├── .gitignore ├── LICENSE ├── README.md ├── active_perception ├── CMakeLists.txt ├── include │ └── active_perception │ │ ├── frontier_finder.h │ │ ├── graph_node.h │ │ ├── graph_search.h │ │ ├── heading_planner.h │ │ ├── perception_utils.h │ │ └── yaw_graph_utils.h ├── package.xml └── src │ ├── frontier_finder.cpp │ ├── graph_node.cpp │ ├── heading_planner.cpp │ ├── perception_utils.cpp │ └── yaw_graph_utils.cpp ├── airsim_ctrl ├── CMakeLists.txt ├── cmake │ └── FindEigen.cmake ├── config │ └── ctrl_param_fpv.yaml ├── include │ ├── CtrlFSM.h │ ├── CtrlParam.h │ ├── controller.h │ ├── hovthrkf.h │ └── input.h ├── launch │ ├── ctrl_md.launch │ └── ctrl_md_exploration.launch ├── package.xml └── src │ ├── CtrlFSM.cpp │ ├── CtrlParam.cpp │ ├── Ctrl_node.cpp │ ├── controller.cpp │ ├── hovthrkf.cpp │ └── input.cpp ├── airsim_ros_wrapper ├── CMakeLists.txt ├── README.md ├── include │ ├── airsim_ros_wrapper.h │ ├── airsim_settings_parser.h │ ├── math_common.h │ ├── pd_position_controller_simple.h │ └── utils.h ├── launch │ ├── airsim_all.launch │ ├── airsim_car_with_joy_control.launch │ ├── airsim_car_with_joy_control_auto.launch │ ├── airsim_node.launch │ ├── airsim_with_simple_PD_position_controller.launch │ ├── dynamic_constraints.launch │ ├── position_controller_simple.launch │ ├── rviz.launch │ └── static_transforms.launch ├── msg │ ├── Altimeter.msg │ ├── CarControls.msg │ ├── CarState.msg │ ├── Environment.msg │ ├── GPSYaw.msg │ ├── GimbalAngleEulerCmd.msg │ ├── GimbalAngleQuatCmd.msg │ ├── VelCmd.msg │ └── VelCmdGroup.msg ├── package.xml ├── rviz │ └── default.rviz ├── scripts │ └── car_joy.py ├── src │ ├── airsim_node.cpp │ ├── airsim_ros_wrapper.cpp │ ├── airsim_settings_parser.cpp │ ├── pd_position_controller_simple.cpp │ └── pd_position_controller_simple_node.cpp └── srv │ ├── Land.srv │ ├── LandGroup.srv │ ├── Reset.srv │ ├── SetGPSPosition.srv │ ├── SetLocalPosition.srv │ ├── Takeoff.srv │ └── TakeoffGroup.srv ├── figures ├── APACE_white.png ├── airsim.gif └── real_world_combo_num.png ├── pathfinding ├── CMakeLists.txt ├── include │ └── pathfinding │ │ ├── astar.h │ │ ├── graph_search.hpp │ │ ├── kinodynamic_astar.h │ │ ├── matrix_hash.h │ │ └── topo_prm.h ├── package.xml └── src │ ├── astar.cpp │ ├── kinodynamic_astar.cpp │ └── topo_prm.cpp ├── plan_env ├── CMakeLists.txt ├── include │ └── plan_env │ │ ├── edt_environment.h │ │ ├── linear_obj_model.hpp │ │ ├── obj_predictor.h │ │ └── polynomial_traj.hpp ├── package.xml └── src │ ├── edt_environment.cpp │ ├── obj_generator.cpp │ └── obj_predictor.cpp ├── plan_manage ├── CMakeLists.txt ├── config │ ├── exp.rviz │ └── traj.rviz ├── include │ └── plan_manage │ │ ├── agile_perception_fsm.h │ │ ├── plan_container.hpp │ │ ├── planner_manager.h │ │ ├── traj_server.h │ │ ├── utils.h │ │ ├── yaw_graph_utils.h │ │ └── yaw_initial_planner.h ├── launch │ ├── agile_planner_airsim.launch │ ├── algorithm.xml │ └── rviz.launch ├── package.xml └── src │ ├── agile_perception_fsm.cpp │ ├── fast_planner_node.cpp │ ├── planner_manager.cpp │ ├── traj_server.cpp │ ├── traj_server_node.cpp │ ├── yaw_graph_utils.cpp │ └── yaw_initial_planner.cpp ├── settings.json ├── trajectory ├── CMakeLists.txt ├── include │ ├── bspline │ │ ├── bspline_optimizer.h │ │ └── non_uniform_bspline.h │ ├── parallax_util.h │ ├── polynomial │ │ └── polynomial_traj.h │ ├── traj_utils │ │ └── planning_visualization.h │ └── traj_visibility.h ├── msg │ └── Bspline.msg ├── package.xml ├── script │ ├── calc_jacobian.py │ ├── calc_jacobian.pyc │ ├── cost_function.py │ └── dist_to_line.py └── src │ ├── bspline │ ├── bspline_optimizer.cpp │ └── non_uniform_bspline.cpp │ ├── parallax_util.cpp │ ├── polynomial │ ├── polynomial_traj.cpp │ └── traj_generator.cpp │ ├── traj_utils │ ├── planning_visualization.cpp │ └── process_msg.cpp │ └── traj_visibility.cpp ├── uav_utils ├── cmake_utils │ ├── CMakeLists.txt │ ├── cmake │ │ ├── arch.cmake │ │ ├── cmake_modules.cmake │ │ └── color.cmake │ ├── cmake_modules │ │ ├── FindEigen.cmake │ │ ├── FindGSL.cmake │ │ └── FindmvIMPACT.cmake │ └── package.xml ├── multi_map_server │ ├── CMakeLists.txt │ ├── Makefile │ ├── build │ │ ├── CATKIN_IGNORE │ │ ├── CMakeCache.txt │ │ ├── CMakeFiles │ │ │ ├── 2.8.12.2 │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ ├── CompilerIdC │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ └── a.out │ │ │ │ └── CompilerIdCXX │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ └── a.out │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── CMakeError.log │ │ │ ├── CMakeOutput.log │ │ │ ├── CMakeRuleHashes.txt │ │ │ ├── Makefile.cmake │ │ │ ├── Makefile2 │ │ │ ├── ROSBUILD_genmsg_cpp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_genmsg_lisp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_genmsg_py.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_gensrv_cpp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_gensrv_lisp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── TargetDirectories.txt │ │ │ ├── _catkin_empty_exported_target.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── clean_test_results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── cmake.check_cache │ │ │ ├── doxygen.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── multi_map_visualization.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── src │ │ │ │ │ └── multi_map_visualization.cc.o │ │ │ ├── progress.marks │ │ │ ├── rosbuild_clean-test-results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rosbuild_precompile.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rosbuild_premsgsrvgen.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rospack_genmsg.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rospack_genmsg_all.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rospack_genmsg_libexe.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rospack_gensrv.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── run_tests.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-future.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-results-run.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ └── tests.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ ├── Makefile │ │ ├── catkin │ │ │ └── catkin_generated │ │ │ │ └── version │ │ │ │ └── package.cmake │ │ ├── catkin_generated │ │ │ ├── env_cached.sh │ │ │ ├── generate_cached_setup.py │ │ │ ├── installspace │ │ │ │ ├── .rosinstall │ │ │ │ ├── _setup_util.py │ │ │ │ ├── env.sh │ │ │ │ ├── setup.bash │ │ │ │ ├── setup.sh │ │ │ │ └── setup.zsh │ │ │ ├── ordered_paths.cmake │ │ │ ├── setup_cached.sh │ │ │ └── stamps │ │ │ │ └── multi_map_server │ │ │ │ ├── interrogate_setup_dot_py.py.stamp │ │ │ │ └── package.xml.stamp │ │ ├── cmake_install.cmake │ │ ├── devel │ │ │ ├── .catkin │ │ │ ├── .rosinstall │ │ │ ├── _setup_util.py │ │ │ ├── env.sh │ │ │ ├── etc │ │ │ │ └── catkin │ │ │ │ │ └── profile.d │ │ │ │ │ ├── 05.catkin-test-results.sh │ │ │ │ │ ├── 05.catkin_make.bash │ │ │ │ │ └── 05.catkin_make_isolated.bash │ │ │ ├── setup.bash │ │ │ ├── setup.sh │ │ │ └── setup.zsh │ │ └── gtest │ │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── gtest.