├── .clang-format ├── .crs ├── crs ├── crs-completion.bash └── setup-crs.sh ├── .devcontainer ├── devcontainer.json └── docker-compose.yaml ├── .dockerignore ├── .gitignore ├── .pre-commit-config.yaml ├── .setup ├── crs-docker ├── macos │ ├── docker-compose-macos.yaml │ └── setup.sh └── ubuntu │ ├── docker-compose-ubuntu.yaml │ ├── install_acados.sh │ ├── install_casadi.sh │ ├── install_gtest.sh │ ├── install_tera_renderer.sh │ ├── setup.sh │ └── setup_ws.sh ├── Dockerfile ├── LICENSE ├── README.md ├── media ├── arc_screenshot_anoted.png └── cluttered_mpc_sim.gif ├── requirements.txt ├── scripts └── create_solver_watch.sh └── src ├── crs ├── commons │ ├── CMakeLists.txt │ ├── include │ │ └── commons │ │ │ ├── base_trajectory.h │ │ │ ├── casadi_utils.h │ │ │ ├── cgal_simple_cartesian_conversion.h │ │ │ ├── dynamic_point_trajectory.h │ │ │ ├── filter.h │ │ │ ├── geometry_utils.h │ │ │ ├── obstacle.h │ │ │ ├── static_track_trajectory.h │ │ │ └── trajectory.h │ ├── package.xml │ ├── src │ │ ├── casadi_utils.cpp │ │ ├── dynamic_point_trajectory.cpp │ │ ├── filter.cpp │ │ ├── obstacle.cpp │ │ ├── static_track_trajectory.cpp │ │ └── trajectory.cpp │ └── test │ │ ├── casadi_utils_test.cpp │ │ └── track_tests.cpp ├── controls │ ├── car │ │ ├── mpc_controller │ │ │ ├── CMakeLists.txt │ │ │ ├── include │ │ │ │ └── mpc_controller │ │ │ │ │ └── kinematic_controller │ │ │ │ │ ├── tracking_mpc_kinematic_config.h │ │ │ │ │ ├── tracking_mpc_kinematic_controller.h │ │ │ │ │ ├── tracking_mpc_kinematic_nonconvex_config.h │ │ │ │ │ └── tracking_mpc_kinematic_nonconvex_controller.h │ │ │ ├── package.xml │ │ │ └── src │ │ │ │ └── kinematic_controller │ │ │ │ ├── tracking_mpc_kinematic_controller.cpp │ │ │ │ └── tracking_mpc_kinematic_nonconvex_controller.cpp │ │ └── mpc_solvers │ │ │ ├── acados │ │ │ ├── acados_kinematic_nonconvex_mpc_solver │ │ │ │ ├── .gitignore │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── config │ │ │ │ │ └── solver_nonconvex_mpc.yaml │ │ │ │ ├── include │ │ │ │ │ └── acados_kinematic_nonconvex_mpc_solver │ │ │ │ │ │ └── acados_kinematic_nonconvex_mpc_solver.h │ │ │ │ ├── package.xml │ │ │ │ ├── script │ │ │ │ │ ├── create_solver.sh │ │ │ │ │ ├── generate_acados_nonconvex_solver_mpc.py │ │ │ │ │ └── kinematic_model_nonconvex_mpc.py │ │ │ │ ├── src │ │ │ │ │ ├── acados_kinematic_nonconvex_mpc_solver.cpp │ │ │ │ │ └── serialize_helpers.h │ │ │ │ └── test │ │ │ │ │ └── solver_tests.cpp │ │ │ └── acados_kinematic_tracking_mpc_solver │ │ │ │ ├── CMakeLists.txt │ │ │ │ ├── config │ │ │ │ └── solver_tracking_mpc.yaml │ │ │ │ ├── include │ │ │ │ └── acados_kinematic_tracking_mpc_solver │ │ │ │ │ └── acados_kinematic_tracking_mpc_solver.h │ │ │ │ ├── package.xml │ │ │ │ ├── script │ │ │ │ ├── create_solver.sh │ │ │ │ ├── generate_acados_solver_tracking_mpc.py │ │ │ │ └── kinematic_model_tracking_mpc.py │ │ │ │ └── src │ │ │ │ └── acados_kinematic_tracking_mpc_solver.cpp │ │ │ └── commons │ │ │ ├── CMakeLists.txt │ │ │ ├── include │ │ │ └── mpc_solvers │ │ │ │ ├── kinematic_nonconvex_mpc_solver.h │ │ │ │ ├── kinematic_tracking_mpc_solver.h │ │ │ │ └── mpc_solver.h │ │ │ └── package.xml │ └── common │ │ ├── CMakeLists.txt │ │ ├── include │ │ └── controls │ │ │ ├── base_controller.h │ │ │ ├── model_based_controller.h │ │ │ └── mpc_controller.h │ │ └── package.xml ├── dynamic_models │ ├── car │ │ └── kinematic_model │ │ │ ├── CMakeLists.txt │ │ │ ├── config │ │ │ └── model_params.yaml │ │ │ ├── include │ │ │ └── kinematic_model │ │ │ │ ├── kinematic_car_input.h │ │ │ │ ├── kinematic_car_state.h │ │ │ │ ├── kinematic_continuous.h │ │ │ │ ├── kinematic_discrete.h │ │ │ │ ├── kinematic_params.h │ │ │ │ └── tests │ │ │ │ └── test_utils.h │ │ │ ├── package.xml │ │ │ ├── src │ │ │ ├── kinematic_continuous.cpp │ │ │ ├── kinematic_discrete.cpp │ │ │ └── utils │ │ │ │ └── data_conversion.cpp │ │ │ └── test │ │ │ ├── model_tests.cpp │ │ │ └── params │ │ │ └── test_kinematic_params.yaml │ └── common │ │ ├── CMakeLists.txt │ │ ├── include │ │ └── dynamic_models │ │ │ ├── continuous_dynamic_model.h │ │ │ ├── discrete_dynamic_model.h │ │ │ ├── discrete_dynamic_model_wrapper.h │ │ │ └── utils │ │ │ └── data_conversion.h │ │ └── package.xml ├── planning │ ├── car │ │ └── segment_planner │ │ │ ├── CMakeLists.txt │ │ │ ├── include │ │ │ └── segment_planner │ │ │ │ ├── path_progressor.h │ │ │ │ ├── polygon_tree.h │ │ │ │ ├── roadmap.h │ │ │ │ └── segment_planner.h │ │ │ ├── package.xml │ │ │ └── src │ │ │ ├── path_progressor.cpp │ │ │ ├── polygon_tree.cpp │ │ │ ├── roadmap.cpp │ │ │ └── segment_planner.cpp │ └── common │ │ ├── CMakeLists.txt │ │ ├── include │ │ └── planning │ │ │ ├── base_planner.h │ │ │ ├── cartesian_reference_point.h │ │ │ └── multi_car_cartesian_reference_point.h │ │ └── package.xml └── sensor_models │ ├── car │ └── kinematic_sensor_model │ │ ├── CMakeLists.txt │ │ ├── config │ │ └── sensor_params.yaml │ │ ├── include │ │ └── kinematic_sensor_model │ │ │ └── mocap_sensor_model.h │ │ ├── package.xml │ │ └── src │ │ └── mocap_sensor_model.cpp │ └── common │ ├── CMakeLists.txt │ ├── include │ └── sensor_models │ │ ├── sensor_measurement.h │ │ └── sensor_model.h │ └── package.xml ├── dependencies └── acados_catkin │ ├── CMakeLists.txt │ └── package.xml ├── ros4crs ├── crs_launch │ ├── CMakeLists.txt │ ├── config │ │ └── experiments │ │ │ └── cluttered │ │ │ ├── controller.yaml │ │ │ ├── model.yaml │ │ │ ├── obstacles.yaml │ │ │ ├── planner.yaml │ │ │ ├── simulator.yaml │ │ │ ├── solver.yaml │ │ │ └── visualizer.yaml │ ├── launch │ │ ├── crs.launch │ │ └── sim_single_car.launch │ └── package.xml ├── crs_msgs │ ├── CMakeLists.txt │ ├── msg │ │ ├── car │ │ │ ├── additional_messages │ │ │ │ ├── car_actuator_inputs.msg │ │ │ │ ├── car_clock.msg │ │ │ │ └── penalty_and_lap_count.msg │ │ │ └── core_messages │ │ │ │ ├── car_com.msg │ │ │ │ ├── car_input.msg │ │ │ │ ├── car_state_cart.msg │ │ │ │ ├── car_steer_state.msg │ │ │ │ ├── car_wheel_speed.msg │ │ │ │ └── car_with_imu_bias_state_cart.msg │ │ └── common │ │ │ ├── bool_array_stamped.msg │ │ │ └── double_array_stamped.msg │ └── package.xml ├── ros_controllers │ ├── CMakeLists.txt │ ├── app │ │ └── controller_node.cpp │ ├── include │ │ └── ros_controllers │ │ │ ├── component_registry.h │ │ │ ├── ros_controller.h │ │ │ ├── trajectory │ │ │ └── dynamic_trajectory_updater.h │ │ │ └── visualizers │ │ │ ├── base_visualizer.h │ │ │ └── mpc_multiphase_controller_visualizer.h │ ├── launch │ │ ├── default.launch │ │ ├── default_debug.launch │ │ └── default_standalone.launch │ ├── package.xml │ └── src │ │ ├── component_registry.cpp │ │ └── trajectory │ │ └── dynamic_trajectory_updater.cpp ├── ros_crs_utils │ ├── CMakeLists.txt │ ├── include │ │ └── ros_crs_utils │ │ │ ├── obstacle │ │ │ └── obstacle_updater.h │ │ │ ├── obstacle_message_conversion.h │ │ │ ├── parameter_io.h │ │ │ ├── rate_limited_subscriber.h │ │ │ ├── state_message_conversion.h │ │ │ ├── trajectory_message_conversion.h │ │ │ └── validation.h │ ├── package.xml │ └── src │ │ ├── obstacle │ │ └── obstacle_updater.cpp │ │ ├── obstacle_message_conversion.cpp │ │ ├── parameter_io.cpp │ │ ├── parameter_io_kinematic.cpp │ │ ├── parameter_io_mpc.cpp │ │ ├── parameter_io_obstacles.cpp │ │ ├── parameter_io_segment_planner.cpp │ │ ├── state_message_conversion_kinematic.cpp │ │ └── trajectory_message_conversion.cpp ├── ros_planners │ ├── CMakeLists.txt │ ├── app │ │ └── planner_node.cpp │ ├── config │ │ └── segment_planner.yaml │ ├── include │ │ └── ros_planners │ │ │ ├── component_registry.h │ │ │ ├── dynamic_target.h │ │ │ ├── ros_planner.h │ │ │ └── visualizers │ │ │ ├── base_visualizer.h │ │ │ └── segment_planner_visualizer.h │ ├── launch │ │ ├── default.launch │ │ └── default_debug.launch │ ├── package.xml │ └── src │ │ ├── component_registry.cpp │ │ ├── dynamic_target.cpp │ │ └── segment_planner_visualizer.cpp ├── ros_simulator │ ├── CMakeLists.txt │ ├── app │ │ └── simulation_node.cpp │ ├── config │ │ └── kinematic_car_simulator.yaml │ ├── include │ │ └── ros_simulator │ │ │ ├── common │ │ │ ├── noise_model.h │ │ │ └── ros_simulator.h │ │ │ ├── component_registry.h │ │ │ ├── delayed_publisher.h │ │ │ ├── gaussian_noise_model.h │ │ │ └── ros_kinematic_simulator.h │ ├── launch │ │ ├── default.launch │ │ └── default_standalone.launch │ ├── package.xml │ └── src │ │ ├── component_registry.cpp │ │ └── ros_kinematic_simulator.cpp ├── ros_visualizer │ └── car_track_visualizer │ │ ├── CMakeLists.txt │ │ ├── config │ │ ├── Basic_Beetle.stl │ │ ├── car_track_visualizer.yaml │ │ ├── cluttered_replay.rviz │ │ ├── sim_single_car_plots.xml │ │ └── single_car.rviz │ │ ├── include │ │ └── car_track_visualizer │ │ │ └── CarTrackVisualizer.h │ │ ├── launch │ │ ├── default.launch │ │ └── default_standalone.launch │ │ ├── package.xml │ │ └── src │ │ ├── CarTrackVisualizer.cpp │ │ └── car_track_visualizer_node.cpp └── tools │ ├── clock_publisher │ ├── CMakeLists.txt │ ├── clock_publisher.py │ ├── launch │ │ └── clock.launch │ └── package.xml │ ├── obstacle_publisher │ ├── CMakeLists.txt │ ├── README.md │ ├── collision_detection.py │ ├── config │ │ ├── empty_obstacles.yaml │ │ ├── obstacles.yaml │ │ └── one_obstacle.yaml │ ├── generate_obstacles.py │ ├── launch │ │ └── obstacle.launch │ ├── obstacle_publisher.py │ └── package.xml │ └── track_generation │ ├── CMakeLists.txt │ ├── package.xml │ ├── src │ ├── simple_track_generator.py │ └── track_functions.py │ └── tracks │ ├── DEMO_TRACK.yaml │ ├── LONG_TRACK.yaml │ └── REFERENCE.yaml └── scripts ├── car_plotter ├── car_plotter │ ├── __init__.py │ └── car_plotter.py ├── scripts │ └── plot_car.py └── setup.py ├── nonconvex_fig_utils └── process_rosbag.py └── nonconvex_mpc_comparison ├── .gitignore ├── README.md ├── ros_helper.py └── test_controller_success.py /.clang-format: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/.clang-format -------------------------------------------------------------------------------- /.crs/crs: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/.crs/crs -------------------------------------------------------------------------------- /.crs/crs-completion.bash: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/.crs/crs-completion.bash -------------------------------------------------------------------------------- /.crs/setup-crs.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/.crs/setup-crs.sh -------------------------------------------------------------------------------- /.devcontainer/devcontainer.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/.devcontainer/devcontainer.json -------------------------------------------------------------------------------- /.devcontainer/docker-compose.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/.devcontainer/docker-compose.yaml -------------------------------------------------------------------------------- /.dockerignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/.dockerignore -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/.gitignore -------------------------------------------------------------------------------- /.pre-commit-config.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/.pre-commit-config.yaml -------------------------------------------------------------------------------- /.setup/crs-docker: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/.setup/crs-docker -------------------------------------------------------------------------------- /.setup/macos/docker-compose-macos.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/.setup/macos/docker-compose-macos.yaml -------------------------------------------------------------------------------- /.setup/macos/setup.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/.setup/macos/setup.sh -------------------------------------------------------------------------------- /.setup/ubuntu/docker-compose-ubuntu.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/.setup/ubuntu/docker-compose-ubuntu.yaml -------------------------------------------------------------------------------- /.setup/ubuntu/install_acados.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/.setup/ubuntu/install_acados.sh -------------------------------------------------------------------------------- /.setup/ubuntu/install_casadi.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/.setup/ubuntu/install_casadi.sh -------------------------------------------------------------------------------- /.setup/ubuntu/install_gtest.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/.setup/ubuntu/install_gtest.sh -------------------------------------------------------------------------------- /.setup/ubuntu/install_tera_renderer.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/.setup/ubuntu/install_tera_renderer.sh -------------------------------------------------------------------------------- /.setup/ubuntu/setup.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/.setup/ubuntu/setup.sh -------------------------------------------------------------------------------- /.setup/ubuntu/setup_ws.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/.setup/ubuntu/setup_ws.sh -------------------------------------------------------------------------------- /Dockerfile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/Dockerfile -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/README.md -------------------------------------------------------------------------------- /media/arc_screenshot_anoted.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/media/arc_screenshot_anoted.png -------------------------------------------------------------------------------- /media/cluttered_mpc_sim.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/media/cluttered_mpc_sim.gif -------------------------------------------------------------------------------- /requirements.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/requirements.txt -------------------------------------------------------------------------------- /scripts/create_solver_watch.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/scripts/create_solver_watch.sh -------------------------------------------------------------------------------- /src/crs/commons/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/commons/CMakeLists.txt -------------------------------------------------------------------------------- /src/crs/commons/include/commons/base_trajectory.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/commons/include/commons/base_trajectory.h -------------------------------------------------------------------------------- /src/crs/commons/include/commons/casadi_utils.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/commons/include/commons/casadi_utils.h -------------------------------------------------------------------------------- /src/crs/commons/include/commons/cgal_simple_cartesian_conversion.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/commons/include/commons/cgal_simple_cartesian_conversion.h -------------------------------------------------------------------------------- /src/crs/commons/include/commons/dynamic_point_trajectory.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/commons/include/commons/dynamic_point_trajectory.h -------------------------------------------------------------------------------- /src/crs/commons/include/commons/filter.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/commons/include/commons/filter.h -------------------------------------------------------------------------------- /src/crs/commons/include/commons/geometry_utils.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/commons/include/commons/geometry_utils.h -------------------------------------------------------------------------------- /src/crs/commons/include/commons/obstacle.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/commons/include/commons/obstacle.h -------------------------------------------------------------------------------- /src/crs/commons/include/commons/static_track_trajectory.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/commons/include/commons/static_track_trajectory.h -------------------------------------------------------------------------------- /src/crs/commons/include/commons/trajectory.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/commons/include/commons/trajectory.h -------------------------------------------------------------------------------- /src/crs/commons/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/commons/package.xml -------------------------------------------------------------------------------- /src/crs/commons/src/casadi_utils.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/commons/src/casadi_utils.cpp -------------------------------------------------------------------------------- /src/crs/commons/src/dynamic_point_trajectory.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/commons/src/dynamic_point_trajectory.cpp -------------------------------------------------------------------------------- /src/crs/commons/src/filter.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/commons/src/filter.cpp -------------------------------------------------------------------------------- /src/crs/commons/src/obstacle.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/commons/src/obstacle.cpp -------------------------------------------------------------------------------- /src/crs/commons/src/static_track_trajectory.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/commons/src/static_track_trajectory.cpp -------------------------------------------------------------------------------- /src/crs/commons/src/trajectory.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/commons/src/trajectory.cpp -------------------------------------------------------------------------------- /src/crs/commons/test/casadi_utils_test.