├── README.md ├── odom_visualization ├── CMakeLists.txt ├── meshes │ └── hummingbird.mesh ├── package.xml └── src │ └── odom_visualization.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 └── utils ├── cmake_utils ├── CMakeLists.txt ├── cmake │ ├── arch.cmake │ ├── cmake_modules.cmake │ ├── color.cmake │ └── test.cmake ├── cmake_modules │ ├── FindEigen.cmake │ ├── FindGSL.cmake │ ├── FindMKL.cmake │ └── FindmvIMPACT.cmake ├── lib │ └── mosek8 │ │ ├── libcilkrts.so.5 │ │ ├── libiomp5.so │ │ ├── libmosek64.so │ │ ├── libmosek64.so.8.0 │ │ ├── libmosek64.so.8.1 │ │ ├── libmosekjava8_0.so │ │ ├── libmosekjava8_1.so │ │ ├── libmosekscopt8_0.so │ │ ├── libmosekscopt8_1.so │ │ ├── libmosekxx8_0.so │ │ └── libmosekxx8_1.so └── package.xml ├── convex_solver ├── CMakeLists.txt ├── include │ ├── gp │ │ └── gp.hpp │ └── mosek │ │ ├── fusion.h │ │ ├── fusion_fwd.h │ │ ├── monty.h │ │ ├── monty_base.h │ │ ├── monty_iterator.h │ │ ├── monty_ndarray.h │ │ ├── monty_rc.h │ │ ├── monty_shape.h │ │ ├── mosek.h │ │ └── mosektask.h ├── package.xml └── src │ ├── fusion_cxx │ ├── BaseModel.cc │ ├── Debug.cc │ ├── IntMap.cc │ ├── Makefile │ ├── SolverInfo.cc │ ├── SolverInfo.h │ ├── StringBuffer.cc │ ├── fusion.cc │ ├── fusion_p.h │ ├── mosektask.cc │ └── mosektask_p.h │ └── gp │ └── gp.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~ │ ├── PolynomialTrajectory_back.msg │ ├── PositionCommand.msg │ ├── PositionCommand.msg~ │ ├── PositionCommand_back.msg │ ├── Replan.msg │ ├── SO3Command.msg │ ├── Serial.msg │ ├── StatusData.msg │ ├── SwarmCommand.msg │ ├── SwarmInfo.msg │ ├── SwarmOdometry.msg │ ├── TRPYCommand.msg │ └── TrajectoryMatrix.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 ├── sparse_graph ├── CMakeLists.txt ├── include │ └── sparse_graph │ │ └── sparsegraph.hpp └── package.xml ├── 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 /README.md: -------------------------------------------------------------------------------- 1 | # simulator and related utils 2 | 3 | Newborn of ancestral code 4 | -------------------------------------------------------------------------------- /odom_visualization/meshes/hummingbird.mesh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HKUST-Aerial-Robotics/mockasimulator/af44653d299186fb43c0cb8709002031f84c2d24/odom_visualization/meshes/hummingbird.mesh -------------------------------------------------------------------------------- /odom_visualization/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 0.0.0 3 | odom_visualization 4 | 5 | 6 | odom_visualization 7 | 8 | 9 | Shaojie Shen 10 | Shaojie Shen 11 | GPLV3 12 | http://ros.org/wiki/odom_visualization 13 | 14 | catkin 15 | 16 | roscpp 17 | sensor_msgs 18 | nav_msgs 19 | std_msgs 20 | visualization_msgs 21 | tf 22 | pose_utils 23 | cmake_utils 24 | joy 25 | 26 | roscpp 27 | sensor_msgs 28 | nav_msgs 29 | std_msgs 30 | visualization_msgs 31 | tf 32 | pose_utils 33 | cmake_utils 34 | joy 35 | 36 | 37 | 38 | 39 | -------------------------------------------------------------------------------- /so3_control/config/corrections_hummingbird.yaml: -------------------------------------------------------------------------------- 1 | corrections: 2 | z: 0.0 3 | r: 0.0 4 | p: 0.0 5 | -------------------------------------------------------------------------------- /so3_control/config/corrections_pelican.yaml: -------------------------------------------------------------------------------- 1 | corrections: 2 | z: 0.0 3 | r: 0.0 4 | p: 0.0 5 | -------------------------------------------------------------------------------- /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 | -------------------------------------------------------------------------------- /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 | -------------------------------------------------------------------------------- /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 | -------------------------------------------------------------------------------- /so3_control/include/so3_control/SO3Control.h: -------------------------------------------------------------------------------- 1 | #ifndef __SO3_CONTROL_H__ 2 | #define __SO3_CONTROL_H__ 3 | 4 | #include 5 | 6 | class SO3Control 7 | { 8 | public: 9 | SO3Control(); 10 | 11 | void setMass(const double mass); 12 | void setGravity(const double g); 13 | void setPosition(const Eigen::Vector3d& position); 14 | void setVelocity(const Eigen::Vector3d& velocity); 15 | void setAcc(const Eigen::Vector3d& acc); 16 | 17 | void calculateControl(const Eigen::Vector3d& des_pos, 18 | const Eigen::Vector3d& des_vel, 19 | const Eigen::Vector3d& des_acc, const double des_yaw, 20 | const double des_yaw_dot, const Eigen::Vector3d& kx, 21 | const Eigen::Vector3d& kv); 22 | 23 | const Eigen::Vector3d& getComputedForce(void); 24 | const Eigen::Quaterniond& getComputedOrientation(void); 25 | 26 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW 27 | 28 | private: 29 | // Inputs for the controller 30 | double mass_; 31 | double g_; 32 | Eigen::Vector3d pos_; 33 | Eigen::Vector3d vel_; 34 | Eigen::Vector3d acc_; 35 | 36 | // Outputs of the controller 37 | Eigen::Vector3d force_; 38 | Eigen::Quaterniond orientation_; 39 | }; 40 | 41 | #endif 42 | -------------------------------------------------------------------------------- /so3_control/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b so3_control 6 | 7 | 10 | 11 | --> 12 | 13 | 14 | */ 15 | -------------------------------------------------------------------------------- /so3_control/nodelet_plugin.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | so3_control 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /so3_control/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 0.0.0 3 | so3_control 4 | 5 | 6 | so3_control 7 | 8 | 9 | Kartik Mohta 10 | BSD 11 | http://ros.org/wiki/so3_control 12 | 13 | 14 | catkin 15 | 16 | roscpp 17 | nav_msgs 18 | quadrotor_msgs 19 | tf 20 | nodelet 21 | cmake_utils 22 | 23 | roscpp 24 | nav_msgs 25 | quadrotor_msgs 26 | tf 27 | nodelet 28 | cmake_utils 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | -------------------------------------------------------------------------------- /so3_disturbance_generator/cfg/disturbance_ui.cfgc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HKUST-Aerial-Robotics/mockasimulator/af44653d299186fb43c0cb8709002031f84c2d24/so3_disturbance_generator/cfg/disturbance_ui.cfgc -------------------------------------------------------------------------------- /so3_disturbance_generator/docs/DisturbanceUIConfig-usage.dox: -------------------------------------------------------------------------------- 1 | \subsubsection usage Usage 2 | \verbatim 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | \endverbatim 27 | 28 | -------------------------------------------------------------------------------- /so3_disturbance_generator/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b so3_disturbance_generator is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /so3_disturbance_generator/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 0.0.0 3 | so3_disturbance_generator 4 | 5 | 6 | so3_disturbance_generator 7 | 8 | 9 | 10 | Shaojie Shen 11 | BSD 12 | http://ros.org/wiki/so3_disturbance_generator 13 | 14 | catkin 15 | 16 | roscpp 17 | std_msgs 18 | nav_msgs 19 | sensor_msgs 20 | visualization_msgs 21 | pose_utils 22 | dynamic_reconfigure 23 | 24 | roscpp 25 | std_msgs 26 | nav_msgs 27 | sensor_msgs 28 | visualization_msgs 29 | pose_utils 30 | dynamic_reconfigure 31 | 32 | 33 | 34 | 35 | -------------------------------------------------------------------------------- /so3_disturbance_generator/src/pose_utils.h: -------------------------------------------------------------------------------- 1 | #ifndef POSE_UTILS_H 2 | #define POSE_UTILS_H 3 | 4 | #include 5 | #include "armadillo" 6 | 7 | #define PI 3.14159265359 8 | #define NUM_INF 999999.9 9 | 10 | using namespace arma; 11 | using namespace std; 12 | 13 | // Rotation --------------------- 14 | mat ypr_to_R(const colvec& ypr); 15 | 16 | mat yaw_to_R(double yaw); 17 | 18 | colvec R_to_ypr(const mat& R); 19 | 20 | mat quaternion_to_R(const colvec& q); 21 | 22 | colvec R_to_quaternion(const mat& R); 23 | 24 | colvec quaternion_mul(const colvec& q1, const colvec& q2); 25 | 26 | colvec quaternion_inv(const colvec& q); 27 | 28 | // General Pose Update ---------- 29 | colvec pose_update(const colvec& X1, const colvec& X2); 30 | 31 | colvec pose_inverse(const colvec& X); 32 | 33 | colvec pose_update_2d(const colvec& X1, const colvec& X2); 34 | 35 | colvec pose_inverse_2d(const colvec& X); 36 | 37 | // For Pose EKF ----------------- 38 | mat Jplus1(const colvec& X1, const colvec& X2); 39 | 40 | mat Jplus2(const colvec& X1, const colvec& X2); 41 | 42 | // For IMU EKF ------------------ 43 | colvec state_update(const colvec& X, const colvec& U, double dt); 44 | 45 | mat jacobianF(const colvec& X, const colvec& U, double dt); 46 | 47 | mat jacobianU(const colvec& X, const colvec& U, double dt); 48 | 49 | colvec state_measure(const colvec& X); 50 | 51 | mat jacobianH(); 52 | 53 | #endif 54 | -------------------------------------------------------------------------------- /so3_disturbance_generator/src/so3_disturbance_generator/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HKUST-Aerial-Robotics/mockasimulator/af44653d299186fb43c0cb8709002031f84c2d24/so3_disturbance_generator/src/so3_disturbance_generator/__init__.py -------------------------------------------------------------------------------- /so3_disturbance_generator/src/so3_disturbance_generator/cfg/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HKUST-Aerial-Robotics/mockasimulator/af44653d299186fb43c0cb8709002031f84c2d24/so3_disturbance_generator/src/so3_disturbance_generator/cfg/__init__.py -------------------------------------------------------------------------------- /so3_quadrotor_simulator/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(so3_quadrotor_simulator) 3 | 4 | add_compile_options(-std=c++11) 5 | 6 | find_package(catkin REQUIRED COMPONENTS 7 | roscpp 8 | quadrotor_msgs 9 | uav_utils 10 | cmake_utils 11 | ) 12 | 13 | ########### 14 | ## Build ## 15 | ########### 16 | 17 | find_package(Eigen3 REQUIRED) 18 | 19 | include_directories(${EIGEN3_INCLUDE_DIR}) 20 | include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include/ode) 21 | ## 22 | find_package(Armadillo REQUIRED) 23 | include_directories(${ARMADILLO_INCLUDE_DIRS}) 24 | 25 | catkin_package( 26 | INCLUDE_DIRS include 27 | # LIBRARIES irobot_msgs 28 | CATKIN_DEPENDS roscpp quadrotor_msgs uav_utils 29 | DEPENDS Eigen3 system_lib 30 | ) 31 | 32 | include_directories(include) 33 | include_directories( 34 | ${catkin_INCLUDE_DIRS} 35 | ) 36 | 37 | add_library(quadrotor_dynamics src/dynamics/Quadrotor.cpp) 38 | 39 | ## Declare a cpp executable 40 | #add_executable(odom_visualization src/odom_visualization.cpp) 41 | add_executable(quadrotor_simulator_so3 42 | src/quadrotor_simulator_so3.cpp) 43 | 44 | target_link_libraries(quadrotor_simulator_so3 45 | ${catkin_LIBRARIES} 46 | quadrotor_dynamics 47 | ) 48 | -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/CHANGELOG: -------------------------------------------------------------------------------- 1 | odeint 2.1 2 | 3 | * versioning system 4 | * generation functions 5 | * bugfixing 6 | 7 | odeint 2.2 (still running) 8 | 9 | * removing same_size and resize from state_wrapper into separate functions 10 | -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/Jamroot: -------------------------------------------------------------------------------- 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 | import os ; 7 | import modules ; 8 | import path ; 9 | 10 | path-constant BOOST_ROOT : [ os.environ BOOST_ROOT ] ; 11 | 12 | project 13 | : requirements 14 | $(BOOST_ROOT) 15 | clang:-Wno-unused-variable 16 | ; 17 | 18 | # tests, regression tests and examples 19 | build-project libs/numeric/odeint/test ; 20 | build-project libs/numeric/odeint/examples ; 21 | 22 | 23 | # additional tests with external libraries : 24 | # build-project libs/numeric/odeint/test_external/gmp ; 25 | # build-project libs/numeric/odeint/test_external/mkl ; 26 | # build-project libs/numeric/odeint/test_external/gsl ; 27 | 28 | 29 | # docs: 30 | # build-project libs/numeric/odeint/doc ; 31 | 32 | 33 | 34 | 35 | 36 | 37 | ###### The following is copied from another sandbox project ##### 38 | ###### to get the quickbook and boostbook working ... ##### 39 | 40 | # local boost-root = [ modules.peek : BOOST_ROOT ] ; 41 | # local explore-header-include = $(top)/../.. ; 42 | # use-project /boost/regex : $(boost-root)/libs/regex/build ; 43 | 44 | ################################################################## 45 | -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/README: -------------------------------------------------------------------------------- 1 | odeint is a highly flexible library for solving ordinary differential equations. 2 | -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/macros.hpp: -------------------------------------------------------------------------------- 1 | /* 2 | [auto_generated] 3 | boost/numeric/odeint/algebra/detail/macros.hpp 4 | 5 | [begin_description] 6 | Some macros for type checking. 7 | [end_description] 8 | 9 | Copyright 2009-2011 Karsten Ahnert 10 | Copyright 2009-2011 Mario Mulansky 11 | 12 | Distributed under the Boost Software License, Version 1.0. 13 | (See accompanying file LICENSE_1_0.txt or 14 | copy at http://www.boost.org/LICENSE_1_0.txt) 15 | */ 16 | 17 | 18 | #ifndef BOOST_NUMERIC_ODEINT_ALGEBRA_DETAIL_MACROS_HPP_INCLUDED 19 | #define BOOST_NUMERIC_ODEINT_ALGEBRA_DETAIL_MACROS_HPP_INCLUDED 20 | 21 | 22 | //type traits aren't working with nvcc 23 | #ifndef __CUDACC__ 24 | #include 25 | #include 26 | 27 | #define BOOST_ODEINT_CHECK_CONTAINER_TYPE( Type1 , Type2 ) \ 28 | BOOST_STATIC_ASSERT(( boost::is_same< typename boost::remove_const< Type1 >::type , Type2 >::value )) 29 | 30 | #else 31 | //empty macro for nvcc 32 | #define BOOST_ODEINT_CHECK_CONTAINER_TYPE( Type1 , Type2 ) 33 | 34 | #endif // __CUDACC__ 35 | 36 | 37 | 38 | /* 39 | #define BOOST_ODEINT_CHECK_OPERATION_ARITY( Operation , Arity ) \ 40 | BOOST_STATIC_ASSERT(( boost::function_traits< Operation >::arity == Arity )) 41 | */ 42 | 43 | #endif // BOOST_NUMERIC_ODEINT_ALGEBRA_DETAIL_MACROS_HPP_INCLUDED 44 | -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/boost/numeric/odeint/config.hpp: -------------------------------------------------------------------------------- 1 | /* 2 | [auto_generated] 3 | boost/numeric/odeint/config.hpp 4 | 5 | [begin_description] 6 | Sets configurations for odeint and used libraries. Should be included before any other odeint library 7 | [end_description] 8 | 9 | Copyright 2009-2011 Karsten Ahnert 10 | Copyright 2009-2011 Mario Mulansky 11 | 12 | Distributed under the Boost Software License, Version 1.0. 13 | (See accompanying file LICENSE_1_0.txt or 14 | copy at http://www.boost.org/LICENSE_1_0.txt) 15 | */ 16 | 17 | #ifndef BOOST_NUMERIC_ODEINT_CONFIG_HPP_INCLUDED 18 | #define BOOST_NUMERIC_ODEINT_CONFIG_HPP_INCLUDED 19 | 20 | //increase macro variable to allow rk78 scheme 21 | #ifndef FUSION_MAX_VECTOR_SIZE 22 | #define FUSION_MAX_VECTOR_SIZE 15 23 | #endif 24 | 25 | /* 26 | * the following definitions are only required if fusion vectors are used as state types 27 | * in the rk78 scheme 28 | * they should be defined by the user if required, see e.g. libs/numeric/examples/harmonic_oscillator_units.cpp 29 | */ 30 | #ifndef BOOST_FUSION_INVOKE_MAX_ARITY 31 | #define BOOST_FUSION_INVOKE_MAX_ARITY 15 32 | #endif 33 | 34 | #ifndef BOOST_RESULT_OF_NUM_ARGS 35 | #define BOOST_RESULT_OF_NUM_ARGS 15 36 | #endif 37 | /* 38 | */ 39 | 40 | #include 41 | 42 | #if __cplusplus >= 201103L 43 | #define BOOST_NUMERIC_ODEINT_CXX11 1 44 | #endif 45 | 46 | 47 | #endif // BOOST_NUMERIC_ODEINT_CONFIG_HPP_INCLUDED 48 | -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/null_observer.hpp: -------------------------------------------------------------------------------- 1 | /* 2 | [auto_generated] 3 | boost/numeric/odeint/integrate/null_observer.hpp 4 | 5 | [begin_description] 6 | null_observer 7 | [end_description] 8 | 9 | Copyright 2009-2011 Karsten Ahnert 10 | Copyright 2009-2011 Mario Mulansky 11 | 12 | Distributed under the Boost Software License, Version 1.0. 13 | (See accompanying file LICENSE_1_0.txt or 14 | copy at http://www.boost.org/LICENSE_1_0.txt) 15 | */ 16 | 17 | 18 | #ifndef BOOST_NUMERIC_ODEINT_INTEGRATE_NULL_OBSERVER_HPP_INCLUDED 19 | #define BOOST_NUMERIC_ODEINT_INTEGRATE_NULL_OBSERVER_HPP_INCLUDED 20 | 21 | namespace boost { 22 | namespace numeric { 23 | namespace odeint { 24 | 25 | struct null_observer 26 | { 27 | template< class State , class Time > 28 | void operator()( const State& /* x */ , Time /* t */ ) const 29 | { 30 | 31 | } 32 | }; 33 | 34 | } // namespace odeint 35 | } // namespace numeric 36 | } // namespace boost 37 | 38 | #endif // BOOST_NUMERIC_ODEINT_INTEGRATE_NULL_OBSERVER_HPP_INCLUDED 39 | -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/controlled_step_result.hpp: -------------------------------------------------------------------------------- 1 | /* 2 | [auto_generated] 3 | boost/numeric/odeint/stepper/controlled_step_result.hpp 4 | 5 | [begin_description] 6 | Defines the result type for all controlled stepper. 7 | [end_description] 8 | 9 | Copyright 2009-2011 Karsten Ahnert 10 | Copyright 2009-2011 Mario Mulansky 11 | 12 | Distributed under the Boost Software License, Version 1.0. 13 | (See accompanying file LICENSE_1_0.txt or 14 | copy at http://www.boost.org/LICENSE_1_0.txt) 15 | */ 16 | 17 | 18 | #ifndef BOOST_NUMERIC_ODEINT_STEPPER_CONTROLLED_STEP_RESULT_HPP_INCLUDED 19 | #define BOOST_NUMERIC_ODEINT_STEPPER_CONTROLLED_STEP_RESULT_HPP_INCLUDED 20 | 21 | 22 | namespace boost { 23 | namespace numeric { 24 | namespace odeint { 25 | 26 | /** 27 | * \enum controlled_step_result 28 | * 29 | * \brief Enum representing the return values of the controlled steppers. 30 | */ 31 | typedef enum 32 | { 33 | success , /**< The trial step was successful, hence the state and the time have been advanced. */ 34 | fail /**< The step was not successful and might possibly be repeated with a small step size. */ 35 | } controlled_step_result; 36 | 37 | } // namespace odeint 38 | } // numeric 39 | } // boost 40 | 41 | 42 | #endif // BOOST_NUMERIC_ODEINT_STEPPER_CONTROLLED_STEP_RESULT_HPP_INCLUDED 43 | -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/bind.hpp: -------------------------------------------------------------------------------- 1 | /* 2 | * [begin_description] 3 | * Boost bind pull the placeholders, _1, _2, ... into global 4 | * namespace. This can conflict with the C++03 TR1 and C++11 5 | * std::placeholders. This header provides a workaround for 6 | * this problem. 7 | * [end_description] 8 | * 9 | * Copyright 2012 Christoph Koke 10 | * 11 | * Distributed under the Boost Software License, Version 1.0. 12 | * (See accompanying file LICENSE_1_0.txt or 13 | * copy at http://www.boost.org/LICENSE_1_0.txt) 14 | * */ 15 | 16 | #ifndef BOOST_NUMERIC_ODEINT_UTIL_BIND_HPP_INCLUDED 17 | #define BOOST_NUMERIC_ODEINT_UTIL_BIND_HPP_INCLUDED 18 | 19 | 20 | #include 21 | 22 | 23 | #if BOOST_NUMERIC_ODEINT_CXX11 24 | #include 25 | #else 26 | #include 27 | #endif 28 | 29 | namespace boost { 30 | namespace numeric { 31 | namespace odeint { 32 | namespace detail { 33 | 34 | #if BOOST_NUMERIC_ODEINT_CXX11 35 | 36 | using ::std::bind; 37 | using namespace ::std::placeholders; 38 | 39 | 40 | #else 41 | 42 | using ::boost::bind; 43 | using ::_1; 44 | using ::_2; 45 | 46 | #endif 47 | 48 | } 49 | } 50 | } 51 | } 52 | 53 | #endif // BOOST_NUMERIC_ODEINT_UTIL_BIND_HPP_INCLUDED 54 | -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/detail/less_with_sign.hpp: -------------------------------------------------------------------------------- 1 | /* 2 | [auto_generated] 3 | boost/numeric/odeint/integrate/detail/less_with_sign.hpp 4 | 5 | [begin_description] 6 | Helper function to compare times taking into account the sign of dt 7 | [end_description] 8 | 9 | Copyright 2009-2012 Karsten Ahnert 10 | Copyright 2009-2012 Mario Mulansky 11 | 12 | Distributed under the Boost Software License, Version 1.0. 13 | (See accompanying file LICENSE_1_0.txt or 14 | copy at http://www.boost.org/LICENSE_1_0.txt) 15 | */ 16 | 17 | #ifndef BOOST_NUMERIC_ODEINT_INTEGRATE_DETAIL_LESS_WITH_SIGN_HPP_INCLUDED 18 | #define BOOST_NUMERIC_ODEINT_INTEGRATE_DETAIL_LESS_WITH_SIGN_HPP_INCLUDED 19 | 20 | #include 21 | 22 | namespace boost { 23 | namespace numeric { 24 | namespace odeint { 25 | namespace detail { 26 | 27 | /** 28 | * return t1 < t2 if dt > 0 and t1 > t2 if dt < 0 29 | */ 30 | template< typename T1 , typename T2 , typename T3 > 31 | bool less_with_sign( T1 t1 , T2 t2 , T3 dt ) 32 | { 33 | if( get_unit_value(dt) > 0 ) 34 | return t1 < t2; 35 | else 36 | return t1 > t2; 37 | } 38 | 39 | /** 40 | * return t1 <= t2 if dt > 0 and t1 => t2 if dt < 0 41 | */ 42 | template< typename T1 , typename T2 , typename T3> 43 | bool less_eq_with_sign( T1 t1 , T2 t2 , T3 dt ) 44 | { 45 | if( get_unit_value(dt) > 0 ) 46 | return t1 <= t2; 47 | else 48 | return t1 >= t2; 49 | } 50 | 51 | } } } } 52 | 53 | #endif 54 | -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/is_pair.hpp: -------------------------------------------------------------------------------- 1 | /* 2 | [auto_generated] 3 | boost/numeric/odeint/util/is_pair.hpp 4 | 5 | [begin_description] 6 | Metafunction to determine if a type is a std::pair<>. 