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ ├── gtest_main.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ └── progress.marks │ │ │ ├── Makefile │ │ │ └── cmake_install.cmake │ ├── include │ │ └── multi_map_server │ │ │ ├── Map2D.h │ │ │ └── Map3D.h │ ├── mainpage.dox │ ├── msg │ │ ├── MultiOccupancyGrid.msg │ │ ├── MultiSparseMap3D.msg │ │ ├── SparseMap3D.msg │ │ └── VerticalOccupancyGridList.msg │ ├── msg_gen │ │ ├── cpp │ │ │ └── include │ │ │ │ └── multi_map_server │ │ │ │ ├── MultiOccupancyGrid.h │ │ │ │ ├── MultiSparseMap3D.h │ │ │ │ ├── SparseMap3D.h │ │ │ │ └── VerticalOccupancyGridList.h │ │ ├── generated │ │ └── lisp │ │ │ ├── MultiOccupancyGrid.lisp │ │ │ ├── MultiSparseMap3D.lisp │ │ │ ├── SparseMap3D.lisp │ │ │ ├── VerticalOccupancyGridList.lisp │ │ │ ├── _package.lisp │ │ │ ├── _package_MultiOccupancyGrid.lisp │ │ │ ├── _package_MultiSparseMap3D.lisp │ │ │ ├── _package_SparseMap3D.lisp │ │ │ ├── _package_VerticalOccupancyGridList.lisp │ │ │ └── multi_map_server-msg.asd │ ├── package.xml │ ├── quadrotor_msgs │ │ ├── CMakeLists.txt │ │ ├── Makefile │ │ ├── build │ │ │ ├── CATKIN_IGNORE │ │ │ ├── CMakeCache.txt │ │ │ ├── CMakeFiles │ │ │ │ ├── 2.8.12.2 │ │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ │ ├── CompilerIdC │ │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ │ └── a.out │ │ │ │ │ └── CompilerIdCXX │ │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ │ └── a.out │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ ├── CMakeError.log │ │ │ │ ├── CMakeOutput.log │ │ │ │ ├── CMakeRuleHashes.txt │ │ │ │ ├── Makefile.cmake │ │ │ │ ├── Makefile2 │ │ │ │ ├── ROSBUILD_genmsg_cpp.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ └── progress.make │ │ │ │ ├── ROSBUILD_genmsg_lisp.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ └── progress.make │ │ │ │ ├── ROSBUILD_genmsg_py.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ └── progress.make │ │ │ │ ├── ROSBUILD_gensrv_cpp.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── ROSBUILD_gensrv_lisp.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── TargetDirectories.txt │ │ │ │ ├── _catkin_empty_exported_target.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── clean_test_results.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── cmake.check_cache │ │ │ │ ├── decode_msgs.dir │ │ │ │ │ ├── CXX.includecache │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ ├── progress.make │ │ │ │ │ └── src │ │ │ │ │ │ └── decode_msgs.cpp.o │ │ │ │ ├── doxygen.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── encode_msgs.dir │ │ │ │ │ ├── CXX.includecache │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ ├── progress.make │ │ │ │ │ └── src │ │ │ │ │ │ └── encode_msgs.cpp.o │ │ │ │ ├── progress.marks │ │ │ │ ├── rosbuild_clean-test-results.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── rosbuild_precompile.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ └── progress.make │ │ │ │ ├── rosbuild_premsgsrvgen.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ └── progress.make │ │ │ │ ├── rospack_genmsg.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ └── progress.make │ │ │ │ ├── rospack_genmsg_all.