├── .gitignore ├── LICENSE ├── README.md ├── fast_planner ├── bag │ └── record.sh ├── bspline │ ├── CMakeLists.txt │ ├── include │ │ └── bspline │ │ │ └── non_uniform_bspline.h │ ├── package.xml │ └── src │ │ └── non_uniform_bspline.cpp ├── bspline_opt │ ├── CMakeLists.txt │ ├── include │ │ └── bspline_opt │ │ │ └── bspline_optimizer.h │ ├── package.xml │ ├── script │ │ ├── calc_jacobian.py │ │ ├── calc_jacobian.pyc │ │ ├── cost_function.py │ │ └── dist_to_line.py │ └── src │ │ └── bspline_optimizer.cpp ├── path_searching │ ├── CMakeLists.txt │ ├── include │ │ └── path_searching │ │ │ ├── astar.h │ │ │ ├── kinodynamic_astar.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 │ │ │ ├── raycast.h │ │ │ └── sdf_map.h │ ├── package.xml │ └── src │ │ ├── edt_environment.cpp │ │ ├── obj_generator.cpp │ │ ├── obj_predictor.cpp │ │ ├── raycast.cpp │ │ └── sdf_map.cpp ├── plan_manage │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ ├── exp.rviz │ │ ├── kino.rviz │ │ └── traj.rviz │ ├── include │ │ └── plan_manage │ │ │ ├── backward.hpp │ │ │ ├── kino_replan_fsm.h │ │ │ ├── plan_container.hpp │ │ │ ├── planner_manager.h │ │ │ ├── topo_replan_fsm.h │ │ │ └── utils.h │ ├── launch │ │ ├── kino_algorithm.xml │ │ ├── kino_replan.launch │ │ ├── rviz.launch │ │ ├── simulator.xml │ │ ├── topo_algorithm.xml │ │ └── topo_replan.launch │ ├── msg │ │ └── Bspline.msg │ ├── package.xml │ ├── script │ │ ├── calc.py │ │ ├── polyfit_predict.py │ │ └── traj_opt.py │ └── src │ │ ├── fast_planner_node.cpp │ │ ├── kino_replan_fsm.cpp │ │ ├── planner_manager.cpp │ │ ├── topo_replan_fsm.cpp │ │ └── traj_server.cpp ├── poly_traj │ ├── CMakeLists.txt │ ├── include │ │ └── poly_traj │ │ │ └── polynomial_traj.h │ ├── package.xml │ └── src │ │ ├── polynomial_traj.cpp │ │ └── traj_generator.cpp └── traj_utils │ ├── CMakeLists.txt │ ├── include │ └── traj_utils │ │ └── planning_visualization.h │ ├── package.xml │ └── src │ └── planning_visualization.cpp ├── files ├── bib.txt ├── icra20_1.gif ├── icra20_2.gif ├── icra20_3.gif ├── ral19_1.gif ├── ral19_2.gif ├── ral19_3.gif ├── raptor1.gif ├── raptor2.gif └── title.png └── uav_simulator ├── 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 │ │ └── 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 │ ├── 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 ├── local_sensing ├── .vscode │ └── settings.json ├── CMakeLists.txt ├── CMakeModules │ ├── FindCUDA.cmake │ ├── FindCUDA │ │ ├── make2cmake.cmake │ │ ├── parse_cubin.cmake │ │ └── run_nvcc.cmake │ ├── FindEigen.cmake │ └── FindEigen.cmake~ ├── cfg │ └── local_sensing_node.cfg ├── package.xml ├── params │ └── camera.yaml └── src │ ├── AlignError.h │ ├── ceres_extensions.h │ ├── csv_convert.py │ ├── cuda_exception.cuh │ ├── depth_render.cu │ ├── depth_render.cuh │ ├── device_image.cuh │ ├── empty.cpp │ ├── empty.h │ ├── euroc.cpp │ ├── helper_math.h │ ├── pcl_render_node.cpp │ └── pointcloud_render_node.cpp ├── map_generator ├── .vscode │ └── c_cpp_properties.json ├── CMakeLists.txt ├── package.xml └── src │ └── random_forest_sensing.cpp ├── so3_control ├── CMakeLists.txt ├── config │ ├── corrections_hummingbird.yaml │ ├── corrections_pelican.yaml │ ├── gains.yaml │ ├── gains_hummingbird.yaml │ └── gains_pelican.yaml ├── include │ └── so3_control │ │ └── SO3Control.h ├── mainpage.dox ├── nodelet_plugin.xml ├── package.xml └── src │ ├── SO3Control.cpp │ └── so3_control_nodelet.cpp ├── so3_disturbance_generator ├── CMakeLists.txt ├── cfg │ ├── cpp │ │ └── so3_disturbance_generator │ │ │ └── DisturbanceUIConfig.h │ ├── disturbance_ui.cfg │ └── disturbance_ui.cfgc ├── docs │ ├── DisturbanceUIConfig-usage.dox │ ├── DisturbanceUIConfig.dox │ └── DisturbanceUIConfig.wikidoc ├── include │ └── so3_disturbance_generator │ │ └── DisturbanceUIConfig.h ├── mainpage.dox ├── package.xml └── src │ ├── pose_utils.h │ ├── so3_disturbance_generator.cpp │ ├── so3_disturbance_generator.cpp~ │ └── so3_disturbance_generator │ ├── __init__.py │ └── cfg │ ├── DisturbanceUIConfig.py │ └── __init__.py └── so3_quadrotor_simulator ├── CMakeLists.txt ├── config └── rviz.rviz ├── include ├── ode │ ├── CHANGELOG │ ├── Jamroot │ ├── README │ ├── boost │ │ └── numeric │ │ │ ├── odeint.hpp │ │ │ └── odeint │ │ │ ├── algebra │ │ │ ├── array_algebra.hpp │ │ │ ├── default_operations.hpp │ │ │ ├── detail │ │ │ │ ├── for_each.hpp │ │ │ │ ├── macros.hpp │ │ │ │ └── reduce.hpp │ │ │ ├── fusion_algebra.hpp │ │ │ ├── range_algebra.hpp │ │ │ └── vector_space_algebra.hpp │ │ │ ├── config.hpp │ │ │ ├── external │ │ │ ├── gsl │ │ │ │ └── gsl_wrapper.hpp │ │ │ ├── mkl │ │ │ │ └── mkl_operations.hpp │ │ │ ├── mtl4 │ │ │ │ ├── implicit_euler_mtl4.hpp │ │ │ │ └── mtl4_resize.hpp │ │ │ ├── thrust │ │ │ │ ├── thrust_algebra.hpp │ │ │ │ ├── thrust_operations.hpp │ │ │ │ └── thrust_resize.hpp │ │ │ ├── vexcl │ │ │ │ └── vexcl_resize.hpp │ │ │ └── viennacl │ │ │ │ ├── viennacl_operations.hpp │ │ │ │ └── viennacl_resize.hpp │ │ │ ├── integrate │ │ │ ├── detail │ │ │ │ ├── integrate_adaptive.hpp │ │ │ │ ├── integrate_const.hpp │ │ │ │ ├── integrate_n_steps.hpp │ │ │ │ └── integrate_times.hpp │ │ │ ├── integrate.hpp │ │ │ ├── integrate_adaptive.hpp │ │ │ ├── integrate_const.hpp │ │ │ ├── integrate_n_steps.hpp │ │ │ ├── integrate_times.hpp │ │ │ ├── null_observer.hpp │ │ │ └── observer_collection.hpp │ │ │ ├── stepper │ │ │ ├── adams_bashforth.hpp │ │ │ ├── adams_bashforth_moulton.hpp │ │ │ ├── adams_moulton.hpp │ │ │ ├── base │ │ │ │ ├── algebra_stepper_base.hpp │ │ │ │ ├── explicit_error_stepper_base.hpp │ │ │ │ ├── explicit_error_stepper_fsal_base.hpp │ │ │ │ ├── explicit_stepper_base.hpp │ │ │ │ └── symplectic_rkn_stepper_base.hpp │ │ │ ├── bulirsch_stoer.hpp │ │ │ ├── bulirsch_stoer_dense_out.hpp │ │ │ ├── controlled_runge_kutta.hpp │ │ │ ├── controlled_step_result.hpp │ │ │ ├── dense_output_runge_kutta.hpp │ │ │ ├── detail │ │ │ │ ├── adams_bashforth_call_algebra.hpp │ │ │ │ ├── adams_bashforth_coefficients.hpp │ │ │ │ ├── adams_moulton_call_algebra.hpp │ │ │ │ ├── adams_moulton_coefficients.hpp │ │ │ │ ├── generic_rk_algorithm.hpp │ │ │ │ ├── generic_rk_call_algebra.hpp │ │ │ │ ├── generic_rk_operations.hpp │ │ │ │ └── rotating_buffer.hpp │ │ │ ├── euler.hpp │ │ │ ├── explicit_error_generic_rk.hpp │ │ │ ├── explicit_generic_rk.hpp │ │ │ ├── generation.hpp │ │ │ ├── generation │ │ │ │ ├── generation_controlled_runge_kutta.hpp │ │ │ │ ├── generation_dense_output_runge_kutta.hpp │ │ │ │ ├── generation_rosenbrock4.hpp │ │ │ │ ├── generation_runge_kutta_cash_karp54.hpp │ │ │ │ ├── generation_runge_kutta_cash_karp54_classic.hpp │ │ │ │ ├── generation_runge_kutta_dopri5.hpp │ │ │ │ ├── generation_runge_kutta_fehlberg78.hpp │ │ │ │ ├── make_controlled.hpp │ │ │ │ └── make_dense_output.hpp │ │ │ ├── implicit_euler.hpp │ │ │ ├── modified_midpoint.hpp │ │ │ ├── rosenbrock4.hpp │ │ │ ├── rosenbrock4_controller.hpp │ │ │ ├── rosenbrock4_dense_output.hpp │ │ │ ├── runge_kutta4.hpp │ │ │ ├── runge_kutta4_classic.hpp │ │ │ ├── runge_kutta_cash_karp54.hpp │ │ │ ├── runge_kutta_cash_karp54_classic.hpp │ │ │ ├── runge_kutta_dopri5.hpp │ │ │ ├── runge_kutta_fehlberg78.hpp │ │ │ ├── stepper_categories.hpp │ │ │ ├── symplectic_euler.hpp │ │ │ ├── symplectic_rkn_sb3a_m4_mclachlan.hpp │ │ │ └── symplectic_rkn_sb3a_mclachlan.hpp │ │ │ ├── util │ │ │ ├── bind.hpp │ │ │ ├── copy.hpp │ │ │ ├── detail │ │ │ │ ├── is_range.hpp │ │ │ │ └── less_with_sign.hpp │ │ │ ├── is_pair.hpp │ │ │ ├── is_resizeable.hpp │ │ │ ├── resize.hpp │ │ │ ├── resizer.hpp │ │ │ ├── same_instance.hpp │ │ │ ├── same_size.hpp │ │ │ ├── state_wrapper.hpp │ │ │ ├── ublas_wrapper.hpp │ │ │ ├── unit_helper.hpp │ │ │ └── unwrap_reference.hpp │ │ │ └── version.hpp │ └── libs │ │ └── numeric │ │ └── odeint │ │ ├── doc │ │ ├── Jamfile.v2 │ │ ├── acknowledgements.qbk │ │ ├── concepts.qbk │ │ ├── concepts │ │ │ ├── controlled_stepper.qbk │ │ │ ├── dense_output_stepper.qbk │ │ │ ├── error_stepper.qbk │ │ │ ├── implicit_system.qbk │ │ │ ├── state_algebra_operations.qbk │ │ │ ├── state_wrapper.qbk │ │ │ ├── stepper.qbk │ │ │ ├── symplectic_system.qbk │ │ │ └── system.qbk │ │ ├── controlled_stepper_table.qbk │ │ ├── details.qbk │ │ ├── details_bind_member_functions.qbk │ │ ├── details_boost_range.qbk │ │ ├── details_boost_ref.qbk │ │ ├── details_generation_functions.qbk │ │ ├── details_integrate_functions.qbk │ │ ├── details_state_types_algebras_operations.qbk │ │ ├── details_steppers.qbk │ │ ├── examples_table.qbk │ │ ├── getting_started.qbk │ │ ├── html │ │ │ ├── boostbook.css │ │ │ ├── images │ │ │ │ ├── alert.png │ │ │ │ ├── blank.png │ │ │ │ ├── callouts │ │ │ │ │ ├── 1.png │ │ │ │ │ ├── 1.svg │ │ │ │ │ ├── 10.png │ │ │ │ │ ├── 10.svg │ │ │ │ │ ├── 11.png │ │ │ │ │ ├── 11.svg │ │ │ │ │ ├── 12.png │ │ │ │ │ ├── 12.svg │ │ │ │ │ ├── 13.png │ │ │ │ │ ├── 13.svg │ │ │ │ │ ├── 14.png │ │ │ │ │ ├── 14.svg │ │ │ │ │ ├── 15.png │ │ │ │ │ ├── 15.svg │ │ │ │ │ ├── 16.svg │ │ │ │ │ ├── 17.svg │ │ │ │ │ ├── 18.svg │ │ │ │ │ ├── 19.svg │ │ │ │ │ ├── 2.png │ │ │ │ │ ├── 2.svg │ │ │ │ │ ├── 20.svg │ │ │ │ │ ├── 21.svg │ │ │ │ │ ├── 22.svg │ │ │ │ │ ├── 23.svg │ │ │ │ │ ├── 24.svg │ │ │ │ │ ├── 25.svg │ │ │ │ │ ├── 26.svg │ │ │ │ │ ├── 27.svg │ │ │ │ │ ├── 28.svg │ │ │ │ │ ├── 29.svg │ │ │ │ │ ├── 3.png │ │ │ │ │ ├── 3.svg │ │ │ │ │ ├── 30.svg │ │ │ │ │ ├── 4.png │ │ │ │ │ ├── 4.svg │ │ │ │ │ ├── 5.png │ │ │ │ │ ├── 5.svg │ │ │ │ │ ├── 6.png │ │ │ │ │ ├── 6.svg │ │ │ │ │ ├── 7.png │ │ │ │ │ ├── 7.svg │ │ │ │ │ ├── 8.png │ │ │ │ │ ├── 8.svg │ │ │ │ │ ├── 9.png │ │ │ │ │ └── 9.svg │ │ │ │ ├── caution.png │ │ │ │ ├── caution.svg │ │ │ │ ├── draft.png │ │ │ │ ├── home.png │ │ │ │ ├── home.svg │ │ │ │ ├── important.png │ │ │ │ ├── important.svg │ │ │ │ ├── next.png │ │ │ │ ├── next.svg │ │ │ │ ├── next_disabled.png │ │ │ │ ├── note.png │ │ │ │ ├── note.svg │ │ │ │ ├── prev.png │ │ │ │ ├── prev.svg │ │ │ │ ├── prev_disabled.png │ │ │ │ ├── smiley.png │ │ │ │ ├── tip.png │ │ │ │ ├── tip.svg │ │ │ │ ├── toc-blank.png │ │ │ │ ├── toc-minus.png │ │ │ │ ├── toc-plus.png │ │ │ │ ├── up.png │ │ │ │ ├── up.svg │ │ │ │ ├── up_disabled.png │ │ │ │ ├── warning.png │ │ │ │ └── warning.svg │ │ │ ├── logo.jpg │ │ │ ├── phase_lattice_2d_0000.jpg │ │ │ ├── phase_lattice_2d_0100.jpg │ │ │ ├── phase_lattice_2d_1000.jpg │ │ │ └── solar_system.jpg │ │ ├── literature.qbk │ │ ├── make_controlled_table.qbk │ │ ├── make_dense_output_table.qbk │ │ ├── odeint.idx │ │ ├── odeint.qbk │ │ ├── range_table.qbk │ │ ├── stepper_table.qbk │ │ ├── tutorial.qbk │ │ ├── tutorial_chaotic_system.qbk │ │ ├── tutorial_harmonic_oscillator.qbk │ │ ├── tutorial_solar_system.qbk │ │ ├── tutorial_special_topics.qbk │ │ ├── tutorial_stiff_systems.qbk │ │ ├── tutorial_thrust_cuda.qbk │ │ └── tutorial_vexcl_opencl.qbk │ │ ├── examples │ │ ├── 2d_lattice │ │ │ ├── Jamfile.v2 │ │ │ ├── lattice2d.hpp │ │ │ ├── nested_range_algebra.hpp │ │ │ ├── spreading.cpp │ │ │ └── vector_vector_resize.hpp │ │ ├── Jamfile.v2 │ │ ├── bind_member_functions.cpp │ │ ├── bind_member_functions_cpp11.cpp │ │ ├── bulirsch_stoer.cpp │ │ ├── chaotic_system.cpp │ │ ├── elliptic.py │ │ ├── elliptic_functions.cpp │ │ ├── fpu.cpp │ │ ├── generation_functions.cpp │ │ ├── gmpxx │ │ │ └── lorenz_gmpxx.cpp │ │ ├── gram_schmidt.hpp │ │ ├── harmonic_oscillator.cpp │ │ ├── harmonic_oscillator_units.cpp │ │ ├── heun.cpp │ │ ├── list_lattice.cpp │ │ ├── lorenz_point.cpp │ │ ├── mtl │ │ │ ├── Jamfile.v2 │ │ │ ├── gauss_packet.cpp │ │ │ └── implicit_euler_mtl.cpp │ │ ├── my_vector.cpp │ │ ├── phase_oscillator_ensemble.cpp │ │ ├── point_type.hpp │ │ ├── quadmath │ │ │ ├── Jamfile.v2 │ │ │ └── black_hole.cpp │ │ ├── resizing_lattice.cpp │ │ ├── simple1d.cpp │ │ ├── solar_system.agr │ │ ├── solar_system.cpp │ │ ├── stepper_details.cpp │ │ ├── stiff_system.cpp │ │ ├── stochastic_euler.cpp │ │ ├── stuart_landau.cpp │ │ ├── thrust │ │ │ ├── Makefile │ │ │ ├── lorenz_parameters.cu │ │ │ ├── phase_oscillator_chain.cu │ │ │ ├── phase_oscillator_ensemble.cu │ │ │ └── relaxation.cu │ │ ├── two_dimensional_phase_lattice.cpp │ │ ├── ublas │ │ │ ├── Jamfile.v2 │ │ │ └── lorenz_ublas.cpp │ │ ├── van_der_pol_stiff.cpp │ │ └── vexcl │ │ │ ├── Jamfile.v2 │ │ │ └── lorenz_ensemble.cpp │ │ ├── index.html │ │ ├── performance │ │ ├── Jamfile.v2 │ │ ├── fusion_algebra.hpp │ │ ├── fusion_explicit_error_rk.hpp │ │ ├── fusion_explicit_rk_new.hpp │ │ ├── generic_odeint_rk4_lorenz.cpp │ │ ├── gsl_rk4_lorenz.cpp │ │ ├── lorenz.hpp │ │ ├── lorenz_gsl.hpp │ │ ├── nr_rk4_lorenz.cpp │ │ ├── nr_rk4_phase_lattice.cpp │ │ ├── odeint_rk4_lorenz_array.cpp │ │ ├── odeint_rk4_lorenz_range.cpp │ │ ├── odeint_rk4_phase_lattice.cpp │ │ ├── odeint_rk4_phase_lattice_mkl.cpp │ │ ├── performance.py │ │ ├── phase_lattice.hpp │ │ ├── phase_lattice_mkl.hpp │ │ ├── plot_result.py │ │ ├── rk4_lorenz.f │ │ ├── rk_performance_test_case.hpp │ │ ├── rt_algebra.hpp │ │ ├── rt_explicit_rk.hpp │ │ ├── rt_generic_rk4_lorenz.cpp │ │ └── rt_generic_rk4_phase_lattice.cpp │ │ ├── test │ │ ├── Jamfile.v2 │ │ ├── adams_bashforth.cpp │ │ ├── adams_bashforth_moulton.cpp │ │ ├── adams_moulton.cpp │ │ ├── boost_units_helpers.hpp │ │ ├── bulirsch_stoer.cpp │ │ ├── const_range.hpp │ │ ├── default_operations.cpp │ │ ├── diagnostic_state_type.hpp │ │ ├── dummy_odes.hpp │ │ ├── dummy_steppers.hpp │ │ ├── euler_stepper.cpp │ │ ├── fusion_algebra.cpp │ │ ├── generation.cpp │ │ ├── generic_error_stepper.cpp │ │ ├── generic_stepper.cpp │ │ ├── implicit_euler.cpp │ │ ├── integrate.cpp │ │ ├── integrate_implicit.cpp │ │ ├── integrate_times.cpp │ │ ├── is_pair.cpp │ │ ├── is_resizeable.cpp │ │ ├── numeric │ │ │ ├── Jamfile.v2 │ │ │ ├── rosenbrock.cpp │ │ │ ├── runge_kutta.cpp │ │ │ └── symplectic.cpp │ │ ├── prepare_stepper_testing.hpp │ │ ├── range_algebra.cpp │ │ ├── resize.cpp │ │ ├── resizing.cpp │ │ ├── rosenbrock4.cpp │ │ ├── runge_kutta_concepts.cpp │ │ ├── runge_kutta_controlled_concepts.cpp │ │ ├── runge_kutta_error_concepts.cpp │ │ ├── same_size.cpp │ │ ├── stepper_copying.cpp │ │ ├── stepper_with_ranges.cpp │ │ ├── stepper_with_units.cpp │ │ ├── symplectic_steppers.cpp │ │ ├── trivial_state.cpp │ │ └── vector_space_1d.hpp │ │ └── test_external │ │ ├── gmp │ │ ├── Jamfile.v2 │ │ ├── check_gmp.cpp │ │ └── gmp_integrate.cpp │ │ ├── gsl │ │ ├── Jamfile.v2 │ │ └── check_gsl.cpp │ │ ├── mkl │ │ ├── Jamfile.v2 │ │ └── check_mkl.cpp │ │ ├── mtl4 │ │ ├── Jamfile.v2 │ │ └── mtl4_resize.cpp │ │ ├── thrust │ │ ├── Makefile │ │ └── check_thrust.cu │ │ └── vexcl │ │ ├── Jamfile.v2 │ │ └── lorenz.cpp └── quadrotor_simulator │ └── Quadrotor.h ├── launch └── simulator.launch ├── package.xml └── src ├── dynamics └── Quadrotor.cpp ├── quadrotor_simulator_so3.cpp └── test_dynamics └── test_dynamics.cpp /.gitignore: -------------------------------------------------------------------------------- 1 | fast_planner/.vscode 2 | .vscode/ 3 | .clang-format 4 | -------------------------------------------------------------------------------- /fast_planner/bag/record.sh: -------------------------------------------------------------------------------- 1 | # camera, map, range, path, traj, cmd 2 | # /vins_estimator/camera_pose 3 | rosbag record /pcl_render_node/camera_pose /sdf_map/occupancy_inflate /sdf_map/update_range /planning_vis/topo_path /planning_vis/trajectory /planning/state -------------------------------------------------------------------------------- /fast_planner/bspline_opt/script/calc_jacobian.py: -------------------------------------------------------------------------------- 1 | import numpy as np 2 | import sympy as sp 3 | 4 | 5 | def calcJacobian(funcs, vars): 6 | jacobi = [] 7 | for func in funcs: 8 | j_row = [] 9 | for var in vars: 10 | dif = sp.simplify(sp.diff(func, var)) 11 | j_row.append(dif) 12 | jacobi.append(j_row) 13 | return sp.Matrix(jacobi) -------------------------------------------------------------------------------- /fast_planner/bspline_opt/script/calc_jacobian.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HKUST-Aerial-Robotics/Fast-Planner/41be219fe4ecc43bf0e0c2b42a523f8755ccc0bd/fast_planner/bspline_opt/script/calc_jacobian.pyc -------------------------------------------------------------------------------- /fast_planner/bspline_opt/script/cost_function.py: -------------------------------------------------------------------------------- 1 | import numpy as np 2 | import sympy as sp 3 | from math import * 4 | import matplotlib.pyplot as plt 5 | 6 | 7 | def f1(x): 8 | return (np.sqrt(x) - 1.0)**2 9 | 10 | def df1dx(x): 11 | return 12 | 13 | 14 | def drawCostFunction(): 15 | x1 = np.arange(0.0, 5.0, 0.01) 16 | y1 = f1(x1) 17 | print x1 18 | print y1 19 | plt.figure() 20 | plt.plot(x1, y1) 21 | plt.show() 22 | 23 | 24 | if __name__ == "__main__": 25 | drawCostFunction() -------------------------------------------------------------------------------- /fast_planner/plan_manage/launch/rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /fast_planner/plan_manage/msg/Bspline.msg: -------------------------------------------------------------------------------- 1 | int32 order 2 | int64 traj_id 3 | time start_time 4 | 5 | float64[] knots 6 | geometry_msgs/Point[] pos_pts 7 | 8 | float64[] yaw_pts 9 | float64 yaw_dt 10 | 11 | -------------------------------------------------------------------------------- /fast_planner/poly_traj/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(poly_traj) 3 | 4 | set(CMAKE_BUILD_TYPE "Release") 5 | set(CMAKE_CXX_FLAGS "-std=c++11") 6 | set(CMAKE_CXX_STANDARD 14) 7 | set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") 8 | 9 | find_package(Eigen3 REQUIRED) 10 | 11 | find_package(catkin REQUIRED COMPONENTS 12 | roscpp 13 | std_msgs 14 | ) 15 | 16 | catkin_package( 17 | INCLUDE_DIRS include 18 | LIBRARIES poly_traj 19 | ) 20 | 21 | include_directories( 22 | # include 23 | ${catkin_INCLUDE_DIRS} ${PROJECT_SOURCE_DIR}/include 24 | 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-------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b quadrotor_msgs 6 | 7 | 10 | 11 | --> 12 | 13 | 14 | */ 15 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/AuxCommand.msg: -------------------------------------------------------------------------------- 1 | float64 current_yaw 2 | float64 kf_correction 3 | float64[2] angle_corrections# Trims for roll, pitch 4 | bool enable_motors 5 | bool use_external_yaw 6 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/Corrections.msg: -------------------------------------------------------------------------------- 1 | float64 kf_correction 2 | float64[2] angle_corrections 3 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/Gains.msg: -------------------------------------------------------------------------------- 1 | float64 Kp 2 | float64 Kd 3 | float64 Kp_yaw 4 | float64 Kd_yaw 5 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/OutputData.