├── .gitignore ├── INSTRUCTIONS.md ├── LICENSE.txt ├── README.md ├── img ├── bud.png ├── frankie.png ├── kitt.png ├── kitt_cutout.png ├── kitt_overtake.gif ├── thundershot.png └── unimore-hipert-logo.png ├── scripts └── build.sh └── src ├── adx_curve ├── CMakeLists.txt ├── Config.cmake.in ├── README.md ├── include │ └── adx_curve │ │ ├── curve.hpp │ │ ├── segment.hpp │ │ ├── spline.hpp │ │ └── vector.hpp ├── package.xml └── src │ ├── segment.cpp │ └── spline.cpp ├── adx_data ├── .gitignore ├── CMakeLists.txt ├── Config.cmake.in ├── Doxyfile ├── LICENSE ├── MainPage.dox ├── README.md ├── include │ └── adx_data │ │ ├── covariance.hpp │ │ ├── header.hpp │ │ ├── obstacle.hpp │ │ ├── odometry.hpp │ │ ├── particle.hpp │ │ ├── path.hpp │ │ ├── point.hpp │ │ ├── pose.hpp │ │ ├── quaternion.hpp │ │ ├── timestamp.hpp │ │ ├── twist.hpp │ │ └── vector.hpp ├── package.xml ├── src │ ├── header.cpp │ ├── odometry.cpp │ └── timestamp.cpp └── test │ └── test_covariance.cpp ├── adx_data_ros ├── CMakeLists.txt ├── README.md ├── include │ └── adx_data_ros │ │ └── adx_data_ros.hpp ├── package.xml └── test │ ├── helper_functions.hpp │ ├── test_header.cpp │ ├── test_odometry.cpp │ ├── test_plan.cpp │ ├── test_point.cpp │ ├── test_pose.cpp │ ├── test_quaternion.cpp │ └── test_twist.cpp ├── adx_msgs ├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── msg │ ├── ArbitratedAckermannDrive.msg │ ├── LapTime.msg │ ├── Obstacle.msg │ ├── ObstacleArray.msg │ ├── Plan.msg │ ├── PlanPoint.msg │ ├── SectorSet.msg │ ├── SectorStamped.msg │ ├── Track.msg │ └── TrackArray.msg └── package.xml ├── maps ├── CMakeLists.txt ├── README.md ├── launch │ └── map_server.launch.py ├── maps │ ├── Austin │ │ ├── .DS_Store │ │ ├── Austin_DonkeySim_waypoints.txt │ │ ├── Austin_centerline.csv │ │ ├── Austin_map.png │ │ ├── Austin_map.yaml │ │ └── Austin_raceline.csv │ ├── BrandsHatch │ │ ├── BrandsHatch_DonkeySim_waypoints.txt │ │ ├── BrandsHatch_centerline.csv │ │ ├── BrandsHatch_map.png │ │ ├── BrandsHatch_map.yaml │ │ └── BrandsHatch_raceline.csv │ ├── Budapest │ │ ├── Budapest_DonkeySim_waypoints.txt │ │ ├── Budapest_centerline.csv │ │ ├── Budapest_map.png │ │ ├── Budapest_map.yaml │ │ └── Budapest_raceline.csv │ ├── Catalunya │ │ ├── Catalunya_DonkeySim_waypoints.txt │ │ ├── Catalunya_centerline.csv │ │ ├── Catalunya_map.png │ │ ├── Catalunya_map.yaml │ │ └── Catalunya_raceline.csv │ ├── Hockenheim │ │ ├── Hockenheim_DonkeySim_waypoints.txt │ │ ├── Hockenheim_centerline.csv │ │ ├── Hockenheim_map.png │ │ ├── Hockenheim_map.yaml │ │ └── Hockenheim_raceline.csv │ ├── IMS │ │ ├── IMS_DonkeySim_waypoints.txt │ │ ├── IMS_centerline.csv │ │ ├── IMS_map.png │ │ ├── IMS_map.yaml │ │ └── IMS_raceline.csv │ ├── Melbourne │ │ ├── Melbourne_DonkeySim_waypoints.txt │ │ ├── Melbourne_centerline.csv │ │ ├── Melbourne_map.png │ │ ├── Melbourne_map.yaml │ │ └── Melbourne_raceline.csv │ ├── Mexico_City │ │ ├── Mexico City_DonkeySim_waypoints.txt │ │ ├── MexicoCity_map.png │ │ ├── MexicoCity_map.yaml │ │ ├── MexicoCity_raceline.csv │ │ └── Mexico_City_centerline.csv │ ├── Montreal │ │ ├── .DS_Store │ │ ├── Montreal_DonkeySim_waypoints.txt │ │ ├── Montreal_centerline.csv │ │ ├── Montreal_map.png │ │ └── Montreal_map.yaml │ ├── Monza │ │ ├── Monza_DonkeySim_waypoints.txt │ │ ├── Monza_centerline.csv │ │ ├── Monza_map.png │ │ ├── Monza_map.yaml │ │ └── Monza_raceline.csv │ ├── MoscowRaceway │ │ ├── MoscowRaceway_DonkeySim_waypoints.txt │ │ ├── MoscowRaceway_centerline.csv │ │ ├── MoscowRaceway_map.png │ │ ├── MoscowRaceway_map.yaml │ │ └── MoscowRaceway_raceline.csv │ ├── Nuerburgring │ │ ├── Nuerburgring_DonkeySim_waypoints.txt │ │ ├── Nuerburgring_centerline.csv │ │ ├── Nuerburgring_map.png │ │ ├── Nuerburgring_map.yaml │ │ └── Nuerburgring_raceline.csv │ ├── Oschersleben │ │ ├── Oschersleben_DonkeySim_waypoints.txt │ │ ├── Oschersleben_centerline.csv │ │ ├── Oschersleben_map.png │ │ ├── Oschersleben_map.yaml │ │ └── Oschersleben_raceline.csv │ ├── Sakhir │ │ ├── Sakhir_DonkeySim_waypoints.txt │ │ ├── Sakhir_centerline.csv │ │ ├── Sakhir_map.png │ │ ├── Sakhir_map.yaml │ │ └── Sakhir_raceline.csv │ ├── SaoPaulo │ │ ├── SaoPaulo_DonkeySim_waypoints.txt │ │ ├── SaoPaulo_centerline.csv │ │ ├── SaoPaulo_map.png │ │ ├── SaoPaulo_map.yaml │ │ └── SaoPaulo_raceline.csv │ ├── Sepang │ │ ├── Sepang_DonkeySim_waypoints.txt │ │ ├── Sepang_centerline.csv │ │ ├── Sepang_map.png │ │ ├── Sepang_map.yaml │ │ └── Sepang_raceline.csv │ ├── Shanghai │ │ ├── Shanghai_DonkeySim_waypoints.txt │ │ ├── Shanghai_centerline.csv │ │ ├── Shanghai_map.png │ │ └── Shanghai_map.yaml │ ├── Silverstone │ │ ├── Silverstone_DonkeySim_waypoints.txt │ │ ├── Silverstone_centerline.csv │ │ ├── Silverstone_map.png │ │ ├── Silverstone_map.yaml │ │ └── Silverstone_raceline.csv │ ├── Sochi │ │ ├── Sochi_DonkeySim_waypoints.txt │ │ ├── Sochi_centerline.csv │ │ ├── Sochi_map.png │ │ ├── Sochi_map.yaml │ │ └── Sochi_raceline.csv │ ├── Spa │ │ ├── Spa_DonkeySim_waypoints.txt │ │ ├── Spa_centerline.csv │ │ ├── Spa_map.png │ │ ├── Spa_map.yaml │ │ └── Spa_raceline.csv │ ├── Spielberg │ │ ├── Spielberg_DonkeySim_waypoints.txt │ │ ├── Spielberg_centerline.csv │ │ ├── Spielberg_map.png │ │ ├── Spielberg_map.yaml │ │ └── Spielberg_raceline.csv │ ├── Vegas │ │ ├── 2f2f.trj │ │ ├── central.trj │ │ ├── external.trj │ │ ├── inner.trj │ │ ├── internal.trj │ │ ├── opt.trj │ │ ├── opt1.trj │ │ ├── opt2.trj │ │ ├── opt3.trj │ │ ├── opt4.trj │ │ ├── opt5.trj │ │ ├── opt6-10.trj │ │ ├── opt6-5.trj │ │ ├── opt6.trj │ │ ├── opt7.trj │ │ ├── opt7bis.trj │ │ ├── optimal.trj │ │ ├── outer.trj │ │ ├── vegas.png │ │ ├── vegas.trj │ │ ├── vegas.yaml │ │ ├── vegas_bounds.png │ │ ├── vegas_bounds.yaml │ │ ├── vegas_obs.png │ │ └── vegas_trj.png │ ├── YasMarina │ │ ├── YasMarina_DonkeySim_waypoints.txt │ │ ├── YasMarina_centerline.csv │ │ ├── YasMarina_map.png │ │ ├── YasMarina_map.yaml │ │ └── YasMarina_raceline.csv │ ├── Zandvoort │ │ ├── Zandvoort_DonkeySim_waypoints.txt │ │ ├── Zandvoort_centerline.csv │ │ ├── Zandvoort_map.png │ │ ├── Zandvoort_map.yaml │ │ └── Zandvoort_raceline.csv │ ├── corridor_r02 │ │ ├── map.png │ │ └── map.yaml │ ├── corridor_r05 │ │ ├── map.png │ │ └── map.yaml │ ├── datacenter │ │ ├── map.png │ │ ├── map.trj │ │ ├── map.yaml │ │ └── opt.trj │ ├── fisica │ │ ├── map.pgm │ │ ├── map.png │ │ ├── map.yaml │ │ └── map_trj.png │ ├── icra │ │ ├── icra │ │ │ ├── inner.trj │ │ │ ├── map.png │ │ │ ├── map.trj │ │ │ ├── map.yaml │ │ │ ├── map_trj.png │ │ │ ├── map_trj.yaml │ │ │ ├── opt.trj │ │ │ └── outer.trj │ │ ├── inner.trj │ │ ├── map.png │ │ ├── map.trj │ │ ├── map.yaml │ │ ├── map_trj.png │ │ ├── map_trj.yaml │ │ ├── opt.trj │ │ └── outer.trj │ ├── icra_ext │ │ ├── inner.trj │ │ ├── map.png │ │ ├── map.trj │ │ ├── map.yaml │ │ ├── map_trj.png │ │ ├── map_trj.yaml │ │ ├── opt.trj │ │ ├── outer.trj │ │ └── sectors.txt │ ├── lausitzring1 │ │ ├── inner.trj │ │ ├── map.png │ │ ├── map.trj │ │ ├── map.yaml │ │ ├── map_trj.png │ │ ├── opt.trj │ │ ├── opt1.trj │ │ └── outer.trj │ ├── lausitzring2 │ │ ├── map.png │ │ ├── map.yaml │ │ ├── map1.png │ │ ├── map1.yaml │ │ ├── opt.trj │ │ └── opt_1.trj │ ├── mille_conf3 │ │ ├── inner.trj │ │ ├── map.png │ │ ├── map.trj │ │ ├── map.yaml │ │ ├── map_trj.png │ │ ├── opt.trj │ │ └── outer.trj │ ├── mille_conf4 │ │ ├── inner.trj │ │ ├── map.png │ │ ├── map.trj │ │ ├── map.yaml │ │ ├── map_trj.png │ │ ├── opt.trj │ │ └── outer.trj │ ├── mille_conf_large │ │ ├── inner.trj │ │ ├── map.png │ │ ├── map.trj │ │ ├── map.yaml │ │ ├── map_trj.png │ │ ├── mille_head1.pgm │ │ ├── opt.trj │ │ └── outer.trj │ └── tshot_mille_long │ │ ├── map.png │ │ ├── map.trj │ │ ├── map.yaml │ │ └── map_trj.png └── package.xml ├── particle_filter ├── .clang-format ├── .gitignore ├── CMakeLists.txt ├── Doxyfile ├── README.md ├── conf │ └── particle.yaml ├── docs │ └── bernardi_DATE22-tshot.pdf ├── include │ ├── data_structures.hpp │ ├── particle_filter │ │ ├── particle_filter.hpp │ │ ├── particle_filter_fpga.hpp │ │ └── particle_filter_node.hpp │ └── ray_casting │ │ ├── cudaRayMarching.h │ │ ├── ray_casting.hpp │ │ ├── ray_marching.hpp │ │ ├── ray_marching_fpga.hpp │ │ ├── ray_marching_gpu.hpp │ │ ├── xrm.hpp │ │ └── xrm_hw.h ├── launch │ ├── particle.launch.py │ ├── particle.launch.xml │ ├── particle_dbg.launch.xml │ ├── particle_sim.launch.xml │ └── particle_sim_dbg.launch.xml ├── media │ ├── board_preparation.md │ ├── bootargs.png │ ├── eth.png │ ├── ifconfig.png │ ├── mem.png │ ├── nano.png │ ├── scheme.png │ ├── sd.png │ ├── serial.png │ ├── switch.png │ ├── uio.png │ └── zcu100.png ├── package.xml ├── rviz │ └── pf.rviz └── src │ ├── particle_filter │ ├── particle_filter.cpp │ └── particle_filter_fpga.cpp │ ├── pf_main.cpp │ └── ray_casting │ ├── ray_casting.cpp │ ├── ray_marching.cpp │ ├── ray_marching_fpga.cpp │ └── ray_marching_gpu.cu ├── path_handler ├── .gitignore ├── Doxyfile ├── MainPage.dox ├── README.md ├── path_logger │ ├── CMakeLists.txt │ ├── Doxyfile │ ├── include │ │ └── path_logger │ │ │ ├── path_logger.hpp │ │ │ └── path_logger_node.hpp │ ├── launch │ │ ├── path_logger.launch │ │ ├── path_logger.launch.xml │ │ ├── path_logger_cnh.launch │ │ ├── path_logger_quattroporte.launch.xml │ │ ├── path_logger_sim.launch.xml │ │ └── path_logger_tshot.launch.xml │ ├── package.xml │ └── src │ │ ├── main.cpp │ │ ├── path_logger.cpp │ │ └── path_logger_node.cpp └── path_publisher │ ├── CMakeLists.txt │ ├── Doxyfile │ ├── include │ └── path_publisher │ │ ├── path_publisher.hpp │ │ └── path_publisher_node.hpp │ ├── launch │ ├── path_publisher.launch │ ├── path_publisher.launch.xml │ ├── path_publisher_kitt.launch.xml │ ├── path_publisher_quattroporte.launch │ ├── path_publisher_quattroporte.launch.xml │ └── path_publisher_tshot.launch.xml │ ├── package.xml │ └── src │ ├── main.cpp │ ├── path_publisher.cpp │ └── path_publisher_node.cpp ├── purepursuit ├── .gitignore ├── .gitlab │ └── CODEOWNERS ├── CMakeLists.txt ├── Doxyfile ├── README.md ├── conf │ ├── params_carla.yaml │ ├── params_cnh.yaml │ ├── params_gym.yaml │ ├── params_kitt.yaml │ ├── params_quattroporte.yaml │ └── params_tshot.yaml ├── include │ ├── purepursuit │ │ └── purepursuit.hpp │ └── purepursuit_node.hpp ├── launch │ ├── purepursuit_bag.launch.xml │ ├── purepursuit_carla.launch.xml │ ├── purepursuit_cnh.launch │ ├── purepursuit_gym.launch.xml │ ├── purepursuit_h2h.launch.xml │ ├── purepursuit_kitt.launch.xml │ ├── purepursuit_quattroporte.launch.xml │ ├── purepursuit_segment.launch.xml │ ├── purepursuit_sim.launch.xml │ └── purepursuit_tshot.launch.xml ├── package.xml └── src │ ├── purepursuit │ └── purepursuit.cpp │ ├── purepursuit_node.cpp │ └── purepursuit_segment.cpp └── vehicles └── kitt ├── CMakeLists.txt ├── conf ├── map_server_params.yaml ├── particle.yaml ├── purepursuit.yaml ├── slam_toolbox.yaml └── urg.yaml ├── launch ├── map_server.launch.py ├── mapping.launch.xml ├── particle.launch.xml ├── path_publisher.launch.xml ├── pp_global.launch.xml └── 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