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ └── progress.make │ │ │ │ ├── rospack_genmsg_libexe.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ └── progress.make │ │ │ │ ├── rospack_gensrv.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── run_tests.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── test-future.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── test-results-run.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── test-results.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── test.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ └── tests.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ ├── Makefile │ │ │ ├── catkin │ │ │ │ └── catkin_generated │ │ │ │ │ └── version │ │ │ │ │ └── package.cmake │ │ │ ├── catkin_generated │ │ │ │ ├── env_cached.sh │ │ │ │ ├── generate_cached_setup.py │ │ │ │ ├── installspace │ │ │ │ │ ├── .rosinstall │ │ │ │ │ ├── _setup_util.py │ │ │ │ │ ├── env.sh │ │ │ │ │ ├── setup.bash │ │ │ │ │ ├── setup.sh │ │ │ │ │ └── setup.zsh │ │ │ │ ├── ordered_paths.cmake │ │ │ │ ├── setup_cached.sh │ │ │ │ └── stamps │ │ │ │ │ └── quadrotor_msgs │ │ │ │ │ ├── interrogate_setup_dot_py.py.stamp │ │ │ │ │ └── package.xml.stamp │ │ │ ├── cmake_install.cmake │ │ │ ├── devel │ │ │ │ ├── .catkin │ │ │ │ ├── .rosinstall │ │ │ │ ├── _setup_util.py │ │ │ │ ├── env.sh │ │ │ │ ├── etc │ │ │ │ │ └── catkin │ │ │ │ │ │ └── profile.d │ │ │ │ │ │ ├── 05.catkin-test-results.sh │ │ │ │ │ │ ├── 05.catkin_make.bash │ │ │ │ │ │ └── 05.catkin_make_isolated.bash │ │ │ │ ├── setup.bash │ │ │ │ ├── setup.sh │ │ │ │ └── setup.zsh │ │ │ └── gtest │ │ │ │ ├── CMakeFiles │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ ├── gtest.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ └── progress.make │ │ │ │ ├── gtest_main.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ └── progress.make │ │ │ │ └── progress.marks │ │ │ │ ├── Makefile │ │ │ │ └── cmake_install.cmake │ │ ├── cmake │ │ │ └── FindEigen3.cmake │ │ ├── include │ │ │ └── quadrotor_msgs │ │ │ │ ├── comm_types.h │ │ │ │ ├── decode_msgs.h │ │ │ │ └── encode_msgs.h │ │ ├── lib │ │ │ ├── libdecode_msgs.so │ │ │ └── libencode_msgs.so │ │ ├── mainpage.dox │ │ ├── msg │ │ │ ├── AuxCommand.msg │ │ │ ├── Corrections.msg │ │ │ ├── Gains.msg │ │ │ ├── OutputData.msg │ │ │ ├── PPROutputData.msg │ │ │ ├── PositionCommand.msg │ │ │ ├── SO3Command.msg │ │ │ ├── Serial.msg │ │ │ ├── StatusData.msg │ │ │ └── TRPYCommand.msg │ │ ├── msg_gen │ │ │ ├── cpp │ │ │ │ └── include │ │ │ │ │ └── quadrotor_msgs │ │ │ │ │ ├── AuxCommand.h │ │ │ │ │ ├── Corrections.h │ │ │ │ │ ├── Gains.h │ │ │ │ │ ├── OutputData.h │ │ │ │ │ ├── PPROutputData.h │ │ │ │ │ ├── PositionCommand.h │ │ │ │ │ ├── SO3Command.h │ │ │ │ │ ├── Serial.h │ │ │ │ │ ├── StatusData.h │ │ │ │ │ └── TRPYCommand.h │ │ │ ├── generated │ │ │ └── lisp │ │ │ │ ├── AuxCommand.lisp │ │ │ │ ├── Corrections.lisp │ │ │ │ ├── Gains.lisp │ │ │ │ ├── OutputData.lisp │ │ │ │ ├── PPROutputData.lisp │ │ │ │ ├── PositionCommand.lisp │ │ │ │ ├── SO3Command.lisp │ │ │ │ ├── Serial.lisp │ │ │ │ ├── StatusData.lisp │ │ │ │ ├── TRPYCommand.lisp │ │ │ │ ├── _package.lisp │ │ │ │ ├── _package_AuxCommand.lisp │ │ │ │ ├── _package_Corrections.lisp │ │ │ │ ├── _package_Gains.lisp │ │ │ │ ├── _package_OutputData.lisp │ │ │ │ ├── _package_PPROutputData.lisp │ │ │ │ ├── _package_PositionCommand.lisp │ │ │ │ ├── _package_SO3Command.lisp │ │ │ │ ├── _package_Serial.lisp │ │ │ │ ├── _package_StatusData.lisp │ │ │ │ ├── _package_TRPYCommand.lisp │ │ │ │ └── quadrotor_msgs-msg.asd │ │ ├── package.xml │ │ └── src │ │ │ ├── decode_msgs.cpp │ │ │ ├── encode_msgs.cpp │ │ │ └── quadrotor_msgs │ │ │ ├── __init__.py │ │ │ ├── __init__.pyc │ │ │ └── msg │ │ │ ├── _AuxCommand.py │ │ │ ├── _Corrections.py │ │ │ ├── _Gains.py │ │ │ ├── _OutputData.py │ │ │ ├── _PPROutputData.py │ │ │ ├── _PositionCommand.py │ │ │ ├── _SO3Command.py │ │ │ ├── _Serial.py │ │ │ ├── _StatusData.py │ │ │ ├── _TRPYCommand.py │ │ │ └── __init__.py │ └── src │ │ ├── multi_map_server │ │ ├── __init__.py │ │ └── msg │ │ │ ├── _MultiOccupancyGrid.py │ │ │ ├── _MultiSparseMap3D.py │ │ │ ├── _SparseMap3D.py │ │ │ ├── _VerticalOccupancyGridList.py │ │ │ └── __init__.py │ │ ├── multi_map_visualization.cc │ │ └── unused │ │ └── multi_map_server.cc ├── odom_visualization │ ├── CMakeLists.txt │ ├── Makefile │ ├── bin │ │ ├── odom_visualization │ │ └── odom_visualization_vicon45 │ ├── build │ │ ├── CATKIN_IGNORE │ │ ├── CMakeCache.txt │ │ ├── CMakeFiles │ │ │ ├── 2.8.12.2 │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ ├── CompilerIdC │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ └── a.out │ │ │ │ └── CompilerIdCXX │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ └── a.out │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── CMakeError.log │ │ │ ├── CMakeOutput.log │ │ │ ├── CMakeRuleHashes.txt │ │ │ ├── Makefile.cmake │ │ │ ├── Makefile2 │ │ │ ├── ROSBUILD_genmsg_cpp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_genmsg_lisp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_gensrv_cpp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_gensrv_lisp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── TargetDirectories.txt │ │ │ ├── _catkin_empty_exported_target.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── clean_test_results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── cmake.check_cache │ │ │ ├── doxygen.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── odom_visualization.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── src │ │ │ │ │ └── odom_visualization.cpp.o │ │ │ ├── progress.marks │ │ │ ├── rosbuild_clean-test-results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rosbuild_precompile.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rosbuild_premsgsrvgen.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rospack_genmsg.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rospack_genmsg_libexe.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rospack_gensrv.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── run_tests.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-future.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-results-run.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ └── tests.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ ├── Makefile │ │ ├── catkin │ │ │ └── catkin_generated │ │ │ │ └── version │ │ │ │ └── package.cmake │ │ ├── catkin_generated │ │ │ ├── env_cached.sh │ │ │ ├── generate_cached_setup.py │ │ │ ├── installspace │ │ │ │ ├── .rosinstall │ │ │ │ ├── _setup_util.py │ │ │ │ ├── env.sh │ │ │ │ ├── setup.bash │ │ │ │ ├── setup.sh │ │ │ │ └── setup.zsh │ │ │ ├── ordered_paths.cmake │ │ │ ├── setup_cached.sh │ │ │ └── stamps │ │ │ │ └── odom_visualization │ │ │ │ ├── interrogate_setup_dot_py.py.stamp │ │ │ │ └── package.xml.stamp │ │ ├── cmake_install.cmake │ │ ├── devel │ │ │ ├── .catkin │ │ │ ├── .rosinstall │ │ │ ├── _setup_util.py │ │ │ ├── env.sh │ │ │ ├── etc │ │ │ │ └── catkin │ │ │ │ │ └── profile.d │ │ │ │ │ ├── 05.catkin-test-results.sh │ │ │ │ │ ├── 05.catkin_make.bash │ │ │ │ │ └── 05.catkin_make_isolated.bash │ │ │ ├── setup.bash │ │ │ ├── setup.sh │ │ │ └── setup.zsh │ │ └── gtest │ │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── gtest.