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | uint16 loop_rate 3 | float64 voltage 4 | geometry_msgs/Quaternion orientation 5 | geometry_msgs/Vector3 angular_velocity 6 | geometry_msgs/Vector3 linear_acceleration 7 | float64 pressure_dheight 8 | float64 pressure_height 9 | geometry_msgs/Vector3 magnetic_field 10 | uint8[8] radio_channel 11 | #uint8[4] motor_rpm 12 | uint8 seq 13 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/PPROutputData.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | uint16 quad_time 3 | float64 des_thrust 4 | float64 des_roll 5 | float64 des_pitch 6 | float64 des_yaw 7 | float64 est_roll 8 | float64 est_pitch 9 | float64 est_yaw 10 | float64 est_angvel_x 11 | float64 est_angvel_y 12 | float64 est_angvel_z 13 | float64 est_acc_x 14 | float64 est_acc_y 15 | float64 est_acc_z 16 | uint16[4] pwm 17 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/PositionCommand.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | geometry_msgs/Point position 3 | geometry_msgs/Vector3 velocity 4 | geometry_msgs/Vector3 acceleration 5 | float64 yaw 6 | float64 yaw_dot 7 | float64[3] kx 8 | float64[3] kv 9 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/SO3Command.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | geometry_msgs/Vector3 force 3 | geometry_msgs/Quaternion orientation 4 | float64[3] kR 5 | float64[3] kOm 6 | quadrotor_msgs/AuxCommand aux 7 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/Serial.msg: -------------------------------------------------------------------------------- 1 | # Note: These constants need to be kept in sync with the types 2 | # defined in include/quadrotor_msgs/comm_types.h 3 | uint8 SO3_CMD = 115 # 's' in base 10 4 | uint8 TRPY_CMD = 112 # 'p' in base 10 5 | uint8 STATUS_DATA = 99 # 'c' in base 10 6 | uint8 OUTPUT_DATA = 100 # 'd' in base 10 7 | uint8 PPR_OUTPUT_DATA = 116 # 't' in base 10 8 | uint8 PPR_GAINS = 103 # 'g' 9 | 10 | Header header 11 | uint8 channel 12 | uint8 type # One of the types listed above 13 | uint8[] data 14 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/StatusData.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | uint16 loop_rate 3 | float64 voltage 4 | uint8 seq 5 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/TRPYCommand.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | float32 thrust 3 | float32 roll 4 | float32 pitch 5 | float32 yaw 6 | quadrotor_msgs/AuxCommand aux 7 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/generated: -------------------------------------------------------------------------------- 1 | yes -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package.lisp: -------------------------------------------------------------------------------- 1 | (cl:defpackage quadrotor_msgs-msg 2 | (:use ) 3 | (:export 4 | "" 5 | "SERIAL" 6 | "" 7 | "AUXCOMMAND" 8 | "" 9 | "POSITIONCOMMAND" 10 | "" 11 | "CORRECTIONS" 12 | "" 13 | "STATUSDATA" 14 | "" 15 | "SO3COMMAND" 16 | "" 17 | "PPROUTPUTDATA" 18 | "" 19 | "TRPYCOMMAND" 20 | "" 21 | "OUTPUTDATA" 22 | "" 23 | "GAINS" 24 | )) 25 | 26 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_AuxCommand.lisp: -------------------------------------------------------------------------------- 1 | (cl:in-package quadrotor_msgs-msg) 2 | (cl:export '(CURRENT_YAW-VAL 3 | CURRENT_YAW 4 | KF_CORRECTION-VAL 5 | KF_CORRECTION 6 | ANGLE_CORRECTIONS-VAL 7 | ANGLE_CORRECTIONS 8 | ENABLE_MOTORS-VAL 9 | ENABLE_MOTORS 10 | USE_EXTERNAL_YAW-VAL 11 | USE_EXTERNAL_YAW 12 | )) -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_Corrections.lisp: -------------------------------------------------------------------------------- 1 | (cl:in-package quadrotor_msgs-msg) 2 | (cl:export '(KF_CORRECTION-VAL 3 | KF_CORRECTION 4 | ANGLE_CORRECTIONS-VAL 5 | ANGLE_CORRECTIONS 6 | )) -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_Gains.lisp: -------------------------------------------------------------------------------- 1 | (cl:in-package quadrotor_msgs-msg) 2 | (cl:export '(KP-VAL 3 | KP 4 | KD-VAL 5 | KD 6 | KP_YAW-VAL 7 | KP_YAW 8 | KD_YAW-VAL 9 | KD_YAW 10 | )) -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_OutputData.lisp: -------------------------------------------------------------------------------- 1 | (cl:in-package quadrotor_msgs-msg) 2 | (cl:export '(HEADER-VAL 3 | HEADER 4 | LOOP_RATE-VAL 5 | LOOP_RATE 6 | VOLTAGE-VAL 7 | VOLTAGE 8 | ORIENTATION-VAL 9 | ORIENTATION 10 | ANGULAR_VELOCITY-VAL 11 | ANGULAR_VELOCITY 12 | LINEAR_ACCELERATION-VAL 13 | LINEAR_ACCELERATION 14 | PRESSURE_DHEIGHT-VAL 15 | PRESSURE_DHEIGHT 16 | PRESSURE_HEIGHT-VAL 17 | PRESSURE_HEIGHT 18 | MAGNETIC_FIELD-VAL 19 | MAGNETIC_FIELD 20 | RADIO_CHANNEL-VAL 21 | RADIO_CHANNEL 22 | SEQ-VAL 23 | SEQ 24 | )) -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_PositionCommand.lisp: -------------------------------------------------------------------------------- 1 | (cl:in-package quadrotor_msgs-msg) 2 | (cl:export '(HEADER-VAL 3 | HEADER 4 | POSITION-VAL 5 | POSITION 6 | VELOCITY-VAL 7 | VELOCITY 8 | ACCELERATION-VAL 9 | ACCELERATION 10 | YAW-VAL 11 | YAW 12 | YAW_DOT-VAL 13 | YAW_DOT 14 | KX-VAL 15 | KX 16 | KV-VAL 17 | KV 18 | )) -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_SO3Command.lisp: -------------------------------------------------------------------------------- 1 | (cl:in-package quadrotor_msgs-msg) 2 | (cl:export '(HEADER-VAL 3 | HEADER 4 | FORCE-VAL 5 | FORCE 6 | ORIENTATION-VAL 7 | ORIENTATION 8 | KR-VAL 9 | KR 10 | KOM-VAL 11 | KOM 12 | AUX-VAL 13 | AUX 14 | )) -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_Serial.lisp: -------------------------------------------------------------------------------- 1 | (cl:in-package quadrotor_msgs-msg) 2 | (cl:export '(HEADER-VAL 3 | HEADER 4 | CHANNEL-VAL 5 | CHANNEL 6 | TYPE-VAL 7 | TYPE 8 | DATA-VAL 9 | DATA 10 | )) -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_StatusData.lisp: -------------------------------------------------------------------------------- 1 | (cl:in-package quadrotor_msgs-msg) 2 | (cl:export '(HEADER-VAL 3 | HEADER 4 | LOOP_RATE-VAL 5 | LOOP_RATE 6 | VOLTAGE-VAL 7 | VOLTAGE 8 | SEQ-VAL 9 | SEQ 10 | )) -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_TRPYCommand.lisp: -------------------------------------------------------------------------------- 1 | (cl:in-package quadrotor_msgs-msg) 2 | (cl:export '(HEADER-VAL 3 | HEADER 4 | THRUST-VAL 5 | THRUST 6 | ROLL-VAL 7 | ROLL 8 | PITCH-VAL 9 | PITCH 10 | YAW-VAL 11 | YAW 12 | AUX-VAL 