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/commons/test/casadi_utils_test.cpp -------------------------------------------------------------------------------- /src/crs/commons/test/track_tests.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/commons/test/track_tests.cpp -------------------------------------------------------------------------------- /src/crs/controls/car/mpc_controller/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/car/mpc_controller/CMakeLists.txt -------------------------------------------------------------------------------- /src/crs/controls/car/mpc_controller/include/mpc_controller/kinematic_controller/tracking_mpc_kinematic_config.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/car/mpc_controller/include/mpc_controller/kinematic_controller/tracking_mpc_kinematic_config.h -------------------------------------------------------------------------------- /src/crs/controls/car/mpc_controller/include/mpc_controller/kinematic_controller/tracking_mpc_kinematic_controller.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/car/mpc_controller/include/mpc_controller/kinematic_controller/tracking_mpc_kinematic_controller.h -------------------------------------------------------------------------------- /src/crs/controls/car/mpc_controller/include/mpc_controller/kinematic_controller/tracking_mpc_kinematic_nonconvex_config.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/car/mpc_controller/include/mpc_controller/kinematic_controller/tracking_mpc_kinematic_nonconvex_config.h -------------------------------------------------------------------------------- /src/crs/controls/car/mpc_controller/include/mpc_controller/kinematic_controller/tracking_mpc_kinematic_nonconvex_controller.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/car/mpc_controller/include/mpc_controller/kinematic_controller/tracking_mpc_kinematic_nonconvex_controller.h -------------------------------------------------------------------------------- /src/crs/controls/car/mpc_controller/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/car/mpc_controller/package.xml -------------------------------------------------------------------------------- /src/crs/controls/car/mpc_controller/src/kinematic_controller/tracking_mpc_kinematic_controller.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/car/mpc_controller/src/kinematic_controller/tracking_mpc_kinematic_controller.cpp -------------------------------------------------------------------------------- /src/crs/controls/car/mpc_controller/src/kinematic_controller/tracking_mpc_kinematic_nonconvex_controller.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/car/mpc_controller/src/kinematic_controller/tracking_mpc_kinematic_nonconvex_controller.cpp -------------------------------------------------------------------------------- /src/crs/controls/car/mpc_solvers/acados/acados_kinematic_nonconvex_mpc_solver/.gitignore: -------------------------------------------------------------------------------- 1 | lib/ 2 | -------------------------------------------------------------------------------- /src/crs/controls/car/mpc_solvers/acados/acados_kinematic_nonconvex_mpc_solver/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/car/mpc_solvers/acados/acados_kinematic_nonconvex_mpc_solver/CMakeLists.txt -------------------------------------------------------------------------------- /src/crs/controls/car/mpc_solvers/acados/acados_kinematic_nonconvex_mpc_solver/config/solver_nonconvex_mpc.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/car/mpc_solvers/acados/acados_kinematic_nonconvex_mpc_solver/config/solver_nonconvex_mpc.yaml -------------------------------------------------------------------------------- /src/crs/controls/car/mpc_solvers/acados/acados_kinematic_nonconvex_mpc_solver/include/acados_kinematic_nonconvex_mpc_solver/acados_kinematic_nonconvex_mpc_solver.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/car/mpc_solvers/acados/acados_kinematic_nonconvex_mpc_solver/include/acados_kinematic_nonconvex_mpc_solver/acados_kinematic_nonconvex_mpc_solver.h -------------------------------------------------------------------------------- /src/crs/controls/car/mpc_solvers/acados/acados_kinematic_nonconvex_mpc_solver/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/car/mpc_solvers/acados/acados_kinematic_nonconvex_mpc_solver/package.xml -------------------------------------------------------------------------------- /src/crs/controls/car/mpc_solvers/acados/acados_kinematic_nonconvex_mpc_solver/script/create_solver.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/car/mpc_solvers/acados/acados_kinematic_nonconvex_mpc_solver/script/create_solver.sh -------------------------------------------------------------------------------- /src/crs/controls/car/mpc_solvers/acados/acados_kinematic_nonconvex_mpc_solver/script/generate_acados_nonconvex_solver_mpc.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/car/mpc_solvers/acados/acados_kinematic_nonconvex_mpc_solver/script/generate_acados_nonconvex_solver_mpc.py -------------------------------------------------------------------------------- /src/crs/controls/car/mpc_solvers/acados/acados_kinematic_nonconvex_mpc_solver/script/kinematic_model_nonconvex_mpc.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/car/mpc_solvers/acados/acados_kinematic_nonconvex_mpc_solver/script/kinematic_model_nonconvex_mpc.py -------------------------------------------------------------------------------- /src/crs/controls/car/mpc_solvers/acados/acados_kinematic_nonconvex_mpc_solver/src/acados_kinematic_nonconvex_mpc_solver.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/car/mpc_solvers/acados/acados_kinematic_nonconvex_mpc_solver/src/acados_kinematic_nonconvex_mpc_solver.cpp -------------------------------------------------------------------------------- /src/crs/controls/car/mpc_solvers/acados/acados_kinematic_nonconvex_mpc_solver/src/serialize_helpers.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/car/mpc_solvers/acados/acados_kinematic_nonconvex_mpc_solver/src/serialize_helpers.h -------------------------------------------------------------------------------- /src/crs/controls/car/mpc_solvers/acados/acados_kinematic_nonconvex_mpc_solver/test/solver_tests.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/car/mpc_solvers/acados/acados_kinematic_nonconvex_mpc_solver/test/solver_tests.cpp -------------------------------------------------------------------------------- /src/crs/controls/car/mpc_solvers/acados/acados_kinematic_tracking_mpc_solver/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/car/mpc_solvers/acados/acados_kinematic_tracking_mpc_solver/CMakeLists.txt -------------------------------------------------------------------------------- /src/crs/controls/car/mpc_solvers/acados/acados_kinematic_tracking_mpc_solver/config/solver_tracking_mpc.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/car/mpc_solvers/acados/acados_kinematic_tracking_mpc_solver/config/solver_tracking_mpc.yaml -------------------------------------------------------------------------------- /src/crs/controls/car/mpc_solvers/acados/acados_kinematic_tracking_mpc_solver/include/acados_kinematic_tracking_mpc_solver/acados_kinematic_tracking_mpc_solver.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/car/mpc_solvers/acados/acados_kinematic_tracking_mpc_solver/include/acados_kinematic_tracking_mpc_solver/acados_kinematic_tracking_mpc_solver.h -------------------------------------------------------------------------------- /src/crs/controls/car/mpc_solvers/acados/acados_kinematic_tracking_mpc_solver/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/car/mpc_solvers/acados/acados_kinematic_tracking_mpc_solver/package.xml -------------------------------------------------------------------------------- /src/crs/controls/car/mpc_solvers/acados/acados_kinematic_tracking_mpc_solver/script/create_solver.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/car/mpc_solvers/acados/acados_kinematic_tracking_mpc_solver/script/create_solver.sh -------------------------------------------------------------------------------- /src/crs/controls/car/mpc_solvers/acados/acados_kinematic_tracking_mpc_solver/script/generate_acados_solver_tracking_mpc.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/car/mpc_solvers/acados/acados_kinematic_tracking_mpc_solver/script/generate_acados_solver_tracking_mpc.py -------------------------------------------------------------------------------- /src/crs/controls/car/mpc_solvers/acados/acados_kinematic_tracking_mpc_solver/script/kinematic_model_tracking_mpc.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/car/mpc_solvers/acados/acados_kinematic_tracking_mpc_solver/script/kinematic_model_tracking_mpc.py -------------------------------------------------------------------------------- /src/crs/controls/car/mpc_solvers/acados/acados_kinematic_tracking_mpc_solver/src/acados_kinematic_tracking_mpc_solver.