7 | [end_description] 8 | 9 | Copyright 2009-2011 Karsten Ahnert 10 | Copyright 2009-2011 Mario Mulansky 11 | 12 | Distributed under the Boost Software License, Version 1.0. 13 | (See accompanying file LICENSE_1_0.txt or 14 | copy at http://www.boost.org/LICENSE_1_0.txt) 15 | */ 16 | 17 | 18 | #ifndef BOOST_NUMERIC_ODEINT_UTIL_IS_PAIR_HPP_INCLUDED 19 | #define BOOST_NUMERIC_ODEINT_UTIL_IS_PAIR_HPP_INCLUDED 20 | 21 | 22 | #include 23 | #include 24 | 25 | 26 | namespace boost { 27 | namespace numeric { 28 | namespace odeint { 29 | 30 | template< class T > 31 | struct is_pair : public boost::mpl::false_ 32 | { 33 | }; 34 | 35 | template< class T1 , class T2 > 36 | struct is_pair< std::pair< T1 , T2 > > : public boost::mpl::true_ 37 | { 38 | }; 39 | 40 | } // namespace odeint 41 | } // namespace numeric 42 | } // namespace boost 43 | 44 | 45 | #endif // BOOST_NUMERIC_ODEINT_UTIL_IS_PAIR_HPP_INCLUDED 46 | -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/same_instance.hpp: -------------------------------------------------------------------------------- 1 | /* 2 | [auto_generated] 3 | boost/numeric/odeint/util/same_instance.hpp 4 | 5 | [begin_description] 6 | Basic check if two variables are the same instance 7 | [end_description] 8 | 9 | Copyright 2009-2012 Karsten Ahnert 10 | Copyright 2009-2012 Mario Mulansky 11 | 12 | Distributed under the Boost Software License, Version 1.0. 13 | (See accompanying file LICENSE_1_0.txt or 14 | copy at http://www.boost.org/LICENSE_1_0.txt) 15 | */ 16 | 17 | 18 | #ifndef BOOST_NUMERIC_ODEINT_UTIL_SAME_INSTANCE_HPP_INCLUDED 19 | #define BOOST_NUMERIC_ODEINT_UTIL_SAME_INSTANCE_HPP_INCLUDED 20 | 21 | namespace boost { 22 | namespace numeric { 23 | namespace odeint { 24 | 25 | template< class T1 , class T2 , class Enabler=void > 26 | struct same_instance_impl 27 | { 28 | static bool same_instance( const T1 &x1 , const T2 &x2 ) 29 | { 30 | return false; 31 | } 32 | }; 33 | 34 | template< class T > 35 | struct same_instance_impl< T , T > 36 | { 37 | static bool same_instance( const T &x1 , const T &x2 ) 38 | { 39 | // check pointers 40 | return (&x1 == &x2); 41 | } 42 | }; 43 | 44 | 45 | template< class T1 , class T2 > 46 | bool same_instance( const T1 &x1 , const T2 &x2 ) 47 | { 48 | return same_instance_impl< T1 , T2 >::same_instance( x1 , x2 ); 49 | } 50 | 51 | 52 | } // namespace odeint 53 | } // namespace numeric 54 | } // namespace boost 55 | 56 | #endif 57 | -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/state_wrapper.hpp: -------------------------------------------------------------------------------- 1 | /* 2 | [auto_generated] 3 | boost/numeric/odeint/util/state_wrapper.hpp 4 | 5 | [begin_description] 6 | State wrapper for the state type in all stepper. The state wrappers are responsible for construction, 7 | destruction, copying construction, assignment and resizing. 8 | [end_description] 9 | 10 | Copyright 2009-2011 Karsten Ahnert 11 | Copyright 2009-2011 Mario Mulansky 12 | 13 | Distributed under the Boost Software License, Version 1.0. 14 | (See accompanying file LICENSE_1_0.txt or 15 | copy at http://www.boost.org/LICENSE_1_0.txt) 16 | */ 17 | 18 | 19 | #ifndef BOOST_NUMERIC_ODEINT_UTIL_STATE_WRAPPER_HPP_INCLUDED 20 | #define BOOST_NUMERIC_ODEINT_UTIL_STATE_WRAPPER_HPP_INCLUDED 21 | 22 | 23 | #include 24 | 25 | #include 26 | #include 27 | #include 28 | 29 | 30 | namespace boost { 31 | namespace numeric { 32 | namespace odeint { 33 | 34 | 35 | template< class V , class Enabler = void > 36 | struct state_wrapper 37 | { 38 | typedef state_wrapper< V > state_wrapper_type; 39 | 40 | V m_v; 41 | }; 42 | 43 | 44 | } 45 | } 46 | } 47 | 48 | 49 | 50 | #endif // BOOST_NUMERIC_ODEINT_UTIL_STATE_WRAPPER_HPP_INCLUDED 51 | -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/boost/numeric/odeint/version.hpp: -------------------------------------------------------------------------------- 1 | /* 2 | [auto_generated] 3 | boost/numeric/odeint/version.hpp 4 | 5 | [begin_description] 6 | Defines the current version of odeint. 7 | [end_description] 8 | 9 | Copyright 2009-2012 Karsten Ahnert 10 | Copyright 2009-2012 Mario Mulansky 11 | 12 | Distributed under the Boost Software License, Version 1.0. 13 | (See accompanying file LICENSE_1_0.txt or 14 | copy at http://www.boost.org/LICENSE_1_0.txt) 15 | */ 16 | 17 | #ifndef BOOST_NUMERIC_ODEINT_VERSION_HPP_INCLUDED 18 | #define BOOST_NUMERIC_ODEINT_VERSION_HPP_INCLUDED 19 | 20 | #include 21 | #include 22 | 23 | 24 | #define ODEINT_MAJOR_VERSION 2 25 | #define ODEINT_MINOR_VERSION 2 26 | #define ODEINT_PATCH_LEVEL 0 27 | #define ODEINT_VERSION ( ODEINT_MAJOR_VERSION * 100000 + ODEINT_MINOR_VERSION * 100 + ODEINT_PATCH_LEVEL ) 28 | 29 | 30 | namespace boost { 31 | namespace numeric { 32 | namespace odeint { 33 | 34 | namespace version { 35 | 36 | const int major = ODEINT_MAJOR_VERSION ; 37 | const int minor = ODEINT_MINOR_VERSION ; 38 | const int patch_level = ODEINT_PATCH_LEVEL ; 39 | 40 | } 41 | 42 | inline std::string get_version_string( void ) 43 | { 44 | std::ostringstream str; 45 | str << "v" << version::major << "." << version::minor; 46 | if( version::patch_level != 0 ) str << "_" << version::patch_level; 47 | return str.str(); 48 | } 49 | 50 | 51 | } 52 | } 53 | } 54 | 55 | #endif // BOOST_NUMERIC_ODEINT_VERSION_HPP_INCLUDED 56 | -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts.qbk: -------------------------------------------------------------------------------- 1 | [/============================================================================ 2 | Boost.odeint 3 | 4 | Copyright (c) 2009-2012 Karsten Ahnert 5 | Copyright (c) 2009-2012 Mario Mulansky 6 | 7 | Use, modification and distribution is subject to the Boost Software License, 8 | Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at 9 | http://www.boost.org/LICENSE_1_0.txt) 10 | =============================================================================/] 11 | 12 | 13 | [section:concepts Concepts] 14 | [# odeint.concepts] 15 | 16 | [include concepts/system.qbk] 17 | [include concepts/symplectic_system.qbk] 18 | [include concepts/implicit_system.qbk] 19 | [include concepts/stepper.qbk] 20 | [include concepts/error_stepper.qbk] 21 | [include concepts/controlled_stepper.qbk] 22 | [include concepts/dense_output_stepper.qbk] 23 | [include concepts/state_algebra_operations.qbk] 24 | [include concepts/state_wrapper.qbk] 25 | 26 | [endsect] -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details.qbk: -------------------------------------------------------------------------------- 1 | [/============================================================================ 2 | Boost.odeint 3 | 4 | Copyright (c) 2009-2012 Karsten Ahnert 5 | Copyright (c) 2009-2012 Mario Mulansky 6 | 7 | Use, modification and distribution is subject to the Boost Software License, 8 | Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at 9 | http://www.boost.org/LICENSE_1_0.txt) 10 | =============================================================================/] 11 | 12 | [section odeint in detail] 13 | 14 | [include details_steppers.qbk] 15 | 16 | [include details_generation_functions.qbk] 17 | 18 | [include details_integrate_functions.qbk] 19 | 20 | [include details_state_types_algebras_operations.qbk] 21 | 22 | [include details_boost_ref.qbk] 23 | 24 | [include details_boost_range.qbk] 25 | 26 | [include details_bind_member_functions.qbk] 27 | 28 | [endsect] 29 | -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details_bind_member_functions.qbk: -------------------------------------------------------------------------------- 1 | [/============================================================================ 2 | Boost.odeint 3 | 4 | Copyright (c) 2009-2012 Karsten Ahnert 5 | Copyright (c) 2009-2012 Mario Mulansky 6 | 7 | Use, modification and distribution is subject to the Boost Software License, 8 | Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at 9 | http://www.boost.org/LICENSE_1_0.txt) 10 | =============================================================================/] 11 | 12 | 13 | [section Binding member functions] 14 | 15 | [import ../examples/bind_member_functions.cpp] 16 | 17 | Binding member functions to a function objects suitable for odeint system function is not easy, at least in C++03. The usual way of using __boost_bind does not work because of the forwarding problem. odeint provides two `do_step` method which only differ in the const specifiers of the arguments and __boost_bind binders only provide the specializations up to two argument which is not enough for odeint. 18 | 19 | But one can easily implement the according binders themself: 20 | 21 | [ode_wrapper] 22 | 23 | One can use this binder as follows 24 | 25 | [bind_member_function] 26 | 27 | [section Binding member functions in C++11] 28 | 29 | [import ../examples/bind_member_functions_cpp11.cpp] 30 | In C++11 one can use `std::bind` and one does not need to implement the bind themself: 31 | 32 | [bind_member_function_cpp11] 33 | 34 | [endsect] 35 | 36 | [endsect] 37 | -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/html/images/alert.png: 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Copyright (c) 2009-2012 Karsten Ahnert 5 | Copyright (c) 2009-2012 Mario Mulansky 6 | 7 | Use, modification and distribution is subject to the Boost Software License, 8 | Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at 9 | http://www.boost.org/LICENSE_1_0.txt) 10 | =============================================================================/] 11 | 12 | 13 | 14 | [table Generation functions make_controlled( abs_error , rel_error , stepper ) 15 | [[Stepper] [Result of make_controlled] [Remarks]] 16 | [[`runge_kutta_cash_karp54`] [`controlled_runge_kutta< runge_kutta_cash_karp54 , default_error_checker<...> >`] [['a[sub x]=1], ['a[sub dxdt]=1]]] 17 | [[`runge_kutta_fehlberg78`] [`controlled_runge_kutta< runge_kutta_fehlberg78 , default_error_checker<...> >`] [['a[sub x]=1], ['a[sub dxdt]=1]]] 18 | [[`runge_kutta_dopri5`] [`controlled_runge_kutta< runge_kutta_dopri5 , default_error_checker<...> >`] [['a [sub x]=1], ['a[sub dxdt]=1]]] 19 | [[`rosenbrock4`] [`rosenbrock4_controlled< rosenbrock4 >`] [-]] 20 | ] 21 | -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/make_dense_output_table.qbk: -------------------------------------------------------------------------------- 1 | [/============================================================================ 2 | Boost.odeint 3 | 4 | Copyright (c) 2009-2012 Karsten Ahnert 5 | Copyright (c) 2009-2012 Mario Mulansky 6 | 7 | Use, modification and distribution is subject to the Boost Software License, 8 | Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at 9 | http://www.boost.org/LICENSE_1_0.txt) 10 | =============================================================================/] 11 | 12 | 13 | 14 | [table Generation functions make_dense_output( abs_error , rel_error , stepper ) 15 | [[Stepper] [Result of make_dense_output] [Remarks]] 16 | [[`runge_kutta_dopri5`] [`dense_output_runge_kutta< controlled_runge_kutta< runge_kutta_dopri5 , default_error_checker<...