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ ├── gtest_main.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ └── progress.marks │ │ │ ├── Makefile │ │ │ └── cmake_install.cmake │ ├── mainpage.dox │ ├── meshes │ │ └── hummingbird.mesh │ ├── package.xml │ └── src │ │ └── odom_visualization.cpp ├── pose_utils │ ├── CMakeLists.txt │ ├── Makefile │ ├── build │ │ ├── CATKIN_IGNORE │ │ ├── CMakeCache.txt │ │ ├── CMakeFiles │ │ │ ├── 2.8.12.2 │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ ├── CompilerIdC │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ └── a.out │ │ │ │ └── CompilerIdCXX │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ └── a.out │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── CMakeError.log │ │ │ ├── CMakeOutput.log │ │ │ ├── CMakeRuleHashes.txt │ │ │ ├── Makefile.cmake │ │ │ ├── Makefile2 │ │ │ ├── ROSBUILD_genmsg_cpp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_genmsg_lisp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_gensrv_cpp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_gensrv_lisp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── TargetDirectories.txt │ │ │ ├── _catkin_empty_exported_target.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── clean_test_results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── cmake.check_cache │ │ │ ├── doxygen.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── pose_utils.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── src │ │ │ │ │ └── pose_utils.cpp.o │ │ │ ├── progress.marks │ │ │ ├── rosbuild_clean-test-results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rosbuild_precompile.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rosbuild_premsgsrvgen.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rospack_genmsg.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rospack_genmsg_libexe.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rospack_gensrv.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── run_tests.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-future.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-results-run.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ └── tests.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ ├── Makefile │ │ ├── catkin │ │ │ └── catkin_generated │ │ │ │ └── version │ │ │ │ └── package.cmake │ │ ├── catkin_generated │ │ │ ├── env_cached.sh │ │ │ ├── generate_cached_setup.py │ │ │ ├── installspace │ │ │ │ ├── .rosinstall │ │ │ │ ├── _setup_util.py │ │ │ │ ├── env.sh │ │ │ │ ├── setup.bash │ │ │ │ ├── setup.sh │ │ │ │ └── setup.zsh │ │ │ ├── ordered_paths.cmake │ │ │ ├── setup_cached.sh │ │ │ └── stamps │ │ │ │ └── pose_utils │ │ │ │ ├── interrogate_setup_dot_py.py.stamp │ │ │ │ └── package.xml.stamp │ │ ├── cmake_install.cmake │ │ ├── devel │ │ │ ├── .catkin │ │ │ ├── .rosinstall │ │ │ ├── _setup_util.py │ │ │ ├── env.sh │ │ │ ├── etc │ │ │ │ └── catkin │ │ │ │ │ └── profile.d │ │ │ │ │ ├── 05.catkin-test-results.sh │ │ │ │ │ ├── 05.catkin_make.bash │ │ │ │ │ └── 05.catkin_make_isolated.bash │ │ │ ├── setup.bash │ │ │ ├── setup.sh │ │ │ └── setup.zsh │ │ └── gtest │ │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── gtest.