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/car/mpc_solvers/acados/acados_kinematic_tracking_mpc_solver/src/acados_kinematic_tracking_mpc_solver.cpp -------------------------------------------------------------------------------- /src/crs/controls/car/mpc_solvers/commons/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/car/mpc_solvers/commons/CMakeLists.txt -------------------------------------------------------------------------------- /src/crs/controls/car/mpc_solvers/commons/include/mpc_solvers/kinematic_nonconvex_mpc_solver.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/car/mpc_solvers/commons/include/mpc_solvers/kinematic_nonconvex_mpc_solver.h -------------------------------------------------------------------------------- /src/crs/controls/car/mpc_solvers/commons/include/mpc_solvers/kinematic_tracking_mpc_solver.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/car/mpc_solvers/commons/include/mpc_solvers/kinematic_tracking_mpc_solver.h -------------------------------------------------------------------------------- /src/crs/controls/car/mpc_solvers/commons/include/mpc_solvers/mpc_solver.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/car/mpc_solvers/commons/include/mpc_solvers/mpc_solver.h -------------------------------------------------------------------------------- /src/crs/controls/car/mpc_solvers/commons/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/car/mpc_solvers/commons/package.xml -------------------------------------------------------------------------------- /src/crs/controls/common/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/common/CMakeLists.txt -------------------------------------------------------------------------------- /src/crs/controls/common/include/controls/base_controller.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/common/include/controls/base_controller.h -------------------------------------------------------------------------------- /src/crs/controls/common/include/controls/model_based_controller.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/common/include/controls/model_based_controller.h -------------------------------------------------------------------------------- /src/crs/controls/common/include/controls/mpc_controller.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/common/include/controls/mpc_controller.h -------------------------------------------------------------------------------- /src/crs/controls/common/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/controls/common/package.xml -------------------------------------------------------------------------------- /src/crs/dynamic_models/car/kinematic_model/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/dynamic_models/car/kinematic_model/CMakeLists.txt -------------------------------------------------------------------------------- /src/crs/dynamic_models/car/kinematic_model/config/model_params.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/dynamic_models/car/kinematic_model/config/model_params.yaml -------------------------------------------------------------------------------- /src/crs/dynamic_models/car/kinematic_model/include/kinematic_model/kinematic_car_input.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/dynamic_models/car/kinematic_model/include/kinematic_model/kinematic_car_input.h -------------------------------------------------------------------------------- /src/crs/dynamic_models/car/kinematic_model/include/kinematic_model/kinematic_car_state.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/dynamic_models/car/kinematic_model/include/kinematic_model/kinematic_car_state.h -------------------------------------------------------------------------------- /src/crs/dynamic_models/car/kinematic_model/include/kinematic_model/kinematic_continuous.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/dynamic_models/car/kinematic_model/include/kinematic_model/kinematic_continuous.h -------------------------------------------------------------------------------- /src/crs/dynamic_models/car/kinematic_model/include/kinematic_model/kinematic_discrete.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/dynamic_models/car/kinematic_model/include/kinematic_model/kinematic_discrete.h -------------------------------------------------------------------------------- /src/crs/dynamic_models/car/kinematic_model/include/kinematic_model/kinematic_params.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/dynamic_models/car/kinematic_model/include/kinematic_model/kinematic_params.h -------------------------------------------------------------------------------- /src/crs/dynamic_models/car/kinematic_model/include/kinematic_model/tests/test_utils.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/dynamic_models/car/kinematic_model/include/kinematic_model/tests/test_utils.h -------------------------------------------------------------------------------- /src/crs/dynamic_models/car/kinematic_model/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/dynamic_models/car/kinematic_model/package.xml -------------------------------------------------------------------------------- /src/crs/dynamic_models/car/kinematic_model/src/kinematic_continuous.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/dynamic_models/car/kinematic_model/src/kinematic_continuous.cpp -------------------------------------------------------------------------------- /src/crs/dynamic_models/car/kinematic_model/src/kinematic_discrete.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/dynamic_models/car/kinematic_model/src/kinematic_discrete.cpp -------------------------------------------------------------------------------- /src/crs/dynamic_models/car/kinematic_model/src/utils/data_conversion.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/dynamic_models/car/kinematic_model/src/utils/data_conversion.cpp -------------------------------------------------------------------------------- /src/crs/dynamic_models/car/kinematic_model/test/model_tests.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/dynamic_models/car/kinematic_model/test/model_tests.cpp -------------------------------------------------------------------------------- /src/crs/dynamic_models/car/kinematic_model/test/params/test_kinematic_params.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/dynamic_models/car/kinematic_model/test/params/test_kinematic_params.yaml -------------------------------------------------------------------------------- /src/crs/dynamic_models/common/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/dynamic_models/common/CMakeLists.txt -------------------------------------------------------------------------------- /src/crs/dynamic_models/common/include/dynamic_models/continuous_dynamic_model.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/dynamic_models/common/include/dynamic_models/continuous_dynamic_model.h -------------------------------------------------------------------------------- /src/crs/dynamic_models/common/include/dynamic_models/discrete_dynamic_model.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/dynamic_models/common/include/dynamic_models/discrete_dynamic_model.h -------------------------------------------------------------------------------- /src/crs/dynamic_models/common/include/dynamic_models/discrete_dynamic_model_wrapper.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/dynamic_models/common/include/dynamic_models/discrete_dynamic_model_wrapper.h -------------------------------------------------------------------------------- /src/crs/dynamic_models/common/include/dynamic_models/utils/data_conversion.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/dynamic_models/common/include/dynamic_models/utils/data_conversion.h -------------------------------------------------------------------------------- /src/crs/dynamic_models/common/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/dynamic_models/common/package.xml -------------------------------------------------------------------------------- /src/crs/planning/car/segment_planner/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/planning/car/segment_planner/CMakeLists.txt -------------------------------------------------------------------------------- /src/crs/planning/car/segment_planner/include/segment_planner/path_progressor.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/planning/car/segment_planner/include/segment_planner/path_progressor.h -------------------------------------------------------------------------------- /src/crs/planning/car/segment_planner/include/segment_planner/polygon_tree.