> > >`] [['a [sub x]=1], ['a[sub dxdt]=1]]] 17 | [[`rosenbrock4`] [`rosenbrock4_dense_output< rosenbrock4_controller< rosenbrock4 > >`] [-]] 18 | ] 19 | 20 | -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/odeint.idx: -------------------------------------------------------------------------------- 1 | # odeint.idx list of files and keyword to be indexed. 2 | 3 | # Copyright (c) 2011 Pierre Talbot 4 | # 5 | # Use, modification and distribution is subject to the Boost Software 6 | # License, Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at 7 | # http://www.boost.org/LICENSE_1_0.txt) 8 | 9 | !scan-path "boost/numeric/odeint/" ".*\.*pp" true 10 | # recurse in any sub-directories. 11 | 12 | # List of terms in the docbook (from Quickbook) to be indexed. 13 | # Convenient to order these alphabetically. 14 | 15 | # TODO - add more! 16 | 17 | acknowledgements 18 | book 19 | # C++ \ 20 | card 21 | credit 22 | deprecated 23 | Doxygen 24 | example \ 25 | equations \ 26 | graphics \ 27 | Gumm 28 | links \ 29 | images \ 30 | ISBN 31 | ISSN 32 | IBM 33 | italic \ 34 | # index index and indexes (assume not using plural indices!) 35 | index \ 36 | Luhn 37 | Mastercard 38 | modulus 39 | path \ 40 | pre-conditions \ 41 | post-conditions \ 42 | remark \ 43 | snippet \ 44 | png 45 | Quickbook 46 | Verhoeff 47 | # version \ 48 | VISA 49 | warning \ 50 | 51 | # Remove leading "A" or "The" prefixes from section titles. 52 | # !rewrite-name "(?:A|An|The)\s+(.*)" "\1" 53 | 54 | -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial.qbk: -------------------------------------------------------------------------------- 1 | [/============================================================================ 2 | Boost.odeint 3 | 4 | Copyright (c) 2009-2012 Karsten Ahnert 5 | Copyright (c) 2009-2012 Mario Mulansky 6 | 7 | Use, modification and distribution is subject to the Boost Software License, 8 | Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at 9 | http://www.boost.org/LICENSE_1_0.txt) 10 | =============================================================================/] 11 | 12 | 13 | [section Tutorial] 14 | 15 | 16 | [include tutorial_harmonic_oscillator.qbk] 17 | 18 | [include tutorial_solar_system.qbk] 19 | 20 | [include tutorial_chaotic_system.qbk] 21 | 22 | [include tutorial_stiff_systems.qbk] 23 | 24 | [include tutorial_special_topics.qbk] 25 | 26 | [include tutorial_thrust_cuda.qbk] 27 | 28 | [include tutorial_vexcl_opencl.qbk] 29 | 30 | 31 | [section All examples] 32 | 33 | The following table gives an overview over all examples. 34 | 35 | [include examples_table.qbk] 36 | 37 | [endsect] 38 | 39 | 40 | 41 | 42 | 43 | 44 | [endsect] 45 | -------------------------------------------------------------------------------- /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 ; -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/nested_range_algebra.hpp: -------------------------------------------------------------------------------- 1 | /* 2 | Copyright 2009-2012 Karsten Ahnert 3 | Copyright 2009-2012 Mario Mulansky 4 | 5 | Distributed under the Boost Software License, Version 1.0. 6 | (See accompanying file LICENSE_1_0.txt or 7 | copy at http://www.boost.org/LICENSE_1_0.txt) 8 | */ 9 | 10 | 11 | /* nested range algebra */ 12 | 13 | #ifndef NESTED_RANGE_ALGEBRA 14 | #define NESTED_RANGE_ALGEBRA 15 | 16 | namespace detail { 17 | 18 | template< class Iterator1 , class Iterator2 , class Iterator3 , class Operation , class Algebra > 19 | void for_each3( Iterator1 first1 , Iterator1 last1 , Iterator2 first2 , Iterator3 first3, Operation op , Algebra &algebra ) 20 | { 21 | for( ; first1 != last1 ; ) 22 | algebra.for_each3( *first1++ , *first2++ , *first3++ , op ); 23 | } 24 | } 25 | 26 | 27 | template< class InnerAlgebra > 28 | struct nested_range_algebra 29 | { 30 | 31 | nested_range_algebra() 32 | : m_inner_algebra() 33 | { } 34 | 35 | template< class S1 , class S2 , class S3 , class Op > 36 | void for_each3( S1 &s1 , S2 &s2 , S3 &s3 , Op op ) 37 | { 38 | detail::for_each3( boost::begin( s1 ) , boost::end( s1 ) , boost::begin( s2 ) , boost::begin( s3 ) , op , m_inner_algebra ); 39 | } 40 | 41 | 42 | private: 43 | InnerAlgebra m_inner_algebra; 44 | }; 45 | 46 | #endif 47 | -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/elliptic.py: -------------------------------------------------------------------------------- 1 | """ 2 | Copyright 2009-2012 Karsten Ahnert 3 | Copyright 2009-2012 Mario Mulansky 4 | 5 | Stochastic euler stepper example and Ornstein-Uhlenbeck process 6 | 7 | Distributed under the Boost Software License, Version 1.0. 8 | (See accompanying file LICENSE_1_0.txt or 9 | copy at http://www.boost.org/LICENSE_1_0.txt) 10 | """ 11 | 12 | 13 | from pylab import * 14 | from scipy import special 15 | 16 | data1 = loadtxt("elliptic1.dat") 17 | data2 = loadtxt("elliptic2.dat") 18 | data3 = loadtxt("elliptic3.dat") 19 | 20 | sn1,cn1,dn1,phi1 = special.ellipj( data1[:,0] , 0.51 ) 21 | sn2,cn2,dn2,phi2 = special.ellipj( data2[:,0] , 0.51 ) 22 | sn3,cn3,dn3,phi3 = special.ellipj( data3[:,0] , 0.51 ) 23 | 24 | semilogy( data1[:,0] , abs(data1[:,1]-sn1) ) 25 | semilogy( data2[:,0] , abs(data2[:,1]-sn2) , 'ro' ) 26 | semilogy( data3[:,0] , abs(data3[:,1]-sn3) , '--' ) 27 | 28 | show() 29 | 30 | 31 | 32 | -------------------------------------------------------------------------------- /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 ; -------------------------------------------------------------------------------- /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 ; -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/simple1d.cpp: -------------------------------------------------------------------------------- 1 | /* Boost libs/numeric/odeint/examples/simple1d.cpp 2 | 3 | Copyright 2009-2012 Karsten Ahnert 4 | Copyright 2009-2012 Mario Mulansky 5 | 6 | example for a simple one-dimensional 1st order ODE 7 | 8 | Distributed under the Boost Software License, Version 1.0. 9 | (See accompanying file LICENSE_1_0.txt or 10 | copy at http://www.boost.org/LICENSE_1_0.txt) 11 | */ 12 | 13 | 14 | #include 15 | #include 16 | 17 | using namespace std; 18 | using namespace boost::numeric::odeint; 19 | 20 | 21 | /* we solve the simple ODE x' = 3/(2t^2) + x/(2t) 22 | * with initial condition x(1) = 0. 23 | * Analytic solution is x(t) = sqrt(t) - 1/t 24 | */ 25 | 26 | void rhs( const double x , double &dxdt , const double t ) 27 | { 28 | dxdt = 3.0/(2.0*t*t) + x/(2.0*t); 29 | } 30 | 31 | void write_cout( const double &x , const double t ) 32 | { 33 | cout << t << '\t' << x << endl; 34 | } 35 | 36 | // state_type = value_type = deriv_type = time_type = double 37 | typedef runge_kutta_dopri5< double , double , double , double , vector_space_algebra , default_operations , never_resizer > stepper_type; 38 | 39 | int main() 40 | { 41 | double x = 0.0; //initial value x(1) = 0 42 | // use dopri5 with stepsize control and allowed errors 10^-12, integrate t=1...10 43 | integrate_adaptive( make_controlled( 1E-12 , 1E-12 , stepper_type() ) , rhs , x , 1.0 , 10.0 , 0.1 , write_cout ); 44 | } 45 | -------------------------------------------------------------------------------- /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 | -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/vexcl/Jamfile.v2: -------------------------------------------------------------------------------- 1 | # Copyright 2009-2012 Karsten Ahnert 2 | # Copyright 2009-2012 Mario Mulansky 3 | # 4 | # Distributed under the Boost Software License, Version 1.0. 5 | # (See accompanying file LICENSE_1_0.txt or 6 | # copy at http://www.boost.org/LICENSE_1_0.txt) 7 | 8 | 9 | import boost ; 10 | import os ; 11 | 12 | boost.use-project ; 13 | 14 | 15 | # change these lines to fit you configuration 16 | local HOME = [ os.environ HOME ] ; 17 | VEXCL_INCLUDE = $(HOME)/boost/vexcl ; 18 | CUDA_INCLUDE = /usr/local/cuda/include ; 19 | 20 | 21 | lib opencl : : OpenCL ; 22 | 23 | project : requirements 24 | /boost//headers 25 | ../../../../.. 26 | $(VEXCL_INCLUDE) 27 | $(CUDA_INCLUDE) 28 | gcc:-std=c++0x 29 | ; 30 | 31 | exe lorenz_ensemble : lorenz_ensemble.cpp opencl ; -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/libs/numeric/odeint/index.html: -------------------------------------------------------------------------------- 1 | 6 | 7 | 8 | 9 | 10 | 11 | Automatic redirection failed, please go to 12 | doc/html/index.html 13 |
14 |

© Copyright Beman Dawes, 2001

15 |

Distributed under the Boost Software 16 | License, Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at 17 | www.boost.org/LICENSE_1_0.txt)

18 | 19 | 20 | -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/lorenz.hpp: -------------------------------------------------------------------------------- 1 | /* 2 | * lorenz.hpp 3 | * 4 | * Copyright 2009-2012 Karsten Ahnert 5 | * Copyright 2009-2012 Mario Mulansky 6 | * 7 | * Distributed under the Boost Software License, Version 1.0. 8 | * (See accompanying file LICENSE_1_0.txt or 9 | * copy at http://www.boost.org/LICENSE_1_0.txt) 10 | */ 11 | 12 | 13 | #ifndef LORENZ_HPP_ 14 | #define LORENZ_HPP_ 15 | 16 | #include 17 | 18 | struct lorenz 19 | { 20 | template< class state_type > 21 | void inline operator()( const state_type &x , state_type &dxdt , const double t ) const 22 | { 23 | const double sigma = 10.0; 24 | const double R = 28.0; 25 | const double b = 8.0 / 3.0; 26 | dxdt[0] = sigma * ( x[1] - x[0] ); 27 | dxdt[1] = R * x[0] - x[1] - x[0] * x[2]; 28 | dxdt[2] = x[0]*x[1] - b * x[2]; 29 | } 30 | }; 31 | 32 | 33 | typedef boost::array< double , 3 > state_type; 34 | 35 | 36 | inline void lorenz_func( const state_type &x , state_type &dxdt , const double t ) 37 | { 38 | const double sigma = 10.0; 39 | const double R = 28.0; 40 | const double b = 8.0 / 3.0; 41 | dxdt[0] = sigma * ( x[1] - x[0] ); 42 | dxdt[1] = R * x[0] - x[1] - x[0] * x[2]; 43 | dxdt[2] = x[0]*x[1] - b * x[2]; 44 | } 45 | 46 | #endif /* LORENZ_HPP_ */ 47 | -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/lorenz_gsl.hpp: -------------------------------------------------------------------------------- 1 | /* 2 | * lorenz_gsl.hpp 3 | * 4 | * Copyright 2009-2012 Karsten Ahnert 5 | * Copyright 2009-2012 Mario Mulansky 6 | * 7 | * Distributed under the Boost Software License, Version 1.0. 