13 | AUX 14 | )) 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/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/msg/__init__.py: -------------------------------------------------------------------------------- 1 | from ._Gains import * 2 | from ._SO3Command import * 3 | from ._TRPYCommand import * 4 | from ._PositionCommand import * 5 | from ._PPROutputData import * 6 | from ._OutputData import * 7 | from ._Corrections import * 8 | from ._Serial import * 9 | from ._AuxCommand import * 10 | from ._StatusData import * 11 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/src/multi_map_server/__init__.py: -------------------------------------------------------------------------------- 1 | #autogenerated by ROS python message generators -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/__init__.py: 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"$_CATKIN_SETUP_DIR/setup.sh" 8 | emulate zsh # back to zsh mode 9 | -------------------------------------------------------------------------------- /uav_simulator/Utils/pose_utils/build/catkin_generated/ordered_paths.cmake: -------------------------------------------------------------------------------- 1 | set(ORDERED_PATHS "/opt/ros/indigo/lib") -------------------------------------------------------------------------------- /uav_simulator/Utils/pose_utils/build/devel/.catkin: -------------------------------------------------------------------------------- 1 | /home/jchen/workspace/src/pose_utils -------------------------------------------------------------------------------- /uav_simulator/Utils/pose_utils/build/devel/.rosinstall: -------------------------------------------------------------------------------- 1 | - setup-file: 2 | local-name: /home/jchen/workspace/src/pose_utils/build/devel/setup.sh 3 | -------------------------------------------------------------------------------- /uav_simulator/Utils/pose_utils/build/devel/env.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env sh 2 | # generated from catkin/cmake/templates/env.sh.in 3 | 4 | if [ $# -eq 0 ] ; then 5 | /bin/echo "Usage: env.sh COMMANDS" 6 | /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." 7 | exit 1 8 | fi 9 | 10 | # ensure to not use different shell type which was set before 11 | CATKIN_SHELL=sh 12 | 13 | # source setup.sh from same directory as this file 14 | _CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) 15 | . "$_CATKIN_SETUP_DIR/setup.sh" 16 | exec "$@" 17 | -------------------------------------------------------------------------------- /uav_simulator/Utils/pose_utils/build/devel/etc/catkin/profile.d/05.catkin-test-results.sh: -------------------------------------------------------------------------------- 1 | # generated from catkin/cmake/env-hooks/05.catkin-test-results.sh.develspace.in 2 | 3 | export CATKIN_TEST_RESULTS_DIR="/home/jchen/workspace/src/pose_utils/build/test_results" 4 | export ROS_TEST_RESULTS_DIR="$CATKIN_TEST_RESULTS_DIR" 5 | -------------------------------------------------------------------------------- /uav_simulator/Utils/pose_utils/build/devel/setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | # generated from catkin/cmake/templates/setup.bash.in 3 | 4 | CATKIN_SHELL=bash 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 8 | . 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-------------------------------------------------------------------------------- https://raw.githubusercontent.com/HKUST-Aerial-Robotics/Fast-Planner/41be219fe4ecc43bf0e0c2b42a523f8755ccc0bd/uav_simulator/Utils/pose_utils/lib/libpose_utils.so -------------------------------------------------------------------------------- /uav_simulator/Utils/pose_utils/package.xml: -------------------------------------------------------------------------------- 1 | 2 | pose_utils 3 | 0.0.0 4 | pose_utils 5 | Shaojie Shen 6 | BSD 7 | catkin 8 | roscpp 9 | roscpp 10 | 11 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /uav_simulator/Utils/quadrotor_msgs/include/quadrotor_msgs/decode_msgs.h: -------------------------------------------------------------------------------- 1 | #ifndef __QUADROTOR_MSGS_QUADROTOR_MSGS_H__ 2 | #define __QUADROTOR_MSGS_QUADROTOR_MSGS_H__ 3 | 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | 10 | namespace quadrotor_msgs 11 | { 12 | 13 | bool decodeOutputData(const std::vector &data, 14 | quadrotor_msgs::OutputData &output); 15 | 16 | bool decodeStatusData(const std::vector &data, 17 | quadrotor_msgs::StatusData &status); 18 | 19 | bool decodePPROutputData(const std::vector &data, 20 | quadrotor_msgs::PPROutputData &output); 21 | } 22 | 23 | #endif 24 | -------------------------------------------------------------------------------- /uav_simulator/Utils/quadrotor_msgs/include/quadrotor_msgs/encode_msgs.h: -------------------------------------------------------------------------------- 1 | #ifndef __QUADROTOR_MSGS_QUADROTOR_MSGS_H__ 2 | #define __QUADROTOR_MSGS_QUADROTOR_MSGS_H__ 3 | 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | 10 | namespace quadrotor_msgs 11 | { 12 | 13 | void encodeSO3Command(const quadrotor_msgs::SO3Command &so3_command, 14 | std::vector &output); 15 | void encodeTRPYCommand(const quadrotor_msgs::TRPYCommand &trpy_command, 16 | std::vector &output); 17 | 18 | void encodePPRGains(const quadrotor_msgs::Gains &gains, 19 | std::vector &output); 20 | } 21 | 22 | #endif 23 | -------------------------------------------------------------------------------- /uav_simulator/Utils/quadrotor_msgs/msg/AuxCommand.msg: -------------------------------------------------------------------------------- 1 | float64 current_yaw 2 | float64 kf_correction 3 | float64[2] angle_corrections# Trims for roll, pitch 4 | bool enable_motors 5 | bool use_external_yaw 6 | -------------------------------------------------------------------------------- /uav_simulator/Utils/quadrotor_msgs/msg/Corrections.msg: -------------------------------------------------------------------------------- 1 | float64 kf_correction 2 | float64[2] angle_corrections 3 | -------------------------------------------------------------------------------- /uav_simulator/Utils/quadrotor_msgs/msg/Gains.msg: -------------------------------------------------------------------------------- 1 | float64 Kp 2 | float64 Kd 3 | float64 Kp_yaw 4 | float64 Kd_yaw 5 | -------------------------------------------------------------------------------- /uav_simulator/Utils/quadrotor_msgs/msg/LQRTrajectory.