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/planning/car/segment_planner/include/segment_planner/polygon_tree.h -------------------------------------------------------------------------------- /src/crs/planning/car/segment_planner/include/segment_planner/roadmap.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/planning/car/segment_planner/include/segment_planner/roadmap.h -------------------------------------------------------------------------------- /src/crs/planning/car/segment_planner/include/segment_planner/segment_planner.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/planning/car/segment_planner/include/segment_planner/segment_planner.h -------------------------------------------------------------------------------- /src/crs/planning/car/segment_planner/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/planning/car/segment_planner/package.xml -------------------------------------------------------------------------------- /src/crs/planning/car/segment_planner/src/path_progressor.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/planning/car/segment_planner/src/path_progressor.cpp -------------------------------------------------------------------------------- /src/crs/planning/car/segment_planner/src/polygon_tree.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/planning/car/segment_planner/src/polygon_tree.cpp -------------------------------------------------------------------------------- /src/crs/planning/car/segment_planner/src/roadmap.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/planning/car/segment_planner/src/roadmap.cpp -------------------------------------------------------------------------------- /src/crs/planning/car/segment_planner/src/segment_planner.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/planning/car/segment_planner/src/segment_planner.cpp -------------------------------------------------------------------------------- /src/crs/planning/common/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/planning/common/CMakeLists.txt -------------------------------------------------------------------------------- /src/crs/planning/common/include/planning/base_planner.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/planning/common/include/planning/base_planner.h -------------------------------------------------------------------------------- /src/crs/planning/common/include/planning/cartesian_reference_point.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/planning/common/include/planning/cartesian_reference_point.h -------------------------------------------------------------------------------- /src/crs/planning/common/include/planning/multi_car_cartesian_reference_point.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/planning/common/include/planning/multi_car_cartesian_reference_point.h -------------------------------------------------------------------------------- /src/crs/planning/common/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/planning/common/package.xml -------------------------------------------------------------------------------- /src/crs/sensor_models/car/kinematic_sensor_model/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/sensor_models/car/kinematic_sensor_model/CMakeLists.txt -------------------------------------------------------------------------------- /src/crs/sensor_models/car/kinematic_sensor_model/config/sensor_params.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/sensor_models/car/kinematic_sensor_model/config/sensor_params.yaml -------------------------------------------------------------------------------- /src/crs/sensor_models/car/kinematic_sensor_model/include/kinematic_sensor_model/mocap_sensor_model.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/sensor_models/car/kinematic_sensor_model/include/kinematic_sensor_model/mocap_sensor_model.h -------------------------------------------------------------------------------- /src/crs/sensor_models/car/kinematic_sensor_model/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/sensor_models/car/kinematic_sensor_model/package.xml -------------------------------------------------------------------------------- /src/crs/sensor_models/car/kinematic_sensor_model/src/mocap_sensor_model.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/sensor_models/car/kinematic_sensor_model/src/mocap_sensor_model.cpp -------------------------------------------------------------------------------- /src/crs/sensor_models/common/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/sensor_models/common/CMakeLists.txt -------------------------------------------------------------------------------- /src/crs/sensor_models/common/include/sensor_models/sensor_measurement.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/sensor_models/common/include/sensor_models/sensor_measurement.h -------------------------------------------------------------------------------- /src/crs/sensor_models/common/include/sensor_models/sensor_model.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/sensor_models/common/include/sensor_models/sensor_model.h -------------------------------------------------------------------------------- /src/crs/sensor_models/common/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/crs/sensor_models/common/package.xml -------------------------------------------------------------------------------- /src/dependencies/acados_catkin/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/dependencies/acados_catkin/CMakeLists.txt -------------------------------------------------------------------------------- /src/dependencies/acados_catkin/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/dependencies/acados_catkin/package.xml -------------------------------------------------------------------------------- /src/ros4crs/crs_launch/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/crs_launch/CMakeLists.txt -------------------------------------------------------------------------------- /src/ros4crs/crs_launch/config/experiments/cluttered/controller.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/crs_launch/config/experiments/cluttered/controller.yaml -------------------------------------------------------------------------------- /src/ros4crs/crs_launch/config/experiments/cluttered/model.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/crs_launch/config/experiments/cluttered/model.yaml -------------------------------------------------------------------------------- /src/ros4crs/crs_launch/config/experiments/cluttered/obstacles.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/crs_launch/config/experiments/cluttered/obstacles.yaml -------------------------------------------------------------------------------- /src/ros4crs/crs_launch/config/experiments/cluttered/planner.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/crs_launch/config/experiments/cluttered/planner.yaml -------------------------------------------------------------------------------- /src/ros4crs/crs_launch/config/experiments/cluttered/simulator.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/crs_launch/config/experiments/cluttered/simulator.yaml -------------------------------------------------------------------------------- /src/ros4crs/crs_launch/config/experiments/cluttered/solver.yaml: -------------------------------------------------------------------------------- 1 | ../../../../../crs/controls/car/mpc_solvers/acados/acados_kinematic_nonconvex_mpc_solver/config/solver_nonconvex_mpc.yaml -------------------------------------------------------------------------------- /src/ros4crs/crs_launch/config/experiments/cluttered/visualizer.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/crs_launch/config/experiments/cluttered/visualizer.yaml -------------------------------------------------------------------------------- /src/ros4crs/crs_launch/launch/crs.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/crs_launch/launch/crs.launch -------------------------------------------------------------------------------- /src/ros4crs/crs_launch/launch/sim_single_car.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/crs_launch/launch/sim_single_car.launch -------------------------------------------------------------------------------- /src/ros4crs/crs_launch/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/crs_launch/package.xml -------------------------------------------------------------------------------- /src/ros4crs/crs_msgs/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/crs_msgs/CMakeLists.txt -------------------------------------------------------------------------------- /src/ros4crs/crs_msgs/msg/car/additional_messages/car_actuator_inputs.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/crs_msgs/msg/car/additional_messages/car_actuator_inputs.msg -------------------------------------------------------------------------------- /src/ros4crs/crs_msgs/msg/car/additional_messages/car_clock.