8 | * (See accompanying file LICENSE_1_0.txt or 9 | * copy at http://www.boost.org/LICENSE_1_0.txt) 10 | */ 11 | 12 | 13 | #ifndef LORENZ_GSL_HPP_ 14 | #define LORENZ_GSL_HPP_ 15 | 16 | #include 17 | 18 | int lorenz_gsl( const double t , const double y[] , double f[] , void *params) 19 | { 20 | const double sigma = 10.0; 21 | const double R = 28.0; 22 | const double b = 8.0 / 3.0; 23 | 24 | f[0] = sigma * ( y[1] - y[0] ); 25 | f[1] = R * y[0] - y[1] - y[0] * y[2]; 26 | f[2] = y[0]*y[1] - b * y[2]; 27 | return GSL_SUCCESS; 28 | } 29 | 30 | #endif 31 | -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/odeint_rk4_lorenz_range.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | * odeint_rk4_lorenz_def_alg.cpp 3 | * 4 | * Copyright 2009-2012 Karsten Ahnert 5 | * Copyright 2009-2012 Mario Mulansky 6 | * 7 | * Distributed under the Boost Software License, Version 1.0. 8 | * (See accompanying file LICENSE_1_0.txt or 9 | * copy at http://www.boost.org/LICENSE_1_0.txt) 10 | */ 11 | 12 | 13 | #include 14 | 15 | #include 16 | #include 17 | 18 | #include "rk_performance_test_case.hpp" 19 | 20 | #include "lorenz.hpp" 21 | 22 | typedef boost::array< double , 3 > state_type; 23 | typedef boost::numeric::odeint::runge_kutta4_classic< state_type > rk4_odeint_type; 24 | 25 | 26 | class odeint_wrapper 27 | { 28 | public: 29 | void reset_init_cond() 30 | { 31 | m_x[0] = 10.0 * rand() / RAND_MAX; 32 | m_x[1] = 10.0 * rand() / RAND_MAX; 33 | m_x[2] = 10.0 * rand() / RAND_MAX; 34 | m_t = 0.0; 35 | } 36 | 37 | inline void do_step( const double dt ) 38 | { 39 | m_stepper.do_step( lorenz() , m_x , m_t , dt ); 40 | //m_t += dt; 41 | } 42 | 43 | double state( const size_t i ) const 44 | { return m_x[i]; } 45 | 46 | private: 47 | state_type m_x; 48 | double m_t; 49 | rk4_odeint_type m_stepper; 50 | }; 51 | 52 | 53 | 54 | int main() 55 | { 56 | odeint_wrapper stepper; 57 | 58 | run( stepper ); 59 | } 60 | -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/phase_lattice.hpp: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright 2009-2012 Karsten Ahnert 3 | * Copyright 2009-2012 Mario Mulansky 4 | * 5 | * Distributed under the Boost Software License, Version 1.0. 6 | * (See accompanying file LICENSE_1_0.txt or 7 | * copy at http://www.boost.org/LICENSE_1_0.txt) 8 | */ 9 | 10 | #include 11 | 12 | #include 13 | 14 | template< size_t N > 15 | struct phase_lattice 16 | { 17 | typedef double value_type; 18 | typedef boost::array< value_type , N > state_type; 19 | 20 | value_type m_epsilon; 21 | state_type m_omega; 22 | 23 | phase_lattice() : m_epsilon( 6.0/(N*N) ) // should be < 8/N^2 to see phase locking 24 | { 25 | for( size_t i=1 ; i 12 | 13 | using namespace std; 14 | 15 | struct rt_algebra 16 | { 17 | template< typename T , size_t dim > 18 | inline static void foreach( boost::array< T , dim > & x_tmp , 19 | const boost::array< T , dim > &x , 20 | //const vector< double > &a , 21 | const double* a , 22 | const boost::array< T , dim > *k_vector , 23 | const double dt , const size_t s ) 24 | { 25 | for( size_t i=0 ; i 22 | #include 23 | #include 24 | #include 25 | #include 26 | #include 27 | #include 28 | 29 | 30 | namespace mpl = boost::mpl; 31 | 32 | 33 | 34 | template< class N , class T > 35 | struct const_range 36 | { 37 | typedef typename mpl::copy< 38 | mpl::range_c< typename N::value_type , 0 , N::value > , 39 | mpl::inserter< 40 | mpl::vector0<> , 41 | mpl::insert< 42 | mpl::_1 , 43 | mpl::end< mpl::_1 > , 44 | T 45 | > 46 | > 47 | >::type type; 48 | }; 49 | 50 | #endif // LIBS_NUMERIC_ODEINT_TEST_CONST_RANGE_HPP_DEFINED 51 | -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/is_pair.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | [auto_generated] 3 | libs/numeric/odeint/test/is_pair.cpp 4 | 5 | [begin_description] 6 | This file tests the is_pair meta-function. 7 | [end_description] 8 | 9 | Copyright 2009-2012 Karsten Ahnert 10 | Copyright 2009-2012 Mario Mulansky 11 | 12 | Distributed under the Boost Software License, Version 1.0. 13 | (See accompanying file LICENSE_1_0.txt or 14 | copy at http://www.boost.org/LICENSE_1_0.txt) 15 | */ 16 | 17 | #define BOOST_TEST_MODULE odeint_is_pair 18 | 19 | #include 20 | 21 | #include 22 | #include 23 | 24 | #include 25 | 26 | using namespace boost::numeric::odeint; 27 | 28 | 29 | 30 | BOOST_AUTO_TEST_SUITE( is_pair_test ) 31 | 32 | BOOST_AUTO_TEST_CASE( test_is_pair ) 33 | { 34 | typedef std::pair< int , int > type1; 35 | typedef std::pair< int& , int > type2; 36 | typedef std::pair< int , int& > type3; 37 | typedef std::pair< int& , int& > type4; 38 | typedef std::pair< const int , int > type5; 39 | typedef std::pair< const int& , int > type6; 40 | 41 | BOOST_STATIC_ASSERT(( is_pair< type1 >::value )); 42 | BOOST_STATIC_ASSERT(( is_pair< type2 >::value )); 43 | BOOST_STATIC_ASSERT(( is_pair< type3 >::value )); 44 | BOOST_STATIC_ASSERT(( is_pair< type4 >::value )); 45 | BOOST_STATIC_ASSERT(( is_pair< type5 >::value )); 46 | BOOST_STATIC_ASSERT(( is_pair< type6 >::value )); 47 | } 48 | 49 | BOOST_AUTO_TEST_SUITE_END() 50 | -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/Jamfile.v2: -------------------------------------------------------------------------------- 1 | # (C) Copyright 2010 : Karsten Ahnert, Mario Mulansky 2 | # Distributed under the Boost Software License, Version 1.0. 3 | # (See accompanying file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) 4 | 5 | # bring in rules for testing 6 | 7 | 8 | import testing ; 9 | 10 | use-project boost : $(BOOST_ROOT) ; 11 | 12 | project 13 | : requirements 14 | /boost/test//boost_unit_test_framework 15 | BOOST_ALL_NO_LIB=1 16 | ../../../.. 17 | static 18 | clang:-Wno-unused-variable 19 | 20 | # -D_SCL_SECURE_NO_WARNINGS 21 | ; 22 | 23 | test-suite "odeint" 24 | : 25 | [ run runge_kutta.cpp ] 26 | [ run symplectic.cpp ] 27 | [ run rosenbrock.cpp ] 28 | : valgrind 29 | ; 30 | -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gmp/Jamfile.v2: -------------------------------------------------------------------------------- 1 | # (C) Copyright 2010 : Karsten Ahnert, Mario Mulansky 2 | # Distributed under the Boost Software License, Version 1.0. 3 | # (See accompanying file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) 4 | 5 | # bring in rules for testing 6 | 7 | import testing ; 8 | use-project boost : $(BOOST_ROOT) ; 9 | 10 | project gmp 11 | : requirements 12 | /boost/test//boost_unit_test_framework 13 | ../../../../.. 14 | ; 15 | 16 | 17 | lib libgmp : : gmp shared ; 18 | lib libgmpxx : : gmpxx shared ; 19 | 20 | test-suite "gmp" 21 | : 22 | [ run check_gmp.cpp libgmpxx libgmp : : : shared:BOOST_TEST_DYN_LINK=1 ] 23 | [ run gmp_integrate.cpp libgmpxx libgmp : : : shared:BOOST_TEST_DYN_LINK=1 ] 24 | ; 25 | 26 | 27 | -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gsl/Jamfile.v2: -------------------------------------------------------------------------------- 1 | # (C) Copyright 2010 : Karsten Ahnert, Mario Mulansky 2 | # Distributed under the Boost Software License, Version 1.0. 3 | # (See accompanying file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) 4 | 5 | # bring in rules for testing 6 | 7 | import testing ; 8 | use-project boost : $(BOOST_ROOT) ; 9 | 10 | project 11 | : requirements 12 | /boost/test//boost_unit_test_framework 13 | ../../../../.. 14 | ; 15 | 16 | 17 | lib libgsl : : gsl shared ; 18 | lib libgslcblas : : gslcblas shared ; 19 | 20 | test-suite "gsl" 21 | : 22 | [ run check_gsl.cpp libgslcblas libgsl 23 | : 24 | : 25 | : shared:BOOST_TEST_DYN_LINK=1 26 | ] 27 | ; 28 | 29 | -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mkl/Jamfile.v2: -------------------------------------------------------------------------------- 1 | # (C) Copyright 2010 : Karsten Ahnert, Mario Mulansky 2 | # Distributed under the Boost Software License, Version 1.0. 3 | # (See accompanying file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) 4 | 5 | # bring in rules for testing 6 | 7 | import testing ; 8 | use-project boost : $(BOOST_ROOT) ; 9 | 10 | project 11 | : requirements 12 | /boost/test//boost_unit_test_framework 13 | ../../../../.. 14 | ; 15 | 16 | 17 | lib libmkl : : mkl_intel_lp64 shared ; 18 | lib libmkl_core : : mkl_core shared ; 19 | lib libmkl_intel_thread : : mkl_intel_thread ; 20 | lib libiomp5 : : iomp5 ; 21 | lib libpthread : : pthread ; 22 | 23 | test-suite "mkl" 24 | : 25 | [ run check_mkl.cpp libpthread libiomp5 libmkl_core libmkl_intel_thread libmkl 26 | : 27 | : 28 | : shared:BOOST_TEST_DYN_LINK=1 29 | ] 30 | ; 31 | -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mtl4/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 | import testing ; 7 | import boost ; 8 | 9 | boost.use-project ; 10 | 11 | MTL4_INCLUDE = /home/karsten/boost/MTL-4.0.8862-Linux/usr/include ; 12 | 13 | project 14 | : requirements 15 | /boost/test//boost_unit_test_framework 16 | ../../../../.. 17 | $(MTL4_INCLUDE) 18 | BOOST_ALL_NO_LIB=1 19 | static 20 | : 21 | : default-build release 22 | ; 23 | 24 | test-suite "odeint-mtl4" 25 | : 26 | [ run mtl4_resize.cpp ] 27 | : valgrind 28 | ; 29 | -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/thrust/Makefile: -------------------------------------------------------------------------------- 1 | # Copyright 2009-2012 Karsten Ahnert 2 | # Copyright 2009-2012 Mario Mulansky 3 | # 4 | # Distributed under the Boost Software License, Version 1.0. 5 | # (See accompanying file LICENSE_1_0.txt or 6 | # copy at http://www.boost.org/LICENSE_1_0.txt) 7 | 8 | 9 | 10 | CUDA_ROOT = /usr/local/cuda 11 | 12 | CC = gcc-4.4 13 | CXX = gcc-4.4 14 | NVCC = $(CUDA_ROOT)/bin/nvcc 15 | 16 | INCLUDES += -I$(BOOST_ROOT) -I$(THRUST_ROOT) -I$(CUDA_ROOT)/include -I../../../../.. 17 | 18 | NVCCFLAGS = -O3 $(INCLUDES) --compiler-bindir=/usr/bin/g++-4.4 19 | 20 | LDLIBS = -lcudart 21 | LDFLAGS = -L$(CUDA_ROOT)/lib64 22 | 23 | %.co : %.cu 24 | $(NVCC) $(NVCCFLAGS) -o $@ -c $< 25 | 26 | 27 | all : check_thrust 28 | 29 | 30 | check_thrust : check_thrust.co 31 | $(CC) -o check_thrust $(LDFLAGS) $(LDLIBS) check_thrust.co 32 | check_thrust.co : check_thrust.cu 33 | 34 | clean : 35 | -rm *~ *.o *.co check_thrust 36 | 37 | -------------------------------------------------------------------------------- /so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/vexcl/Jamfile.v2: -------------------------------------------------------------------------------- 1 | # (C) Copyright 2010 : Karsten Ahnert, Mario Mulansky 2 | # Distributed under the Boost Software License, Version 1.0. 3 | # (See accompanying file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) 4 | 5 | # bring in rules for testing 6 | 7 | 8 | import testing ; 9 | 10 | use-project boost : $(BOOST_ROOT) ; 11 | VEXCL_INCLUDE = /home/karsten/boost/vexcl ; 12 | CUDA_INCLUDE = /usr/local/cuda/include ; 13 | 14 | 15 | project 16 | : requirements 17 | /boost/test//boost_unit_test_framework 18 | BOOST_ALL_NO_LIB=1 19 | ../../../../.. 