├── .gitattributes ├── .gitignore ├── .travis.yml ├── LICENSE ├── README.md ├── _config.yml ├── precomputation ├── P3D_Q2D_RS.m ├── P3D_Q2D_RS_warmstart.m ├── Q10D_Q3D.m └── Q6D_Q3D_RS.m └── ros └── src ├── fastrack ├── CMakeLists.txt ├── exec │ └── replanner_node.cpp ├── include │ └── fastrack │ │ ├── bound │ │ ├── box.h │ │ ├── cylinder.h │ │ ├── sphere.h │ │ ├── tracking_bound.h │ │ └── tracking_bound_ros.h │ │ ├── control │ │ ├── control_bound.h │ │ ├── quadrotor_control.h │ │ ├── quadrotor_control_bound_box.h │ │ ├── quadrotor_control_bound_cylinder.h │ │ ├── scalar_bound_interval.h │ │ └── vector_bound_box.h │ │ ├── dynamics │ │ ├── dynamics.h │ │ ├── kinematics.h │ │ ├── planar_dubins_dynamics_3d.h │ │ ├── quadrotor_decoupled_6d.h │ │ ├── quadrotor_decoupled_6d_rel_kinematics.h │ │ ├── quadrotor_decoupled_6d_rel_planar_dubins_3d.h │ │ └── relative_dynamics.h │ │ ├── environment │ │ ├── balls_in_box.h │ │ ├── balls_in_box_occupancy_map.h │ │ ├── environment.h │ │ └── occupancy_map.h │ │ ├── planning │ │ ├── graph_dynamic_planner.h │ │ ├── kinematic_planner.h │ │ ├── ompl_kinematic_planner.h │ │ ├── planar_dubins_planner.h │ │ ├── planner.h │ │ ├── planner_manager.h │ │ └── replanner.h │ │ ├── sensor │ │ ├── sensor.h │ │ ├── sphere_sensor.h │ │ └── sphere_sensor_params.h │ │ ├── state │ │ ├── planar_dubins_3d.h │ │ ├── position_velocity.h │ │ ├── position_velocity_rel_planar_dubins_3d.h │ │ ├── position_velocity_rel_position_velocity.h │ │ ├── relative_state.h │ │ └── state.h │ │ ├── tracking │ │ └── tracker.h │ │ ├── trajectory │ │ └── trajectory.h │ │ ├── utils │ │ ├── kdtree_map.h │ │ ├── matlab_file_reader.h │ │ ├── searchable_set.h │ │ ├── types.h │ │ └── uncopyable.h │ │ └── value │ │ ├── analytical_kinematic_box_quadrotor_decoupled_6d.h │ │ ├── matlab_value_function.h │ │ └── value_function.h ├── launch │ └── replanner.launch ├── manifest.dox ├── manifest.xml ├── matlab │ ├── @Mass4DRelDubins │ │ ├── Mass4DRelDubins.m │ │ ├── dynamics.m │ │ ├── optCtrl.m │ │ └── optDstb.m │ ├── ComputeTEB.m │ ├── PlotValueXY.m │ └── README.md ├── modules │ ├── FindEigen3.cmake │ ├── FindFlann.cmake │ └── FindMatio.cmake ├── package.xml ├── rosdoc.yaml ├── src │ ├── analytical_kinematic_box_quadrotor_decoupled_6d.cpp │ ├── balls_in_box.cpp │ ├── balls_in_box_occupancy_map.cpp │ ├── matlab_file_reader.cpp │ ├── planar_dubins_3d.cpp │ ├── position_velocity.cpp │ ├── quadrotor_decoupled_6d_rel_planar_dubins_3d.cpp │ ├── replanner.cpp │ └── state.cpp └── test │ ├── test_control_bounds.cpp │ ├── test_kdtree_map.cpp │ └── test_main.cpp ├── fastrack_crazyflie_demos ├── CMakeLists.txt ├── exec │ ├── analytical_quadrotor_decoupled_tracker_demo_node.cpp │ ├── control_converter_demo_node.cpp │ ├── matlab_quadrotor_decoupled_tracker_demo_node.cpp │ ├── ompl_kinematic_planner_demo_node.cpp │ ├── planar_dubins_planner_demo_node.cpp │ ├── planar_dubins_planner_manager_demo_node.cpp │ ├── planar_dubins_reference_converter_demo_node.cpp │ ├── position_velocity_planner_manager_demo_node.cpp │ ├── position_velocity_reference_converter_demo_node.cpp │ ├── sphere_sensor_demo_node.cpp │ └── state_converter_demo_node.cpp ├── include │ └── fastrack_crazyflie_demos │ │ ├── control_converter.h │ │ ├── reference_converter.h │ │ └── state_converter.h ├── launch │ ├── analytical_quadrotor_decoupled_tracker.launch │ ├── control_converter.launch │ ├── matlab_quadrotor_decoupled_tracker.launch │ ├── ompl_kinematic_planner.launch │ ├── planar_dubins_planner.launch │ ├── planar_dubins_planner_manager.launch │ ├── planar_dubins_reference_converter.launch │ ├── position_velocity_planner_manager.launch │ ├── position_velocity_reference_converter.launch │ ├── rviz.launch │ ├── software_demo.launch │ ├── software_dubins_demo.launch │ ├── sphere_sensor.launch │ └── state_converter.launch ├── modules │ ├── FindEigen3.cmake │ ├── FindFlann.cmake │ └── FindMatio.cmake ├── package.xml ├── rviz │ └── fastrack_crazyflie_demos.rviz └── src │ ├── 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