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/crs_msgs/msg/car/additional_messages/car_clock.msg -------------------------------------------------------------------------------- /src/ros4crs/crs_msgs/msg/car/additional_messages/penalty_and_lap_count.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/crs_msgs/msg/car/additional_messages/penalty_and_lap_count.msg -------------------------------------------------------------------------------- /src/ros4crs/crs_msgs/msg/car/core_messages/car_com.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/crs_msgs/msg/car/core_messages/car_com.msg -------------------------------------------------------------------------------- /src/ros4crs/crs_msgs/msg/car/core_messages/car_input.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/crs_msgs/msg/car/core_messages/car_input.msg -------------------------------------------------------------------------------- /src/ros4crs/crs_msgs/msg/car/core_messages/car_state_cart.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/crs_msgs/msg/car/core_messages/car_state_cart.msg -------------------------------------------------------------------------------- /src/ros4crs/crs_msgs/msg/car/core_messages/car_steer_state.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/crs_msgs/msg/car/core_messages/car_steer_state.msg -------------------------------------------------------------------------------- /src/ros4crs/crs_msgs/msg/car/core_messages/car_wheel_speed.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/crs_msgs/msg/car/core_messages/car_wheel_speed.msg -------------------------------------------------------------------------------- /src/ros4crs/crs_msgs/msg/car/core_messages/car_with_imu_bias_state_cart.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/crs_msgs/msg/car/core_messages/car_with_imu_bias_state_cart.msg -------------------------------------------------------------------------------- /src/ros4crs/crs_msgs/msg/common/bool_array_stamped.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/crs_msgs/msg/common/bool_array_stamped.msg -------------------------------------------------------------------------------- /src/ros4crs/crs_msgs/msg/common/double_array_stamped.msg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/crs_msgs/msg/common/double_array_stamped.msg -------------------------------------------------------------------------------- /src/ros4crs/crs_msgs/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/crs_msgs/package.xml -------------------------------------------------------------------------------- /src/ros4crs/ros_controllers/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_controllers/CMakeLists.txt -------------------------------------------------------------------------------- /src/ros4crs/ros_controllers/app/controller_node.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_controllers/app/controller_node.cpp -------------------------------------------------------------------------------- /src/ros4crs/ros_controllers/include/ros_controllers/component_registry.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_controllers/include/ros_controllers/component_registry.h -------------------------------------------------------------------------------- /src/ros4crs/ros_controllers/include/ros_controllers/ros_controller.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_controllers/include/ros_controllers/ros_controller.h -------------------------------------------------------------------------------- /src/ros4crs/ros_controllers/include/ros_controllers/trajectory/dynamic_trajectory_updater.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_controllers/include/ros_controllers/trajectory/dynamic_trajectory_updater.h -------------------------------------------------------------------------------- /src/ros4crs/ros_controllers/include/ros_controllers/visualizers/base_visualizer.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_controllers/include/ros_controllers/visualizers/base_visualizer.h -------------------------------------------------------------------------------- /src/ros4crs/ros_controllers/include/ros_controllers/visualizers/mpc_multiphase_controller_visualizer.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_controllers/include/ros_controllers/visualizers/mpc_multiphase_controller_visualizer.h -------------------------------------------------------------------------------- /src/ros4crs/ros_controllers/launch/default.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_controllers/launch/default.launch -------------------------------------------------------------------------------- /src/ros4crs/ros_controllers/launch/default_debug.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_controllers/launch/default_debug.launch -------------------------------------------------------------------------------- /src/ros4crs/ros_controllers/launch/default_standalone.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_controllers/launch/default_standalone.launch -------------------------------------------------------------------------------- /src/ros4crs/ros_controllers/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_controllers/package.xml -------------------------------------------------------------------------------- /src/ros4crs/ros_controllers/src/component_registry.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_controllers/src/component_registry.cpp -------------------------------------------------------------------------------- /src/ros4crs/ros_controllers/src/trajectory/dynamic_trajectory_updater.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_controllers/src/trajectory/dynamic_trajectory_updater.cpp -------------------------------------------------------------------------------- /src/ros4crs/ros_crs_utils/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_crs_utils/CMakeLists.txt -------------------------------------------------------------------------------- /src/ros4crs/ros_crs_utils/include/ros_crs_utils/obstacle/obstacle_updater.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_crs_utils/include/ros_crs_utils/obstacle/obstacle_updater.h -------------------------------------------------------------------------------- /src/ros4crs/ros_crs_utils/include/ros_crs_utils/obstacle_message_conversion.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_crs_utils/include/ros_crs_utils/obstacle_message_conversion.h -------------------------------------------------------------------------------- /src/ros4crs/ros_crs_utils/include/ros_crs_utils/parameter_io.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_crs_utils/include/ros_crs_utils/parameter_io.h -------------------------------------------------------------------------------- /src/ros4crs/ros_crs_utils/include/ros_crs_utils/rate_limited_subscriber.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_crs_utils/include/ros_crs_utils/rate_limited_subscriber.h -------------------------------------------------------------------------------- /src/ros4crs/ros_crs_utils/include/ros_crs_utils/state_message_conversion.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_crs_utils/include/ros_crs_utils/state_message_conversion.h -------------------------------------------------------------------------------- /src/ros4crs/ros_crs_utils/include/ros_crs_utils/trajectory_message_conversion.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_crs_utils/include/ros_crs_utils/trajectory_message_conversion.h -------------------------------------------------------------------------------- /src/ros4crs/ros_crs_utils/include/ros_crs_utils/validation.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_crs_utils/include/ros_crs_utils/validation.h -------------------------------------------------------------------------------- /src/ros4crs/ros_crs_utils/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_crs_utils/package.xml -------------------------------------------------------------------------------- /src/ros4crs/ros_crs_utils/src/obstacle/obstacle_updater.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_crs_utils/src/obstacle/obstacle_updater.cpp -------------------------------------------------------------------------------- /src/ros4crs/ros_crs_utils/src/obstacle_message_conversion.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_crs_utils/src/obstacle_message_conversion.cpp -------------------------------------------------------------------------------- /src/ros4crs/ros_crs_utils/src/parameter_io.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_crs_utils/src/parameter_io.cpp -------------------------------------------------------------------------------- /src/ros4crs/ros_crs_utils/src/parameter_io_kinematic.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_crs_utils/src/parameter_io_kinematic.cpp -------------------------------------------------------------------------------- /src/ros4crs/ros_crs_utils/src/parameter_io_mpc.