20 | $(VEXCL_INCLUDE) 21 | $(CUDA_INCLUDE) 22 | -std=c++0x 23 | ; 24 | 25 | lib OpenCL : : OpenCL shared ; 26 | 27 | test-suite "odeint" 28 | : 29 | [ run lorenz.cpp OpenCL ] 30 | : valgrind 31 | : 32 | : shared:BOOST_TEST_DYN_LINK=1 33 | ; -------------------------------------------------------------------------------- /so3_quadrotor_simulator/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 0.0.0 3 | so3_quadrotor_simulator 4 | 5 | 6 | quadrotor_simulator 7 | 8 | 9 | 10 | Kartik Mohta 11 | BSD 12 | http://ros.org/wiki/quadrotor_simulator 13 | 14 | catkin 15 | 16 | roscpp 17 | quadrotor_msgs 18 | uav_utils 19 | cmake_utils 20 | 21 | roscpp 22 | quadrotor_msgs 23 | uav_utils 24 | cmake_utils 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /utils/cmake_utils/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(cmake_utils) 3 | 4 | find_package(catkin REQUIRED COMPONENTS roscpp) 5 | 6 | set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR}/cmake) 7 | 8 | file(GLOB CMAKE_UILTS_FILES cmake/*.cmake) 9 | 10 | catkin_package( 11 | CFG_EXTRAS ${CMAKE_UILTS_FILES} 12 | ) 13 | 14 | -------------------------------------------------------------------------------- /utils/cmake_utils/cmake/cmake_modules.cmake: -------------------------------------------------------------------------------- 1 | list(APPEND CMAKE_MODULE_PATH "${cmake_utils_SOURCE_PREFIX}/cmake_modules") 2 | link_directories( ${cmake_utils_SOURCE_PREFIX}/lib/mosek8 ) 3 | -------------------------------------------------------------------------------- /utils/cmake_utils/cmake/color.cmake: -------------------------------------------------------------------------------- 1 | string(ASCII 27 Esc) 2 | set(ColourReset "${Esc}[m") 3 | set(ColourBold "${Esc}[1m") 4 | set(Red "${Esc}[31m") 5 | set(Green "${Esc}[32m") 6 | set(Yellow "${Esc}[33m") 7 | set(Blue "${Esc}[34m") 8 | set(Magenta "${Esc}[35m") 9 | set(Cyan "${Esc}[36m") 10 | set(White "${Esc}[37m") 11 | set(BoldRed "${Esc}[1;31m") 12 | set(BoldGreen "${Esc}[1;32m") 13 | set(BoldYellow "${Esc}[1;33m") 14 | set(BoldBlue "${Esc}[1;34m") 15 | set(BoldMagenta "${Esc}[1;35m") 16 | set(BoldCyan "${Esc}[1;36m") 17 | set(BoldWhite "${Esc}[1;37m") 18 | -------------------------------------------------------------------------------- /utils/cmake_utils/cmake/test.cmake: -------------------------------------------------------------------------------- 1 | macro (CMAKE_ADD_TEST NAME) 2 | add_executable(${NAME}_test test/${NAME}_test.cpp) 3 | target_link_libraries(${NAME}_test gtest pthread ${PROJECT_NAME}) 4 | if("${DRMEMORY}" STREQUAL "") 5 | add_test(NAME ${NAME}_test 6 | COMMAND ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/${NAME}_test) 7 | else() 8 | add_test(NAME ${NAME}_test 9 | COMMAND ${DRMEMORY} -brief -results_to_stderr -exit_code_if_errors 2 -- ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/${NAME}_test) 10 | endif() 11 | endmacro (CMAKE_ADD_TEST) 12 | 13 | macro (CMAKE_ADD_NODE NAME) 14 | add_executable(${NAME}_node node/${NAME}_node.cpp) 15 | add_dependencies(${NAME}_node ${catkin_EXPORTED_TARGETS}) 16 | target_link_libraries(${NAME}_node ${catkin_LIBRARIES} ${PROJECT_NAME} ${${NAME}__LIBRARIES}) 17 | endmacro (CMAKE_ADD_NODE NAME) 18 | 19 | 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https://raw.githubusercontent.com/HKUST-Aerial-Robotics/mockasimulator/af44653d299186fb43c0cb8709002031f84c2d24/utils/cmake_utils/lib/mosek8/libmosekxx8_1.so -------------------------------------------------------------------------------- /utils/cmake_utils/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | cmake_utils 4 | 0.0.0 5 | 6 | Once you used this package, 7 | then you do not need to copy cmake files among packages 8 | 9 | 10 | William.Wu 11 | 12 | LGPLv3 13 | 14 | catkin 15 | roscpp 16 | cmake_modules 17 | 18 | 19 | -------------------------------------------------------------------------------- /utils/convex_solver/src/fusion_cxx/Debug.cc: -------------------------------------------------------------------------------- 1 | #include "fusion_p.h" 2 | #include "mosek/monty.h" 3 | #include 4 | 5 | //#include "mosektask_p.h" 6 | 7 | namespace mosek 8 | { 9 | namespace fusion 10 | { 11 | Debug::Debug() 12 | : ptr(new p_Debug(this)) 13 | { 14 | } 15 | Debug::t 16 | Debug::o() 17 | { 18 | return new Debug(); 19 | } 20 | Debug::t 21 | Debug::p(const std::string& val) 22 | { 23 | return ptr->p(val); 24 | } 25 | Debug::t 26 | Debug::p(int val) 27 | { 28 | return ptr->p(val); 29 | } 30 | Debug::t 31 | Debug::p(long long val) 32 | { 33 | return ptr->p(val); 34 | } 35 | Debug::t 36 | Debug::p(double val) 37 | { 38 | return ptr->p(val); 39 | } 40 | Debug::t 41 | Debug::p(bool val) 42 | { 43 | return ptr->p(val); 44 | } 45 | Debug::t 46 | Debug::p(const std::shared_ptr >& val) 47 | { 48 | return ptr->p(val); 49 | } 50 | Debug::t 51 | Debug::p(const std::shared_ptr >& val) 52 | { 53 | return ptr->p(val); 54 | } 55 | Debug::t 56 | Debug::p(const std::shared_ptr >& val) 57 | { 58 | return ptr->p(val); 59 | } 60 | Debug::t 61 | Debug::lf() 62 | { 63 | return ptr->lf(); 64 | } 65 | } 66 | } 67 | -------------------------------------------------------------------------------- /utils/convex_solver/src/fusion_cxx/Makefile: -------------------------------------------------------------------------------- 1 | CXX=g++ -std=c++11 2 | LD=g++ -std=c++11 3 | AR=ar 4 | 5 | CFLAGS=-O2 -fPIC 6 | IPATHS=-I../../h -I. 7 | 8 | libfusion64.so.8.1: fusion.os BaseModel.os Debug.os mosektask.os IntMap.os SolverInfo.os StringBuffer.os 9 | $(LD) -shared -L../../bin -o libfusion64.so.8.1 fusion.os mosektask.os BaseModel.os Debug.os IntMap.os SolverInfo.os StringBuffer.os -lmosek64 10 | 11 | libfusion64.a: fusion.os BaseModel.os Debug.os mosektask.os IntMap.os SolverInfo.os StringBuffer.os 12 | $(AR) r libfusion64.a fusion.os BaseModel.os Debug.os mosektask.os IntMap.os SolverInfo.os StringBuffer.os 13 | 14 | %.os: %.cc 15 | $(CXX) $(IPATHS) $(CFLAGS) -c -o $@ $< 16 | 17 | .PHONY: clean install 18 | 19 | install: ../../bin/libfusion64.so.8.1 ../../bin/libfusion64.so 20 | 21 | ../../bin/libfusion64.so.8.1: libfusion64.so.8.1 libfusion64.a 22 | install libfusion64.so.8.1 ../../bin 23 | install libfusion64.a ../../bin 24 | ../../bin/libfusion64.so: ../../bin/libfusion64.so.8.1 25 | rm -f ../../bin/libfusion64.so && ln -s ./libfusion64.so.8.1 ../../bin/libfusion64.so 26 | 27 | clean: 28 | rm -rf *.os 29 | -------------------------------------------------------------------------------- /utils/convex_solver/src/fusion_cxx/SolverInfo.h: -------------------------------------------------------------------------------- 1 | #include "mosek/mosek.h" 2 | #include 3 | #include 4 | #include 5 | namespace mosek 6 | { 7 | namespace fusion 8 | { 9 | class SolverInfo 10 | { 11 | private: 12 | static std::vector dinfnames; 13 | static std::vector iinfnames; 14 | static std::vector liinfnames; 15 | static MSKdinfiteme dinfsyms[]; 16 | static MSKiinfiteme iinfsyms[]; 17 | static MSKliinfiteme liinfsyms[]; 18 | 19 | public: 20 | static bool getdouinf(const std::string& infname, MSKdinfiteme& key); 21 | static bool getintinf(const std::string& infname, MSKiinfiteme& key); 22 | static bool getlintinf(const std::string& infname, MSKliinfiteme& key); 23 | }; /* class SolverInfo */ 24 | } /* namespace fusion */ 25 | } /* namespace mosek */ 26 | -------------------------------------------------------------------------------- /utils/pose_utils/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(pose_utils) 3 | 4 | add_compile_options(-std=c++11) 5 | 6 | find_package(catkin REQUIRED COMPONENTS 7 | roscpp 8 | ) 9 | 10 | catkin_package( 11 | INCLUDE_DIRS include 12 | LIBRARIES pose_utils 13 | ) 14 | 15 | find_package(Armadillo REQUIRED) 16 | 17 | include_directories( 18 | ${catkin_INCLUDE_DIRS} 19 | ${ARMADILLO_INCLUDE_DIRS} 20 | include 21 | ) 22 | 23 | add_library(pose_utils 24 | ${ARMADILLO_LIBRARIES} 25 | src/pose_utils.cpp) 26 | -------------------------------------------------------------------------------- /utils/pose_utils/Makefile: 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-------------------------------------------------------------------------------- /utils/pose_utils/build/CMakeFiles/tests.dir/cmake_clean.cmake: -------------------------------------------------------------------------------- 1 | FILE(REMOVE_RECURSE 2 | "CMakeFiles/tests" 3 | ) 4 | 5 | # Per-language clean rules from dependency scanning. 6 | FOREACH(lang) 7 | INCLUDE(CMakeFiles/tests.dir/cmake_clean_${lang}.cmake OPTIONAL) 8 | ENDFOREACH(lang) 9 | -------------------------------------------------------------------------------- /utils/pose_utils/build/CMakeFiles/tests.dir/progress.make: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /utils/pose_utils/build/catkin/catkin_generated/version/package.cmake: -------------------------------------------------------------------------------- 1 | set(_CATKIN_CURRENT_PACKAGE "catkin") 2 | set(catkin_VERSION "0.6.9") 3 | set(catkin_BUILD_DEPENDS_python-catkin-pkg_VERSION_GTE "0.2.2") 4 | set(catkin_BUILD_DEPENDS "python-empy" "python-argparse" "python-catkin-pkg") 5 | set(catkin_DEPRECATED "") 6 | set(catkin_RUN_DEPENDS "python-argparse" "python-catkin-pkg" "gtest" "python-empy" "python-nose") 7 | set(catkin_MAINTAINER "Dirk Thomas ") 8 | set(catkin_BUILDTOOL_DEPENDS "cmake") 9 | set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GTE "0.2.2") -------------------------------------------------------------------------------- /utils/pose_utils/build/catkin_generated/env_cached.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env sh 2 | # generated from catkin/cmake/templates/env.sh.in 3 | 4 | if [ $# -eq 0 ] ; then 5 | /bin/echo "Usage: env.sh COMMANDS" 6 | /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." 