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | 3 | # the trajectory id, starts from "1". 4 | uint32 trajectory_id 5 | 6 | # the action command for trajectory server. 7 | uint32 ACTION_ADD = 1 8 | uint32 ACTION_ABORT = 2 9 | uint32 ACTION_WARN_START = 3 10 | uint32 ACTION_WARN_FINAL = 4 11 | uint32 ACTION_WARN_IMPOSSIBLE = 5 12 | uint32 action 13 | 14 | # the weight coefficient of the control effort 15 | float64 r 16 | 17 | # the yaw command 18 | float64 start_yaw 19 | float64 final_yaw 20 | 21 | # the initial and final state 22 | float64[6] s0 23 | float64[3] ut 24 | 25 | float64[6] sf 26 | 27 | # the optimal arrival time 28 | float64 t_f 29 | 30 | string debug_info 31 | -------------------------------------------------------------------------------- /uav_simulator/Utils/quadrotor_msgs/msg/Odometry.msg: -------------------------------------------------------------------------------- 1 | uint8 STATUS_ODOM_VALID=0 2 | uint8 STATUS_ODOM_INVALID=1 3 | uint8 STATUS_ODOM_LOOPCLOSURE=2 4 | 5 | nav_msgs/Odometry curodom 6 | nav_msgs/Odometry kfodom 7 | uint32 kfid 8 | uint8 status 9 | -------------------------------------------------------------------------------- /uav_simulator/Utils/quadrotor_msgs/msg/OutputData.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | uint16 loop_rate 3 | float64 voltage 4 | geometry_msgs/Quaternion orientation 5 | geometry_msgs/Vector3 angular_velocity 6 | geometry_msgs/Vector3 linear_acceleration 7 | float64 pressure_dheight 8 | float64 pressure_height 9 | geometry_msgs/Vector3 magnetic_field 10 | uint8[8] radio_channel 11 | #uint8[4] motor_rpm 12 | uint8 seq 13 | -------------------------------------------------------------------------------- /uav_simulator/Utils/quadrotor_msgs/msg/PPROutputData.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | uint16 quad_time 3 | float64 des_thrust 4 | float64 des_roll 5 | float64 des_pitch 6 | float64 des_yaw 7 | float64 est_roll 8 | float64 est_pitch 9 | float64 est_yaw 10 | float64 est_angvel_x 11 | float64 est_angvel_y 12 | float64 est_angvel_z 13 | float64 est_acc_x 14 | float64 est_acc_y 15 | float64 est_acc_z 16 | uint16[4] pwm 17 | -------------------------------------------------------------------------------- /uav_simulator/Utils/quadrotor_msgs/msg/PolynomialTrajectory.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | 3 | # the trajectory id, starts from "1". 4 | uint32 trajectory_id 5 | 6 | # the action command for trajectory server. 7 | uint32 ACTION_ADD = 1 8 | uint32 ACTION_ABORT = 2 9 | uint32 ACTION_WARN_START = 3 10 | uint32 ACTION_WARN_FINAL = 4 11 | uint32 ACTION_WARN_IMPOSSIBLE = 5 12 | uint32 action 13 | 14 | # the order of trajectory. 15 | uint32 num_order 16 | uint32 num_segment 17 | 18 | # the polynomial coecfficients of the trajectory. 19 | float64 start_yaw 20 | float64 final_yaw 21 | float64[] coef_x 22 | float64[] coef_y 23 | float64[] coef_z 24 | float64[] time 25 | float64 mag_coeff 26 | uint32[] order 27 | 28 | string debug_info 29 | -------------------------------------------------------------------------------- /uav_simulator/Utils/quadrotor_msgs/msg/PolynomialTrajectory.msg~: -------------------------------------------------------------------------------- 1 | Header header 2 | 3 | # the trajectory id, starts from "1". 4 | uint32 trajectory_id 5 | 6 | # the action command for trajectory server. 7 | uint32 ACTION_ADD = 1 8 | uint32 ACTION_ABORT = 2 9 | uint32 ACTION_WARN_START = 3 10 | uint32 ACTION_WARN_FINAL = 4 11 | uint32 ACTION_WARN_IMPOSSIBLE = 5 12 | uint32 action 13 | 14 | # the order of trajectory. 15 | uint32 num_order 16 | uint32 num_segment 17 | 18 | # the polynomial coecfficients of the trajectory. 19 | float64 start_yaw 20 | float64 final_yaw 21 | float64[] coef_x 22 | float64[] coef_y 23 | float64[] coef_z 24 | float64[] time 25 | float64 mag_coeff 26 | string debug_info 27 | -------------------------------------------------------------------------------- /uav_simulator/Utils/quadrotor_msgs/msg/PositionCommand.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | geometry_msgs/Point position 3 | geometry_msgs/Vector3 velocity 4 | geometry_msgs/Vector3 acceleration 5 | float64 yaw 6 | float64 yaw_dot 7 | float64[3] kx 8 | float64[3] kv 9 | 10 | uint32 trajectory_id 11 | 12 | uint8 TRAJECTORY_STATUS_EMPTY = 0 13 | uint8 TRAJECTORY_STATUS_READY = 1 14 | uint8 TRAJECTORY_STATUS_COMPLETED = 3 15 | uint8 TRAJECTROY_STATUS_ABORT = 4 16 | uint8 TRAJECTORY_STATUS_ILLEGAL_START = 5 17 | uint8 TRAJECTORY_STATUS_ILLEGAL_FINAL = 6 18 | uint8 TRAJECTORY_STATUS_IMPOSSIBLE = 7 19 | 20 | # Its ID number will start from 1, allowing you comparing it with 0. 21 | uint8 trajectory_flag 22 | -------------------------------------------------------------------------------- /uav_simulator/Utils/quadrotor_msgs/msg/PositionCommand.msg~: -------------------------------------------------------------------------------- 1 | Header header 2 | geometry_msgs/Point position 3 | geometry_msgs/Vector3 velocity 4 | geometry_msgs/Vector3 acceleration 5 | float64 yaw 6 | float64 yaw_dot 7 | float64[3] kx 8 | float64[3] kv 9 | 10 | uint32 trajectory_id 11 | 12 | uint8 TRAJECTORY_STATUS_EMPTY = 0 13 | uint8 TRAJECTORY_STATUS_READY = 1 14 | uint8 TRAJECTORY_STATUS_COMPLETE = 3 15 | uint8 TRAJECTROY_STATUS_ABORT = 8 16 | 17 | uint8 trajectory_flag 18 | -------------------------------------------------------------------------------- /uav_simulator/Utils/quadrotor_msgs/msg/SO3Command.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | geometry_msgs/Vector3 force 3 | geometry_msgs/Quaternion orientation 4 | float64[3] kR 5 | float64[3] kOm 6 | quadrotor_msgs/AuxCommand aux 7 | -------------------------------------------------------------------------------- /uav_simulator/Utils/quadrotor_msgs/msg/Serial.msg: -------------------------------------------------------------------------------- 1 | # Note: These constants need to be kept in sync with the types 2 | # defined in include/quadrotor_msgs/comm_types.h 3 | uint8 SO3_CMD = 115 # 's' in base 10 4 | uint8 TRPY_CMD = 112 # 'p' in base 10 5 | uint8 STATUS_DATA = 99 # 'c' in base 10 6 | uint8 OUTPUT_DATA = 100 # 'd' in base 10 7 | uint8 PPR_OUTPUT_DATA = 116 # 't' in base 10 8 | uint8 PPR_GAINS = 103 # 'g' 9 | 10 | Header header 11 | uint8 channel 12 | uint8 type # One of the types listed above 13 | uint8[] data 14 | -------------------------------------------------------------------------------- /uav_simulator/Utils/quadrotor_msgs/msg/StatusData.