │ │ └── config.h.in │ ├── config │ │ ├── fixed_joint_m100.urdf │ │ ├── fixed_joint_quad.urdf │ │ ├── octomap.yaml │ │ ├── rviz.launch │ │ ├── traj.rviz │ │ ├── traj_px4.rviz │ │ ├── traj_px4_tmp.rviz │ │ ├── waypoint_nav_plugin.rviz │ │ └── waypoint_navigation_plugin.rviz │ ├── include │ │ └── state_machine │ │ │ ├── backward.hpp │ │ │ ├── fsm_linear_trajectory_tracker.h │ │ │ ├── fsm_linearized_trajectory_tracker.h │ │ │ ├── fsm_trajectory_point_stabilizer.h │ │ │ ├── fsm_trajectory_tracker.h │ │ │ └── simplex.h │ ├── launch │ │ ├── fsm_start.launch │ │ ├── fsm_trajectory_linearized_traj.launch │ │ ├── fsm_trajectory_point_stabilizer.launch │ │ ├── fsm_trajectory_tracker.launch │ │ ├── fsm_trajectory_tracker_linear.launch │ │ ├── px4_reg.launch │ │ ├── reg_mhe.launch │ │ ├── rviz_p4.launch │ │ └── take_off.launch │ ├── msg │ │ └── Bspline.msg │ ├── package.xml │ ├── params │ │ ├── params_point_stabilizer.yaml │ │ ├── params_trajectory_tracker.yaml │ │ ├── params_trajectory_tracker_linear.yaml │ │ └── params_trajectory_tracker_linearized.yaml │ └── src │ │ ├── flight_controller.cpp │ │ ├── fsm_linear_trajectory_tracker.cpp │ │ ├── fsm_linearied_trajectory_tracker.cpp │ │ ├── fsm_trajectory_point_stabilizer.cpp │ │ └── fsm_trajectory_tracker.cpp ├── traj_common │ ├── CMakeLists.txt │ ├── include │ │ └── traj_common │ │ │ ├── bspline_utils.h │ │ │ ├── corridor.h │ │ │ ├── display_msgs.h │ │ │ ├── math_utils.h │ │ │ ├── param_passer.h │ │ │ ├── planning_saving.h │ │ │ └── planning_visualization.h │ ├── package.xml │ └── src │ │ ├── bspline_utils.cpp │ │ ├── corridor.cpp │ │ ├── display_msg.cpp │ │ ├── math_utils.cpp │ │ ├── param_passer.cpp │ │ ├── planning_saving.cpp │ │ └── planning_visualization.cpp └── visual_utils │ ├── hagen_msgs │ ├── CMakeLists.txt │ ├── msg │ │ └── PoseCommand.msg │ └── package.xml │ └── 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