7 | exit 1 8 | fi 9 | 10 | # ensure to not use different shell type which was set before 11 | CATKIN_SHELL=sh 12 | 13 | # source setup_cached.sh from same directory as this file 14 | _CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) 15 | . "$_CATKIN_SETUP_DIR/setup_cached.sh" 16 | exec "$@" 17 | -------------------------------------------------------------------------------- /utils/pose_utils/build/catkin_generated/generate_cached_setup.py: -------------------------------------------------------------------------------- 1 | from __future__ import print_function 2 | import argparse 3 | import os 4 | import stat 5 | import sys 6 | 7 | # find the import for catkin's python package - either from source space or from an installed underlay 8 | if os.path.exists(os.path.join('/opt/ros/indigo/share/catkin/cmake', 'catkinConfig.cmake.in')): 9 | sys.path.insert(0, os.path.join('/opt/ros/indigo/share/catkin/cmake', '..', 'python')) 10 | try: 11 | from catkin.environment_cache import generate_environment_script 12 | except ImportError: 13 | # search for catkin package in all workspaces and prepend to path 14 | for workspace in "/home/jchen/workspace/devel;/opt/ros/indigo".split(';'): 15 | python_path = os.path.join(workspace, 'lib/python2.7/dist-packages') 16 | if os.path.isdir(os.path.join(python_path, 'catkin')): 17 | sys.path.insert(0, python_path) 18 | break 19 | from catkin.environment_cache import generate_environment_script 20 | 21 | code = generate_environment_script('/home/jchen/workspace/src/pose_utils/build/devel/env.sh') 22 | 23 | output_filename = '/home/jchen/workspace/src/pose_utils/build/catkin_generated/setup_cached.sh' 24 | with open(output_filename, 'w') as f: 25 | #print('Generate script for cached setup "%s"' % output_filename) 26 | f.write('\n'.join(code)) 27 | 28 | mode = os.stat(output_filename).st_mode 29 | os.chmod(output_filename, mode | stat.S_IXUSR) 30 | -------------------------------------------------------------------------------- /utils/pose_utils/build/catkin_generated/installspace/.rosinstall: -------------------------------------------------------------------------------- 1 | - setup-file: 2 | local-name: /usr/local/setup.sh 3 | -------------------------------------------------------------------------------- /utils/pose_utils/build/catkin_generated/installspace/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 "$@" 17 | -------------------------------------------------------------------------------- /utils/pose_utils/build/catkin_generated/installspace/setup.bash: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | # generated from catkin/cmake/templates/setup.bash.in 3 | 4 | CATKIN_SHELL=bash 5 | 6 | # source setup.sh from same directory as this file 7 | _CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) 8 | . "$_CATKIN_SETUP_DIR/setup.sh" 9 | -------------------------------------------------------------------------------- /utils/pose_utils/build/catkin_generated/installspace/setup.zsh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env zsh 2 | # generated from catkin/cmake/templates/setup.zsh.in 3 | 4 | CATKIN_SHELL=zsh 5 | _CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) 6 | emulate sh # emulate POSIX 7 | . "$_CATKIN_SETUP_DIR/setup.sh" 8 | emulate zsh # back to zsh mode 9 | -------------------------------------------------------------------------------- /utils/pose_utils/build/catkin_generated/ordered_paths.cmake: -------------------------------------------------------------------------------- 1 | set(ORDERED_PATHS "/opt/ros/indigo/lib") -------------------------------------------------------------------------------- /utils/pose_utils/build/catkin_generated/stamps/pose_utils/package.xml.stamp: -------------------------------------------------------------------------------- 1 | 2 | 3 | catkin 4 | 0.6.9 5 | Low-level build system macros and infrastructure for ROS. 6 | Dirk Thomas 7 | BSD 8 | 9 | http://www.ros.org/wiki/catkin 10 | https://github.com/ros/catkin/issues 11 | https://github.com/ros/catkin 12 | 13 | Troy Straszheim 14 | Morten Kjaergaard 15 | Brian Gerkey 16 | Dirk Thomas 17 | 18 | cmake 19 | cmake 20 | 21 | python-argparse 22 | python-catkin-pkg 23 | 24 | python-empy 25 | 26 | gtest 27 | python-empy 28 | python-nose 29 | 30 | python-mock 31 | python-nose 32 | 33 | 34 | 35 | 36 | 37 | 38 | -------------------------------------------------------------------------------- /utils/pose_utils/build/devel/.catkin: -------------------------------------------------------------------------------- 1 | /home/jchen/workspace/src/pose_utils -------------------------------------------------------------------------------- /utils/pose_utils/build/devel/.rosinstall: -------------------------------------------------------------------------------- 1 | - setup-file: 2 | local-name: /home/jchen/workspace/src/pose_utils/build/devel/setup.sh 3 | -------------------------------------------------------------------------------- /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 | . 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compile CXX with /usr/bin/c++ 5 | CXX_FLAGS = -O2 -g -DNDEBUG -fPIC -I/home/jchen/workspace/src/pose_utils/include -I/home/jchen/workspace/src/armadillo/armadillo/include -I/opt/ros/indigo/include -I/usr/src/gtest/include -I/usr/src/gtest -Wall -Wshadow -DGTEST_HAS_PTHREAD=1 -fexceptions -Wextra 6 | 7 | CXX_DEFINES = -DGTEST_CREATE_SHARED_LIBRARY=1 -DROS_PACKAGE_NAME=\"pose_utils\" -Dgtest_main_EXPORTS 8 | 9 | -------------------------------------------------------------------------------- /utils/pose_utils/build/gtest/CMakeFiles/gtest_main.dir/link.txt: -------------------------------------------------------------------------------- 1 | /usr/bin/c++ -fPIC -O2 -g -DNDEBUG -shared -Wl,-soname,libgtest_main.so -o /home/jchen/workspace/src/pose_utils/lib/libgtest_main.so CMakeFiles/gtest_main.dir/src/gtest_main.cc.o -L/home/jchen/workspace/src/armadillo/armadillo/lib -L/opt/ros/indigo/lib -L/home/jchen/workspace/src/pose_utils/build/gtest/src -lpthread /home/jchen/workspace/src/pose_utils/lib/libgtest.so -lpthread -Wl,-rpath,/home/jchen/workspace/src/armadillo/armadillo/lib:/opt/ros/indigo/lib:/home/jchen/workspace/src/pose_utils/build/gtest/src:/home/jchen/workspace/src/pose_utils/lib 2 | -------------------------------------------------------------------------------- /utils/pose_utils/build/gtest/CMakeFiles/gtest_main.dir/progress.make: -------------------------------------------------------------------------------- 1 | CMAKE_PROGRESS_1 = 2 2 | 3 | -------------------------------------------------------------------------------- /utils/pose_utils/build/gtest/CMakeFiles/progress.marks: -------------------------------------------------------------------------------- 1 | 0 2 | -------------------------------------------------------------------------------- /utils/pose_utils/build/gtest/cmake_install.cmake: -------------------------------------------------------------------------------- 1 | # Install script for directory: /usr/src/gtest 2 | 3 | # Set the install prefix 4 | IF(NOT DEFINED CMAKE_INSTALL_PREFIX) 5 | SET(CMAKE_INSTALL_PREFIX "/usr/local") 6 | ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX) 7 | STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") 8 | 9 | # Set the install configuration name. 10 | IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) 11 | IF(BUILD_TYPE) 12 | STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" "" 13 | CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") 14 | ELSE(BUILD_TYPE) 15 | SET(CMAKE_INSTALL_CONFIG_NAME "RelWithDebInfo") 16 | ENDIF(BUILD_TYPE) 17 | MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") 18 | ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) 19 | 20 | # Set the component getting installed. 21 | IF(NOT CMAKE_INSTALL_COMPONENT) 22 | IF(COMPONENT) 23 | MESSAGE(STATUS "Install component: \"${COMPONENT}\"") 24 | SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}") 25 | ELSE(COMPONENT) 26 | SET(CMAKE_INSTALL_COMPONENT) 27 | ENDIF(COMPONENT) 28 | ENDIF(NOT CMAKE_INSTALL_COMPONENT) 29 | 30 | # Install shared libraries without execute permission? 31 | IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) 32 | SET(CMAKE_INSTALL_SO_NO_EXE "1") 33 | ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) 34 | 35 | -------------------------------------------------------------------------------- /utils/pose_utils/include/pose_utils.h: -------------------------------------------------------------------------------- 1 | #ifndef POSE_UTILS_H 2 | #define POSE_UTILS_H 3 | 4 | #include 5 | #include "armadillo" 6 | 7 | #define PI 3.14159265359 8 | #define NUM_INF 999999.9 9 | 10 | using namespace arma; 11 | using namespace std; 12 | 13 | // Rotation --------------------- 14 | mat ypr_to_R(const colvec& ypr); 15 | 16 | mat yaw_to_R(double yaw); 17 | 18 | colvec R_to_ypr(const mat& R); 19 | 20 | mat quaternion_to_R(const colvec& q); 21 | 22 | colvec R_to_quaternion(const mat& R); 23 | 24 | colvec quaternion_mul(const colvec& q1, const colvec& q2); 25 | 26 | colvec quaternion_inv(const colvec& q); 27 | 28 | // General Pose Update ---------- 29 | colvec pose_update(const colvec& X1, const colvec& X2); 30 | 31 | colvec pose_inverse(const colvec& X); 32 | 33 | colvec pose_update_2d(const colvec& X1, const colvec& X2); 34 | 35 | colvec pose_inverse_2d(const colvec& X); 36 | 37 | // For Pose EKF ----------------- 38 | mat Jplus1(const colvec& X1, const colvec& X2); 39 | 40 | mat Jplus2(const colvec& X1, const colvec& X2); 41 | 42 | // For IMU EKF ------------------ 43 | colvec state_update(const colvec& X, const colvec& U, double dt); 44 | 45 | mat jacobianF(const colvec& X, const colvec& U, double dt); 46 | 47 | mat jacobianU(const colvec& X, const colvec& U, double dt); 48 | 49 | colvec state_measure(const colvec& X); 50 | 51 | mat jacobianH(); 52 | 53 | #endif 54 | -------------------------------------------------------------------------------- /utils/pose_utils/lib/libpose_utils.so: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HKUST-Aerial-Robotics/mockasimulator/af44653d299186fb43c0cb8709002031f84c2d24/utils/pose_utils/lib/libpose_utils.so -------------------------------------------------------------------------------- /utils/pose_utils/package.xml: -------------------------------------------------------------------------------- 1 | 2 | pose_utils 3 | pose_utils 4 | 0.1.0 5 | Shaojie Shen 6 | william.wu 7 | LGPLv3 8 | 9 | catkin 10 | 11 | roscpp 12 | 13 | roscpp 14 | 15 | 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /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 | -------------------------------------------------------------------------------- /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 | -------------------------------------------------------------------------------- /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 | -------------------------------------------------------------------------------- /utils/quadrotor_msgs/msg/Corrections.msg: -------------------------------------------------------------------------------- 1 | float64 kf_correction 2 | float64[2] angle_corrections 3 | -------------------------------------------------------------------------------- /utils/quadrotor_msgs/msg/Gains.msg: -------------------------------------------------------------------------------- 1 | float64 Kp 2 | float64 Kd 3 | float64 Kp_yaw 4 | float64 Kd_yaw 5 | -------------------------------------------------------------------------------- /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 | -------------------------------------------------------------------------------- /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 | -------------------------------------------------------------------------------- /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 | -------------------------------------------------------------------------------- /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 | -------------------------------------------------------------------------------- /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 | -------------------------------------------------------------------------------- /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 | -------------------------------------------------------------------------------- /utils/quadrotor_msgs/msg/PolynomialTrajectory_back.