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | uint16 loop_rate 3 | float64 voltage 4 | uint8 seq 5 | -------------------------------------------------------------------------------- /uav_simulator/Utils/quadrotor_msgs/msg/TRPYCommand.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | float32 thrust 3 | float32 roll 4 | float32 pitch 5 | float32 yaw 6 | quadrotor_msgs/AuxCommand aux 7 | -------------------------------------------------------------------------------- /uav_simulator/Utils/quadrotor_msgs/package.xml: -------------------------------------------------------------------------------- 1 | 2 | quadrotor_msgs 3 | 0.0.0 4 | quadrotor_msgs 5 | Kartik Mohta 6 | http://ros.org/wiki/quadrotor_msgs 7 | BSD 8 | catkin 9 | geometry_msgs 10 | nav_msgs 11 | message_generation 12 | geometry_msgs 13 | nav_msgs 14 | message_runtime 15 | 16 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HKUST-Aerial-Robotics/Fast-Planner/41be219fe4ecc43bf0e0c2b42a523f8755ccc0bd/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/__init__.py -------------------------------------------------------------------------------- /uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/__init__.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HKUST-Aerial-Robotics/Fast-Planner/41be219fe4ecc43bf0e0c2b42a523f8755ccc0bd/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/__init__.pyc -------------------------------------------------------------------------------- /uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/__init__.py: -------------------------------------------------------------------------------- 1 | from ._Gains import * 2 | from ._SO3Command import * 3 | from ._TRPYCommand import * 4 | from ._PositionCommand import * 5 | from ._PPROutputData import * 6 | from ._OutputData import * 7 | from ._Corrections import * 8 | from ._Serial import * 9 | from ._AuxCommand import * 10 | from ._StatusData import * 11 | -------------------------------------------------------------------------------- /uav_simulator/Utils/uav_utils/scripts/topic_statistics.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | import argparse as ap 4 | import argcomplete 5 | 6 | def main(**args): 7 | pass 8 | 9 | if __name__ == '__main__': 10 | parser = ap.ArgumentParser() 11 | parser.add_argument('positional', choices=['spam', 'eggs']) 12 | parser.add_argument('--optional', choices=['foo1', 'foo2', 'bar']) 13 | argcomplete.autocomplete(parser) 14 | args = parser.parse_args() 15 | main(**vars(args)) -------------------------------------------------------------------------------- /uav_simulator/Utils/waypoint_generator/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 0.0.0 3 | waypoint_generator 4 | 5 | 6 | waypoint_generator 7 | 8 | 9 | Shaojie Shen 10 | BSD 11 | http://ros.org/wiki/waypoint_generator 12 | 13 | catkin 14 | 15 | roscpp 16 | tf 17 | nav_msgs 18 | 19 | roscpp 20 | tf 21 | nav_msgs 22 | 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /uav_simulator/local_sensing/.vscode/settings.json: -------------------------------------------------------------------------------- 1 | { 2 | "files.associations": { 3 | "*.cuh": "cpp" 4 | } 5 | } -------------------------------------------------------------------------------- /uav_simulator/local_sensing/cfg/local_sensing_node.cfg: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | PACKAGE = "local_sensing_node" 3 | 4 | from dynamic_reconfigure.parameter_generator_catkin import * 5 | 6 | gen = ParameterGenerator() 7 | 8 | gen.add("tx", double_t, 0, "tx", 0.0, -1000.0, 1000.0) 9 | gen.add("ty", double_t, 0, "ty", 0.0, -1000.0, 1000.0) 10 | gen.add("tz", double_t, 0, "tz", 0.0, -1000.0, 1000.0) 11 | gen.add("axis_x", double_t, 0, "axis_x", 0.0, -360.0, 360.0) 12 | gen.add("axis_y", double_t, 0, "axis_y", 0.0, -360.0, 360.0) 13 | gen.add("axis_z", double_t, 0, "axis_z", 0.0, -360.0, 360.0) 14 | 15 | exit(gen.generate(PACKAGE, "local_sensing_node", "local_sensing_node")) -------------------------------------------------------------------------------- /uav_simulator/local_sensing/params/camera.yaml: -------------------------------------------------------------------------------- 1 | cam_width: 640 2 | cam_height: 480 3 | cam_fx: 387.229248046875 4 | cam_fy: 387.229248046875 5 | cam_cx: 321.04638671875 6 | cam_cy: 243.44969177246094 7 | 8 | 9 | # cam_width: 752 10 | # cam_height: 480 11 | # cam_fx: 258.654 12 | # cam_fy: 257.296 13 | # cam_cx: 367.215 14 | # cam_cy: 248.375 -------------------------------------------------------------------------------- /uav_simulator/local_sensing/src/csv_convert.py: -------------------------------------------------------------------------------- 1 | import csv 2 | file_location = '/home/wang/bag/banchmark/EuRoC/ViconRoom101/state_groundtruth_estimate0/data.csv' 3 | with open('/home/wang/bag/banchmark/EuRoC/ViconRoom101/state_groundtruth_estimate0/data.txt', 'w') as txt_f: 4 | with open(file_location) as f: 5 | f_csv = csv.reader(f) 6 | headers = next(f_csv) 7 | for row in f_csv: 8 | txt_f.write('%lf\n'% (float(row[0]) / 1000000000.0) ) 9 | txt_f.write('%lf\n'% (float(row[1])) ) 10 | txt_f.write('%lf\n'% (float(row[2])) ) 11 | txt_f.write('%lf\n'% (float(row[3])) ) 12 | txt_f.write('%lf\n'% (float(row[4])) ) 13 | txt_f.write('%lf\n'% (float(row[5])) ) 14 | txt_f.write('%lf\n'% (float(row[6])) ) 15 | txt_f.write('%lf\n'% (float(row[7])) ) -------------------------------------------------------------------------------- /uav_simulator/local_sensing/src/empty.cpp: -------------------------------------------------------------------------------- 1 | #include "empty.h" -------------------------------------------------------------------------------- /uav_simulator/local_sensing/src/empty.