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_crs_utils/src/parameter_io_mpc.cpp -------------------------------------------------------------------------------- /src/ros4crs/ros_crs_utils/src/parameter_io_obstacles.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_crs_utils/src/parameter_io_obstacles.cpp -------------------------------------------------------------------------------- /src/ros4crs/ros_crs_utils/src/parameter_io_segment_planner.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_crs_utils/src/parameter_io_segment_planner.cpp -------------------------------------------------------------------------------- /src/ros4crs/ros_crs_utils/src/state_message_conversion_kinematic.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_crs_utils/src/state_message_conversion_kinematic.cpp -------------------------------------------------------------------------------- /src/ros4crs/ros_crs_utils/src/trajectory_message_conversion.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_crs_utils/src/trajectory_message_conversion.cpp -------------------------------------------------------------------------------- /src/ros4crs/ros_planners/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_planners/CMakeLists.txt -------------------------------------------------------------------------------- /src/ros4crs/ros_planners/app/planner_node.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_planners/app/planner_node.cpp -------------------------------------------------------------------------------- /src/ros4crs/ros_planners/config/segment_planner.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_planners/config/segment_planner.yaml -------------------------------------------------------------------------------- /src/ros4crs/ros_planners/include/ros_planners/component_registry.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_planners/include/ros_planners/component_registry.h -------------------------------------------------------------------------------- /src/ros4crs/ros_planners/include/ros_planners/dynamic_target.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_planners/include/ros_planners/dynamic_target.h -------------------------------------------------------------------------------- /src/ros4crs/ros_planners/include/ros_planners/ros_planner.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_planners/include/ros_planners/ros_planner.h -------------------------------------------------------------------------------- /src/ros4crs/ros_planners/include/ros_planners/visualizers/base_visualizer.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_planners/include/ros_planners/visualizers/base_visualizer.h -------------------------------------------------------------------------------- /src/ros4crs/ros_planners/include/ros_planners/visualizers/segment_planner_visualizer.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_planners/include/ros_planners/visualizers/segment_planner_visualizer.h -------------------------------------------------------------------------------- /src/ros4crs/ros_planners/launch/default.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_planners/launch/default.launch -------------------------------------------------------------------------------- /src/ros4crs/ros_planners/launch/default_debug.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_planners/launch/default_debug.launch -------------------------------------------------------------------------------- /src/ros4crs/ros_planners/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_planners/package.xml -------------------------------------------------------------------------------- /src/ros4crs/ros_planners/src/component_registry.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_planners/src/component_registry.cpp -------------------------------------------------------------------------------- /src/ros4crs/ros_planners/src/dynamic_target.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_planners/src/dynamic_target.cpp -------------------------------------------------------------------------------- /src/ros4crs/ros_planners/src/segment_planner_visualizer.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_planners/src/segment_planner_visualizer.cpp -------------------------------------------------------------------------------- /src/ros4crs/ros_simulator/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_simulator/CMakeLists.txt -------------------------------------------------------------------------------- /src/ros4crs/ros_simulator/app/simulation_node.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_simulator/app/simulation_node.cpp -------------------------------------------------------------------------------- /src/ros4crs/ros_simulator/config/kinematic_car_simulator.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_simulator/config/kinematic_car_simulator.yaml -------------------------------------------------------------------------------- /src/ros4crs/ros_simulator/include/ros_simulator/common/noise_model.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_simulator/include/ros_simulator/common/noise_model.h -------------------------------------------------------------------------------- /src/ros4crs/ros_simulator/include/ros_simulator/common/ros_simulator.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_simulator/include/ros_simulator/common/ros_simulator.h -------------------------------------------------------------------------------- /src/ros4crs/ros_simulator/include/ros_simulator/component_registry.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_simulator/include/ros_simulator/component_registry.h -------------------------------------------------------------------------------- /src/ros4crs/ros_simulator/include/ros_simulator/delayed_publisher.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_simulator/include/ros_simulator/delayed_publisher.h -------------------------------------------------------------------------------- /src/ros4crs/ros_simulator/include/ros_simulator/gaussian_noise_model.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_simulator/include/ros_simulator/gaussian_noise_model.h -------------------------------------------------------------------------------- /src/ros4crs/ros_simulator/include/ros_simulator/ros_kinematic_simulator.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_simulator/include/ros_simulator/ros_kinematic_simulator.h -------------------------------------------------------------------------------- /src/ros4crs/ros_simulator/launch/default.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_simulator/launch/default.launch -------------------------------------------------------------------------------- /src/ros4crs/ros_simulator/launch/default_standalone.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_simulator/launch/default_standalone.launch -------------------------------------------------------------------------------- /src/ros4crs/ros_simulator/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_simulator/package.xml -------------------------------------------------------------------------------- /src/ros4crs/ros_simulator/src/component_registry.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_simulator/src/component_registry.cpp -------------------------------------------------------------------------------- /src/ros4crs/ros_simulator/src/ros_kinematic_simulator.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_simulator/src/ros_kinematic_simulator.cpp -------------------------------------------------------------------------------- /src/ros4crs/ros_visualizer/car_track_visualizer/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_visualizer/car_track_visualizer/CMakeLists.txt -------------------------------------------------------------------------------- /src/ros4crs/ros_visualizer/car_track_visualizer/config/Basic_Beetle.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_visualizer/car_track_visualizer/config/Basic_Beetle.stl -------------------------------------------------------------------------------- /src/ros4crs/ros_visualizer/car_track_visualizer/config/car_track_visualizer.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_visualizer/car_track_visualizer/config/car_track_visualizer.yaml -------------------------------------------------------------------------------- /src/ros4crs/ros_visualizer/car_track_visualizer/config/cluttered_replay.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_visualizer/car_track_visualizer/config/cluttered_replay.rviz -------------------------------------------------------------------------------- /src/ros4crs/ros_visualizer/car_track_visualizer/config/sim_single_car_plots.