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 | 27 | string debug_info 28 | -------------------------------------------------------------------------------- /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 | -------------------------------------------------------------------------------- /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 | -------------------------------------------------------------------------------- /utils/quadrotor_msgs/msg/PositionCommand_back.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 | -------------------------------------------------------------------------------- /utils/quadrotor_msgs/msg/Replan.msg: -------------------------------------------------------------------------------- 1 | #data structure 2 | geometry_msgs/Vector3 start_velocity 3 | geometry_msgs/Vector3 start_acceleration 4 | nav_msgs/Path plan 5 | geometry_msgs/Vector3 stop_velocity 6 | geometry_msgs/Vector3 stop_acceleration 7 | float64 replan_time 8 | -------------------------------------------------------------------------------- /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 | -------------------------------------------------------------------------------- /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 | -------------------------------------------------------------------------------- /utils/quadrotor_msgs/msg/StatusData.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | uint16 loop_rate 3 | float64 voltage 4 | uint8 seq 5 | -------------------------------------------------------------------------------- /utils/quadrotor_msgs/msg/SwarmCommand.msg: -------------------------------------------------------------------------------- 1 | #data structure 2 | Header header 3 | int32[] selection 4 | nav_msgs/Path plan 5 | float32[] formation #todo implement related code 6 | -------------------------------------------------------------------------------- /utils/quadrotor_msgs/msg/SwarmInfo.msg: -------------------------------------------------------------------------------- 1 | quadrotor_msgs/TrajectoryMatrix path 2 | time start 3 | -------------------------------------------------------------------------------- /utils/quadrotor_msgs/msg/SwarmOdometry.msg: -------------------------------------------------------------------------------- 1 | nav_msgs/Odometry odom 2 | string name 3 | -------------------------------------------------------------------------------- /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 | -------------------------------------------------------------------------------- /utils/quadrotor_msgs/msg/TrajectoryMatrix.msg: -------------------------------------------------------------------------------- 1 | #type 2 | uint8 TYPE_UNKNOWN = 0 3 | uint8 TYPE_POLY = 1 4 | uint8 TYPE_TIME = 2 5 | 6 | #data structure 7 | Header header 8 | uint8 type 9 | uint32 id 10 | string name 11 | uint32[] format 12 | float64[] data 13 | -------------------------------------------------------------------------------- /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 | cmake_utils 13 | 14 | geometry_msgs 15 | nav_msgs 16 | message_runtime 17 | cmake_utils 18 | 19 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /utils/quadrotor_msgs/src/quadrotor_msgs/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HKUST-Aerial-Robotics/mockasimulator/af44653d299186fb43c0cb8709002031f84c2d24/utils/quadrotor_msgs/src/quadrotor_msgs/__init__.py -------------------------------------------------------------------------------- /utils/quadrotor_msgs/src/quadrotor_msgs/__init__.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/HKUST-Aerial-Robotics/mockasimulator/af44653d299186fb43c0cb8709002031f84c2d24/utils/quadrotor_msgs/src/quadrotor_msgs/__init__.pyc -------------------------------------------------------------------------------- /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 | -------------------------------------------------------------------------------- /utils/sparse_graph/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(sparse_graph) 3 | 4 | add_definitions(-std=c++11) 5 | 6 | find_package(catkin REQUIRED 7 | ) 8 | 9 | catkin_package( 10 | INCLUDE_DIRS include 11 | CATKIN_DEPENDS roscpp 12 | ) 13 | 14 | include_directories( 15 | ${catkin_INCLUDE_DIRS} 16 | include 17 | ) 18 | -------------------------------------------------------------------------------- /utils/sparse_graph/package.xml: -------------------------------------------------------------------------------- 1 | 2 | sparse_graph 3 | sparse_graph 4 | 0.1.0 5 | Shaojie Shen 6 | william.wu 7 | LGPLv3 8 | 9 | catkin 10 | roscpp 11 | 12 | 13 | -------------------------------------------------------------------------------- /utils/uav_utils/README.md: -------------------------------------------------------------------------------- 1 | # uav_utils ROS Package 2 | 3 | Provide some widely used utilities in uav development. **No library. Only headers.** 4 | 5 | Dependency: Eigen 6 | 7 | This package is deliberately designed not to find Eigen automatically, because there are many cases that you would like to use your own Eigen instead of that in the system directory (**/usr/include/eigen3**). 8 | 9 | ### How to resolve "fatal error: Eigen/Dense: No such file or directory" problem 10 | 11 | 1. The most simple and naive solution: 12 | 13 | Modify `your-ros-package/CMakeList.txt` like this: 14 | 15 | ```cmake 16 | 17 | include_directories( 18 | ... 19 | ... 20 | /usr/include/eigen3 21 | ... 22 | ) 23 | ``` 24 | 25 | 2. Use **FindEigen.cmake** provided by ROS 26 | 27 | For details, see [https://github.com/ros/cmake_modules/blob/0.3-devel/README.md](https://github.com/ros/cmake_modules/blob/0.3-devel/README.md) 28 | 29 | 3. Specify your own Eigen 30 | 31 | * For recent releases of Eigen, cmake support is integrated. You may modify your `CMakeLists.txt` like this: 32 | 33 | ``` cmake 34 | find_package(Eigen3 REQUIRED NO_DEFAULT_PATH PATHS /opt/eigen3.3/lib/x86_64-linux-gnu/cmake) 35 | include_directories( 36 | ... 37 | ${EIGEN3_INCLUDE_DIR} 38 | ${catkin_INCLUDE_DIRS} 39 | ... 40 | ) 41 | 42 | ``` 43 | 44 | * For other third-party **FindEigen.cmake**, you have to read the cmake file to find correct **library-name** (Eigen, EIGEN, Eigen3, EIGEN3, etc.) and **include-path** (*_INCLUDE_DIRECTORIES, *_INCLUDE_DIRECTORY, *_INCLUDE_DIR, *_INCLUDE_DIRECTORIES, etc.) 45 | -------------------------------------------------------------------------------- /utils/uav_utils/include/uav_utils/utils.h: -------------------------------------------------------------------------------- 1 | #ifndef __UAV_UTILS_H 2 | #define __UAV_UTILS_H 3 | 4 | #include 5 | 6 | #include 7 | #include 8 | 9 | namespace uav_utils 10 | { 11 | 12 | /* judge if value belongs to [low,high] */ 13 | template 14 | bool 15 | in_range(T value, const T2& low, const T2& high) 16 | { 17 | ROS_ASSERT_MSG(low < high, "%f < %f?", low, high); 18 | return (low <= value) && (value <= high); 19 | } 20 | 21 | /* judge if value belongs to [-limit, limit] */ 22 | template 23 | bool 24 | in_range(T value, const T2& limit) 25 | { 26 | ROS_ASSERT_MSG(limit > 0, "%f > 0?", limit); 27 | return in_range(value, -limit, limit); 28 | } 29 | 30 | template 31 | void 32 | limit_range(T& value, const T2& low, const T2& high) 33 | { 34 | ROS_ASSERT_MSG(low < high, "%f < %f?", low, high); 35 | if (value < low) 36 | { 37 | value = low; 38 | } 39 | 40 | if (value > high) 41 | { 42 | value = high; 43 | } 44 | 45 | return; 46 | } 47 | 48 | template 49 | void 50 | limit_range(T& value, const T2& limit) 51 | { 52 | ROS_ASSERT_MSG(limit > 0, "%f > 0?", limit); 53 | limit_range(value, -limit, limit); 54 | } 55 | 56 | typedef std::stringstream DebugSS_t; 57 | } // end of namespace uav_utils 58 | 59 | #endif 60 | -------------------------------------------------------------------------------- /utils/uav_utils/scripts/send_odom.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | import rospy 4 | import numpy as np 5 | import tf 6 | from tf import transformations as tfs 7 | from nav_msgs.msg import Odometry 8 | 9 | if __name__ == "__main__": 10 | rospy.init_node("odom_sender") 11 | 12 | msg = Odometry() 13 | 14 | msg.header.stamp = rospy.Time.now()-rospy.Duration(0.2) 15 | msg.header.frame_id = "world" 16 | 17 | q = tfs.quaternion_from_euler(0,0,0,"rzyx") 18 | 19 | msg.pose.pose.position.x = 0 20 | msg.pose.pose.position.y = 0 21 | msg.pose.pose.position.z = 0 22 | msg.twist.twist.linear.x = 0 23 | msg.twist.twist.linear.y = 0 24 | msg.twist.twist.linear.z = 0 25 | msg.pose.pose.orientation.x = q[0] 26 | msg.pose.pose.orientation.y = q[1] 27 | msg.pose.pose.orientation.z = q[2] 28 | msg.pose.pose.orientation.w = q[3] 29 | 30 | print(msg) 31 | 32 | pub = rospy.Publisher("odom", Odometry, queue_size=10) 33 | 34 | counter = 0 35 | r = rospy.Rate(1) 36 | 37 | while not rospy.is_shutdown(): 38 | counter += 1 39 | msg.header.stamp = rospy.Time.now()-rospy.Duration(0.2) 40 | pub.publish(msg) 41 | rospy.loginfo("Send %3d msg(s)."%counter) 42 | r.sleep() 43 | -------------------------------------------------------------------------------- /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)) -------------------------------------------------------------------------------- /utils/waypoint_generator/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(waypoint_generator) 3 | 4 | set(CMAKE_VERBOSE_MAKEFILE "true") 5 | include(CheckCXXCompilerFlag) 6 | CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) 7 | CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) 8 | if(COMPILER_SUPPORTS_CXX11) 9 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") 10 | elseif(COMPILER_SUPPORTS_CXX0X) 11 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") 12 | else() 13 | message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.") 14 | endif() 15 | 16 | set(ADDITIONAL_CXX_FLAG "-Wall -O3 -march=native") 17 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${ADDITIONAL_CXX_FLAG}") 18 | 19 | find_package(catkin REQUIRED COMPONENTS 20 | roscpp 21 | tf 22 | nav_msgs 23 | ) 24 | catkin_package() 25 | 26 | include_directories(include) 27 | include_directories( 28 | ${catkin_INCLUDE_DIRS} 29 | ) 30 | 31 | add_executable(waypoint_generator src/waypoint_generator.cpp) 32 | 33 | target_link_libraries(waypoint_generator 34 | ${catkin_LIBRARIES} 35 | ) 36 | -------------------------------------------------------------------------------- /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 | --------------------------------------------------------------------------------