├── CMakeLists.txt ├── README.md ├── include ├── a_star.h ├── backward.hpp ├── bezier_base.h ├── data_type.h ├── trajectory_generator.h └── utils.h ├── launch ├── rviz_config │ └── simulation.rviz └── simulation.launch ├── package.xml ├── src ├── a_star.cpp ├── b_traj_node.cpp ├── bezier_base.cpp ├── odom_generator.cpp ├── random_forest_sensing.cpp ├── traj_server.cpp └── trajectory_generator.cpp └── third_party ├── fast_methods ├── benchmark │ ├── CMakeLists.txt │ ├── benchmark.cfg │ ├── benchmark.hpp │ ├── benchmarkcfg.hpp │ ├── cfg │ │ ├── 2_150.cfg │ │ ├── 2_300.cfg │ │ └── 2_500.cfg │ ├── fmm_benchmark.cpp │ └── test.cfg ├── console │ ├── console.cpp │ └── console.h ├── data │ ├── 3dbarriers_9.grid │ ├── alpha │ │ ├── fm2dir.hpp │ │ ├── fmdirectionalcell.cpp │ │ ├── fmdirectionalcell.h │ │ ├── gradientdescent.hpp │ │ └── test_fm2directional.cpp │ ├── easy.png │ ├── map.grid │ ├── map.png │ ├── maze.png │ ├── testimg.png │ └── velocities.png ├── datastructures │ ├── fmcompare.hpp │ ├── fmdaryheap.hpp │ ├── fmfibheap.hpp │ ├── fmpriorityqueue.hpp │ └── fmuntidyqueue.hpp ├── doc │ ├── doxyfile │ ├── files │ │ └── ndgridmap.pdf │ ├── images │ │ ├── fmmcomp.png │ │ ├── gridplot.png │ │ └── solvers.png │ └── markdown │ │ ├── benchmarking.md │ │ ├── building.md │ │ ├── design.md │ │ └── main.md ├── fm │ ├── ddqm.hpp │ ├── eikonalsolver.hpp │ ├── fim.hpp │ ├── fmdata │ │ ├── fmcell.cpp │ │ ├── fmcell.h │ │ ├── fmcompare.hpp │ │ ├── fmdaryheap.hpp │ │ ├── fmfibheap.hpp │ │ ├── fmpriorityqueue.hpp │ │ └── fmuntidyqueue.hpp │ ├── fmm.hpp │ ├── fmmstar.hpp │ ├── fsm.hpp │ ├── gmm.hpp │ ├── lsm.hpp │ ├── sfmm.hpp │ ├── sfmmstar.hpp │ ├── solver.hpp │ └── ufmm.hpp ├── fm2 │ ├── fm2.hpp │ └── fm2star.hpp ├── gradientdescent │ └── gradientdescent.hpp ├── io │ ├── gridplotter.hpp │ ├── gridpoints.hpp │ ├── gridwriter.hpp │ └── maploader.hpp ├── main.cpp ├── ndgridmap │ ├── cell.cpp │ ├── cell.h │ ├── fmcell.h │ └── ndgridmap.hpp ├── thirdparty │ ├── CImg.h │ ├── fast_marching.hpp │ ├── queue.hpp │ └── untidy_queue.hpp └── utils │ └── utils.h ├── mosek ├── include │ └── mosek.h └── lib │ └── mosek8_1 │ ├── libcilkrts.so.5 │ ├── libiomp5.so │ ├── libmosek64.so │ ├── libmosek64.so.8.1 │ ├── libmosekjava8_1.so │ ├── libmosekscopt8_1.so │ └── libmosekxx8_1.so └── sdf_tools ├── CMakeLists.txt ├── LICENSE ├── README.md ├── include ├── arc_utilities │ ├── arc_helpers.hpp │ ├── dynamic_spatial_hashed_voxel_grid.hpp │ ├── eigen_helpers.hpp │ ├── eigen_helpers_conversions.hpp │ ├── pretty_print.hpp │ ├── voxel_grid.hpp │ └── zlib_helpers.hpp └── sdf_tools │ ├── collision_map.hpp │ ├── dynamic_spatial_hashed_collision_map.hpp │ ├── sdf.hpp │ ├── sdf_builder.hpp │ └── tagged_object_collision_map.hpp ├── lib └── libsdf_tools.so ├── msg ├── CollisionMap.msg ├── SDF.msg └── TaggedObjectCollisionMap.msg ├── package.xml ├── src ├── generate_sdf.cpp ├── image_2d_sdf_node.cpp ├── sdf_generation_node.cpp ├── sdf_tools.sublime-project ├── 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