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ ├── gtest_main.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ └── progress.marks │ │ │ ├── Makefile │ │ │ └── cmake_install.cmake │ ├── include │ │ └── pose_utils.h │ ├── lib │ │ └── libpose_utils.so │ ├── package.xml │ └── src │ │ ├── pose_utils.cpp │ │ └── pose_utils.cpp~ ├── quadrotor_msgs │ ├── .vscode │ │ ├── c_cpp_properties.json │ │ └── settings.json │ ├── CMakeLists.txt │ ├── cmake │ │ └── FindEigen3.cmake │ ├── include │ │ └── quadrotor_msgs │ │ │ ├── comm_types.h │ │ │ ├── decode_msgs.h │ │ │ └── encode_msgs.h │ ├── msg │ │ ├── AuxCommand.msg │ │ ├── Corrections.msg │ │ ├── Gains.msg │ │ ├── LQRTrajectory.msg │ │ ├── Odometry.msg │ │ ├── OutputData.msg │ │ ├── PPROutputData.msg │ │ ├── PolynomialTrajectory.msg │ │ ├── PolynomialTrajectory.msg~ │ │ ├── PositionCommand.msg │ │ ├── PositionCommand.msg~ │ │ ├── SO3Command.msg │ │ ├── Serial.msg │ │ ├── StatusData.msg │ │ └── TRPYCommand.msg │ ├── package.xml │ └── src │ │ ├── decode_msgs.cpp │ │ ├── encode_msgs.cpp │ │ └── quadrotor_msgs │ │ ├── __init__.py │ │ ├── __init__.pyc │ │ └── msg │ │ ├── _AuxCommand.py │ │ ├── _Corrections.py │ │ ├── _Gains.py │ │ ├── _OutputData.py │ │ ├── _PPROutputData.py │ │ ├── _PositionCommand.py │ │ ├── _SO3Command.py │ │ ├── _Serial.py │ │ ├── _StatusData.py │ │ ├── _TRPYCommand.py │ │ └── __init__.py ├── rviz_plugins │ ├── CMakeLists.txt │ ├── config │ │ └── rviz_config.rviz │ ├── package.xml │ ├── plugin_description.xml │ └── src │ │ ├── aerialmap_display.cpp │ │ ├── aerialmap_display.h │ │ ├── gamelikeinput.cpp │ │ ├── gamelikeinput.hpp │ │ ├── goal_tool.cpp │ │ ├── goal_tool.h │ │ ├── multi_probmap_display.cpp │ │ ├── multi_probmap_display.h │ │ ├── pose_tool.cpp │ │ ├── pose_tool.h │ │ ├── probmap_display.cpp │ │ └── probmap_display.h ├── uav_utils │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── uav_utils │ │ │ ├── converters.h │ │ │ ├── geometry_utils.h │ │ │ └── utils.h │ ├── package.xml │ ├── scripts │ │ ├── odom_to_euler.py │ │ ├── send_odom.py │ │ ├── tf_assist.py │ │ └── topic_statistics.py │ └── src │ │ └── uav_utils_test.cpp └── waypoint_generator │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ ├── sample_waypoints.h │ └── waypoint_generator.cpp ├── utils ├── CMakeLists.txt ├── include │ ├── backward │ │ └── backward.hpp │ ├── exploration_types.h │ ├── kindr │ │ ├── minimal │ │ │ ├── angle-axis.h │ │ │ ├── common.h │ │ │ ├── implementation │ │ │ │ ├── angle-axis-inl.h │ │ │ │ ├── quat-sim-transform-inl.h │ │ │ │ ├── quat-transformation-inl.h │ │ │ │ ├── rotation-quaternion-inl.h │ │ │ │ └── transform-2d-inl.h │ │ │ ├── position.h │ │ │ ├── quat-sim-transform.h │ │ │ ├── quat-transformation.h │ │ │ ├── rotation-quaternion.h │ │ │ └── transform-2d.h │ │ └── minkindr_conversions │ │ │ ├── kindr_msg.h │ │ │ ├── kindr_tf.h │ │ │ └── kindr_xml.h │ ├── lkh_tsp_solver │ │ ├── Delaunay.h │ │ ├── GainType.h │ │ ├── Genetic.h │ │ ├── GeoConversion.h │ │ ├── Hashing.h │ │ ├── Heap.h │ │ ├── LKH.h │ │ ├── Segment.h │ │ ├── Sequence.h │ │ ├── gpx.h │ │ └── lkh_interface.h │ ├── raycast │ │ └── raycast.h │ ├── tic_toc.h │ └── transformer │ │ └── transformer.h ├── launch │ ├── downsample_pcd.launch │ ├── save_pcd_from_bag.launch │ ├── visib_demo.rviz │ ├── visibility_demo.launch │ └── visibility_dv3_droll.launch ├── package.xml ├── resource │ ├── features.pcl │ ├── features2.pcl │ ├── features_center.pcl │ ├── features_center_downsampled.pcl │ ├── single.par │ ├── single_frontier.par │ ├── single_frontier.tsp │ ├── single_frontier.txt │ ├── single_hgrid.par │ ├── single_hgrid.tsp │ └── single_hgrid.txt ├── script │ ├── airsim_full_thrust.py │ ├── airsim_get_image.py │ ├── airsim_traj.py │ ├── airsim_traj_bspline.py │ ├── test_poly_traj.py │ └── tune_opt_params.py └── src │ ├── downsample_pcd.cpp │ ├── lkh_tsp_solver │ ├── Activate.c │ ├── AddCandidate.c │ ├── AddExtraCandidates.c │ ├── AddTourCandidates.c │ ├── AdjustCandidateSet.c │ ├── AdjustClusters.c │ ├── AllocateStructures.c │ ├── Ascent.c │ ├── Best2OptMove.c │ ├── Best3OptMove.c │ ├── Best4OptMove.c │ ├── Best5OptMove.c │ ├── BestKOptMove.c │ ├── Between.c │ ├── Between_SL.c │ ├── Between_SSL.c │ ├── BridgeGain.c │ ├── BuildKDTree.c │ ├── C.c │ ├── CandidateReport.c │ ├── ChooseInitialTour.c │ ├── Connect.c │ ├── CreateCandidateSet.c │ ├── CreateDelaunayCandidateSet.c │ ├── CreateNNCandidateSet.c │ ├── CreateQuadrantCandidateSet.c │ ├── Create_POPMUSIC_CandidateSet.c │ ├── Delaunay.c │ ├── Distance.c │ ├── Distance_SPECIAL.c │ ├── ERXT.c │ ├── Excludable.c │ ├── Exclude.c │ ├── FindTour.c │ ├── FixedOrCommonCandidates.c │ ├── Flip.c │ ├── Flip_SL.c │ ├── Flip_SSL.c │ ├── Forbidden.c │ ├── FreeStructures.c │ ├── Gain23.c │ ├── GenerateCandidates.c │ ├── Genetic.c │ ├── GeoConversion.c │ ├── GetTime.c │ ├── GreedyTour.c │ ├── Hashing.c │ ├── Heap.c │ ├── IsBackboneCandidate.c │ ├── IsCandidate.c │ ├── IsCommonEdge.c │ ├── IsPossibleCandidate.c │ ├── KSwapKick.c │ ├── LKHmain.c │ ├── LinKernighan.c │ ├── Make2OptMove.c │ ├── Make3OptMove.c │ ├── Make4OptMove.c │ ├── Make5OptMove.c │ ├── MakeKOptMove.c │ ├── MergeTourWithBestTour.c │ ├── MergeWithTourGPX2.c │ ├── MergeWithTourIPT.c │ ├── Minimum1TreeCost.c │ ├── MinimumSpanningTree.c │ ├── NormalizeNodeList.c │ ├── NormalizeSegmentList.c │ ├── OrderCandidateSet.c │ ├── PatchCycles.c │ ├── PrintParameters.c │ ├── Random.c │ ├── ReadCandidates.c │ ├── ReadEdges.c │ ├── ReadLine.c │ ├── ReadParameters.c │ ├── ReadPenalties.c │ ├── ReadProblem.c │ ├── RecordBestTour.c │ ├── RecordBetterTour.c │ ├── RemoveFirstActive.c │ ├── ResetCandidateSet.c │ ├── RestoreTour.c │ ├── SFCTour.c │ ├── SegmentSize.c │ ├── Sequence.c │ ├── SolveCompressedSubproblem.c │ ├── SolveDelaunaySubproblems.c │ ├── SolveKCenterSubproblems.c │ ├── SolveKMeansSubproblems.c │ ├── SolveKarpSubproblems.c │ ├── SolveRoheSubproblems.c │ ├── SolveSFCSubproblems.c │ ├── SolveSubproblem.c │ ├── SolveSubproblemBorderProblems.c │ ├── SolveTourSegmentSubproblems.c │ ├── Statistics.c │ ├── StoreTour.c │ ├── SymmetrizeCandidateSet.c │ ├── TrimCandidateSet.c │ ├── WriteCandidates.c │ ├── WritePenalties.c │ ├── WriteTour.c │ ├── eprintf.c │ ├── fscanint.c │ ├── gpx.c │ ├── lkh_interface.cpp │ └── printff.c │ ├── raycast │ └── raycast.cpp │ ├── save_pcd_from_bag.cpp │ ├── transformer │ └── transformer.cpp │ ├── visibility_demo.cpp │ └── visibility_dv3_droll.cpp └── voxel_mapping ├── CMakeLists.txt ├── config ├── rviz.rviz └── test_fif_simple.rviz ├── include └── voxel_mapping │ ├── color.h │ ├── esdf.h │ ├── feature_map.h │ ├── map_base.h │ ├── map_base_inl.h │ ├── map_server.h │ ├── 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