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HKUST-Aerial-Robotics/Fast-Planner/41be219fe4ecc43bf0e0c2b42a523f8755ccc0bd/uav_simulator/local_sensing/src/empty.h -------------------------------------------------------------------------------- /uav_simulator/map_generator/.vscode/c_cpp_properties.json: -------------------------------------------------------------------------------- 1 | { 2 | "configurations": [ 3 | { 4 | "name": "Linux", 5 | "includePath": [ 6 | "${workspaceFolder}/**", 7 | "/usr/include/pcl-1.7", 8 | "/usr/include/eigen3", 9 | "/opt/ros/kinetic/include" 10 | ], 11 | "defines": [], 12 | "compilerPath": "/usr/bin/gcc", 13 | "cStandard": "c11", 14 | "cppStandard": "c++17" 15 | } 16 | ], 17 | "version": 4 18 | } -------------------------------------------------------------------------------- /uav_simulator/map_generator/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(map_generator) 3 | 4 | set(CMAKE_BUILD_TYPE "Release") 5 | set(CMAKE_CXX_FLAGS "-std=c++11") 6 | set(CMAKE_CXX_STANDARD 14) 7 | set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") 8 | 9 | find_package(catkin REQUIRED COMPONENTS 10 | roscpp 11 | rospy 12 | std_msgs 13 | geometry_msgs 14 | pcl_conversions 15 | ) 16 | find_package(PCL REQUIRED) 17 | find_package(Eigen3 REQUIRED) 18 | 19 | catkin_package() 20 | 21 | include_directories( 22 | # include 23 | ${catkin_INCLUDE_DIRS} 24 | ${EIGEN3_INCLUDE_DIR} 25 | ${PCL_INCLUDE_DIRS} 26 | ) 27 | 28 | add_executable (random_forest src/random_forest_sensing.cpp ) 29 | target_link_libraries(random_forest 30 | ${catkin_LIBRARIES} 31 | ${PCL_LIBRARIES}) 32 | -------------------------------------------------------------------------------- /uav_simulator/so3_control/config/corrections_hummingbird.yaml: -------------------------------------------------------------------------------- 1 | corrections: 2 | z: 0.0 3 | r: 0.0 4 | p: 0.0 5 | -------------------------------------------------------------------------------- /uav_simulator/so3_control/config/corrections_pelican.yaml: -------------------------------------------------------------------------------- 1 | corrections: 2 | z: 0.0 3 | r: 0.0 4 | p: 0.0 5 | -------------------------------------------------------------------------------- /uav_simulator/so3_control/config/gains.yaml: -------------------------------------------------------------------------------- 1 | # Gains for Laser-based Pelican 2 | gains: 3 | pos: {x: 5.0, y: 5.0, z: 15.0} 4 | vel: {x: 5.0, y: 5.0, z: 5.0} 5 | rot: {x: 3.5, y: 3.5, z: 1.0} 6 | ang: {x: 0.4, y: 0.4, z: 0.1} 7 | -------------------------------------------------------------------------------- /uav_simulator/so3_control/config/gains_hummingbird.yaml: -------------------------------------------------------------------------------- 1 | # Vision Gain for Hummingbird 2 | gains: 3 | pos: {x: 2.0, y: 2.0, z: 3.5} 4 | vel: {x: 1.8, y: 1.8, z: 2.0} 5 | rot: {x: 1.0, y: 1.0, z: 0.3} 6 | ang: {x: 0.07, y: 0.07, z: 0.02} 7 | -------------------------------------------------------------------------------- /uav_simulator/so3_control/config/gains_pelican.yaml: -------------------------------------------------------------------------------- 1 | # Gains for Laser-based Pelican 2 | gains: 3 | pos: {x: 5.0, y: 5.0, z: 15.0} 4 | vel: {x: 5.0, y: 5.0, z: 5.0} 5 | rot: {x: 3.5, y: 3.5, z: 1.0} 6 | ang: {x: 0.4, y: 0.4, z: 0.1} 7 | -------------------------------------------------------------------------------- /uav_simulator/so3_control/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b so3_control 6 | 7 | 10 | 11 | --> 12 | 13 | 14 | */ 15 | -------------------------------------------------------------------------------- /uav_simulator/so3_control/nodelet_plugin.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | so3_control 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /uav_simulator/so3_disturbance_generator/cfg/disturbance_ui.cfgc: 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/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/Jamfile.v2: -------------------------------------------------------------------------------- 1 | # Copyright 2011 Karsten Ahnert and Mario Mulansky. 2 | # Distributed under the Boost Software License, Version 1.0. (See 3 | # accompanying file LICENSE_1_0.txt or copy at 4 | # http://www.boost.org/LICENSE_1_0.txt) 5 | 6 | project 7 | : requirements 8 | ../../../../.. 9 | BOOST_ALL_NO_LIB=1 10 | ; 11 | 12 | exe spreading : spreading.cpp ; -------------------------------------------------------------------------------- /uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/mtl/Jamfile.v2: -------------------------------------------------------------------------------- 1 | # Copyright 2009 Karsten Ahnert and Mario Mulansky. 2 | # Distributed under the Boost Software License, Version 1.0. (See 3 | # accompanying file LICENSE_1_0.txt or copy at 4 | # http://www.boost.org/LICENSE_1_0.txt) 5 | 6 | MTL4_INCLUDE = /home/karsten/boost/MTL-4.0.8862-Linux/usr/include ; 7 | 8 | project 9 | : requirements 10 | ../../../../.. 11 | $(MTL4_INCLUDE) 12 | BOOST_ALL_NO_LIB=1 13 | ; 14 | 15 | exe gauss_packet : gauss_packet.cpp ; 16 | exe implicit_euler_mtl : implicit_euler_mtl.cpp ; -------------------------------------------------------------------------------- /uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/quadmath/Jamfile.v2: -------------------------------------------------------------------------------- 1 | # Copyright 2009 Karsten Ahnert and Mario Mulansky. 2 | # Distributed under the Boost Software License, Version 1.0. (See 3 | # accompanying file LICENSE_1_0.txt or copy at 4 | # http://www.boost.org/LICENSE_1_0.txt) 5 | 6 | 7 | project 8 | : requirements 9 | ../../../.. 10 | BOOST_ALL_NO_LIB=1 11 | : 12 | ; 13 | 14 | lib quadmath : : quadmath shared ; 15 | 16 | exe black_hole : black_hole.cpp quadmath : -std=c++0x ; -------------------------------------------------------------------------------- /uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/ublas/Jamfile.v2: -------------------------------------------------------------------------------- 1 | # Copyright 2009 Karsten Ahnert and Mario Mulansky. 2 | # Distributed under the Boost Software License, Version 1.0. (See 3 | # accompanying file LICENSE_1_0.txt or copy at 4 | # http://www.boost.org/LICENSE_1_0.txt) 5 | 6 | 7 | project 8 | : requirements 9 | ../../../../.. 10 | BOOST_ALL_NO_LIB=1 11 | ; 12 | 13 | exe lorenz_ublas : lorenz_ublas.cpp ; 14 | --------------------------------------------------------------------------------