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_visualizer/car_track_visualizer/config/sim_single_car_plots.xml -------------------------------------------------------------------------------- /src/ros4crs/ros_visualizer/car_track_visualizer/config/single_car.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_visualizer/car_track_visualizer/config/single_car.rviz -------------------------------------------------------------------------------- /src/ros4crs/ros_visualizer/car_track_visualizer/include/car_track_visualizer/CarTrackVisualizer.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_visualizer/car_track_visualizer/include/car_track_visualizer/CarTrackVisualizer.h -------------------------------------------------------------------------------- /src/ros4crs/ros_visualizer/car_track_visualizer/launch/default.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_visualizer/car_track_visualizer/launch/default.launch -------------------------------------------------------------------------------- /src/ros4crs/ros_visualizer/car_track_visualizer/launch/default_standalone.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_visualizer/car_track_visualizer/launch/default_standalone.launch -------------------------------------------------------------------------------- /src/ros4crs/ros_visualizer/car_track_visualizer/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_visualizer/car_track_visualizer/package.xml -------------------------------------------------------------------------------- /src/ros4crs/ros_visualizer/car_track_visualizer/src/CarTrackVisualizer.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_visualizer/car_track_visualizer/src/CarTrackVisualizer.cpp -------------------------------------------------------------------------------- /src/ros4crs/ros_visualizer/car_track_visualizer/src/car_track_visualizer_node.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/ros_visualizer/car_track_visualizer/src/car_track_visualizer_node.cpp -------------------------------------------------------------------------------- /src/ros4crs/tools/clock_publisher/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/tools/clock_publisher/CMakeLists.txt -------------------------------------------------------------------------------- /src/ros4crs/tools/clock_publisher/clock_publisher.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/tools/clock_publisher/clock_publisher.py -------------------------------------------------------------------------------- /src/ros4crs/tools/clock_publisher/launch/clock.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/tools/clock_publisher/launch/clock.launch -------------------------------------------------------------------------------- /src/ros4crs/tools/clock_publisher/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/tools/clock_publisher/package.xml -------------------------------------------------------------------------------- /src/ros4crs/tools/obstacle_publisher/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/tools/obstacle_publisher/CMakeLists.txt -------------------------------------------------------------------------------- /src/ros4crs/tools/obstacle_publisher/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/tools/obstacle_publisher/README.md -------------------------------------------------------------------------------- /src/ros4crs/tools/obstacle_publisher/collision_detection.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/tools/obstacle_publisher/collision_detection.py -------------------------------------------------------------------------------- /src/ros4crs/tools/obstacle_publisher/config/empty_obstacles.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/tools/obstacle_publisher/config/empty_obstacles.yaml -------------------------------------------------------------------------------- /src/ros4crs/tools/obstacle_publisher/config/obstacles.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/tools/obstacle_publisher/config/obstacles.yaml -------------------------------------------------------------------------------- /src/ros4crs/tools/obstacle_publisher/config/one_obstacle.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/tools/obstacle_publisher/config/one_obstacle.yaml -------------------------------------------------------------------------------- /src/ros4crs/tools/obstacle_publisher/generate_obstacles.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/tools/obstacle_publisher/generate_obstacles.py -------------------------------------------------------------------------------- /src/ros4crs/tools/obstacle_publisher/launch/obstacle.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/tools/obstacle_publisher/launch/obstacle.launch -------------------------------------------------------------------------------- /src/ros4crs/tools/obstacle_publisher/obstacle_publisher.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/tools/obstacle_publisher/obstacle_publisher.py -------------------------------------------------------------------------------- /src/ros4crs/tools/obstacle_publisher/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/tools/obstacle_publisher/package.xml -------------------------------------------------------------------------------- /src/ros4crs/tools/track_generation/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/tools/track_generation/CMakeLists.txt -------------------------------------------------------------------------------- /src/ros4crs/tools/track_generation/package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/tools/track_generation/package.xml -------------------------------------------------------------------------------- /src/ros4crs/tools/track_generation/src/simple_track_generator.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/tools/track_generation/src/simple_track_generator.py -------------------------------------------------------------------------------- /src/ros4crs/tools/track_generation/src/track_functions.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/tools/track_generation/src/track_functions.py -------------------------------------------------------------------------------- /src/ros4crs/tools/track_generation/tracks/DEMO_TRACK.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/tools/track_generation/tracks/DEMO_TRACK.yaml -------------------------------------------------------------------------------- /src/ros4crs/tools/track_generation/tracks/LONG_TRACK.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/tools/track_generation/tracks/LONG_TRACK.yaml -------------------------------------------------------------------------------- /src/ros4crs/tools/track_generation/tracks/REFERENCE.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/ros4crs/tools/track_generation/tracks/REFERENCE.yaml -------------------------------------------------------------------------------- /src/scripts/car_plotter/car_plotter/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/scripts/car_plotter/car_plotter/__init__.py -------------------------------------------------------------------------------- /src/scripts/car_plotter/car_plotter/car_plotter.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/scripts/car_plotter/car_plotter/car_plotter.py -------------------------------------------------------------------------------- /src/scripts/car_plotter/scripts/plot_car.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/scripts/car_plotter/scripts/plot_car.py -------------------------------------------------------------------------------- /src/scripts/car_plotter/setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/scripts/car_plotter/setup.py -------------------------------------------------------------------------------- /src/scripts/nonconvex_fig_utils/process_rosbag.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/scripts/nonconvex_fig_utils/process_rosbag.py -------------------------------------------------------------------------------- /src/scripts/nonconvex_mpc_comparison/.gitignore: -------------------------------------------------------------------------------- 1 | experiments/ 2 | -------------------------------------------------------------------------------- /src/scripts/nonconvex_mpc_comparison/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/scripts/nonconvex_mpc_comparison/README.md -------------------------------------------------------------------------------- /src/scripts/nonconvex_mpc_comparison/ros_helper.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/scripts/nonconvex_mpc_comparison/ros_helper.py -------------------------------------------------------------------------------- /src/scripts/nonconvex_mpc_comparison/test_controller_success.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/IntelligentControlSystems/ClutteredEnvironment/HEAD/src/scripts/nonconvex_mpc_comparison/test_controller_success.py --------------------------------------------------------------------------------