├── .gitignore ├── .gitmodules ├── Benchmark.sh ├── CMakeLists.txt ├── IROS ├── Benchmarks │ ├── commandsForBenchmarkPlotter.txt │ ├── discRooms │ │ ├── benchmark_BITKOMO.db │ │ ├── benchmark_BITstar.db │ │ ├── benchmark_FMT.db │ │ ├── discRooms.pdf │ │ ├── logs │ │ │ ├── benchmark_BITKOMO.log │ │ │ ├── benchmark_BITstar.log │ │ │ ├── benchmark_FMT.log │ │ │ ├── benchmark_LBTRRT.log │ │ │ └── benchmark_RRTstar.log │ │ └── runtime_table0.json │ ├── kukaBox │ │ ├── benchmark_BITKOMO.db │ │ ├── benchmark_BITstar.db │ │ ├── benchmark_KOMO.db │ │ ├── kukaBox.pdf │ │ ├── logs │ │ │ ├── benchmark_BITKOMO.log │ │ │ ├── benchmark_BITKOMOold.log │ │ │ ├── benchmark_BITstar.log │ │ │ ├── benchmark_FMT.log │ │ │ ├── benchmark_KOMO.log │ │ │ └── benchmark_validBITKOMO.log │ │ └── runtime_table0.json │ ├── kukaShelf │ │ ├── benchmark_BITKOMO.db │ │ ├── benchmark_BITstar.db │ │ ├── benchmark_FMT.db │ │ ├── benchmark_KOMO.db │ │ ├── kukaShelf.pdf │ │ ├── logs │ │ │ ├── benchmark_BITstar.log │ │ │ ├── benchmark_FMT.log │ │ │ ├── benchmark_KOMO.log │ │ │ ├── benchmark_KOMO_1.log │ │ │ ├── benchmark_KOMO_10.log │ │ │ ├── benchmark_KOMO_2.log │ │ │ ├── benchmark_KOMO_3.log │ │ │ ├── benchmark_KOMO_4.log │ │ │ ├── benchmark_KOMO_5.log │ │ │ ├── benchmark_KOMO_6.log │ │ │ ├── benchmark_KOMO_7.log │ │ │ ├── benchmark_KOMO_8.log │ │ │ ├── benchmark_KOMO_9.log │ │ │ ├── benchmark_LBTRRT.log │ │ │ ├── benchmark_RRTstar.log │ │ │ └── benchmark_validBITKOMO.log │ │ └── runtime_table0.json │ ├── oneMobilePanda │ │ ├── benchmark_BITKOMO.db │ │ ├── benchmark_BITstar.db │ │ ├── benchmark_FMT.db │ │ ├── logs │ │ │ └── benchmark_BITKOMO_15.log │ │ ├── mobilePanda.pdf │ │ └── runtime_table0.json │ ├── twoFixedPandas │ │ ├── benchmark_BITKOMO.db │ │ ├── benchmark_BITstar.db │ │ ├── benchmark_KOMO.db │ │ ├── logs │ │ │ ├── benchmark_BITKOMO_11.log │ │ │ ├── benchmark_BITKOMO_12.log │ │ │ ├── benchmark_BITKOMO_13.log │ │ │ ├── benchmark_BITKOMO_14.log │ │ │ ├── benchmark_BITKOMO_15.log │ │ │ ├── benchmark_BITstar_11.log │ │ │ └── benchmark_BITstar_15.log │ │ ├── runtime_table0.json │ │ └── twoPandas.pdf │ └── twoMobilePandas │ │ ├── benchmark_BITKOMO.db │ │ ├── benchmark_BITstar.db │ │ ├── benchmark_FMT.db │ │ ├── benchmark_KOMO.db │ │ ├── logs │ │ ├── benchmark_BITKOMO_11.log │ │ ├── benchmark_BITKOMO_12.log │ │ ├── benchmark_BITKOMO_13.log │ │ ├── benchmark_BITKOMO_14.log │ │ ├── benchmark_BITKOMO_15.log │ │ ├── benchmark_BITstar_11.log │ │ ├── benchmark_BITstar_12.log │ │ ├── benchmark_BITstar_13.log │ │ ├── benchmark_BITstar_14.log │ │ ├── benchmark_BITstar_15.log │ │ ├── benchmark_FMT_11.log │ │ ├── benchmark_FMT_12.log │ │ ├── benchmark_FMT_13.log │ │ ├── benchmark_FMT_14.log │ │ └── benchmark_FMT_15.log │ │ ├── runtime_table0.json │ │ └── twoMobilePandas.pdf └── IROS22_0841_VI_i.mp4 ├── README.md ├── benchmark_script.sh ├── debug ├── 2d_debug.txt ├── 3_finalPathConfigs.txt ├── 7_configs.txt ├── finalPathConfigs.txt ├── initPath(print).txt ├── initPath.txt └── initPathConfigs.txt ├── examples ├── 2D_Arm │ ├── 2D.g │ ├── Makefile │ ├── TODO │ └── main.cpp ├── 2D_Arm_withOptim │ ├── 2D.g │ ├── Makefile │ ├── TODO │ ├── main.cpp │ └── rai.cfg ├── 2D_bot │ ├── Makefile │ ├── main.cpp │ └── rai.cfg ├── Just_Visualize_Example │ └── main.cpp ├── Main │ └── main.cpp ├── Manipulator │ ├── Makefile │ └── main.cpp ├── Models │ ├── 10_MobileManipulator.g │ ├── 1_kuka_shelf.g │ ├── 2D_arm.g │ ├── 2D_arm │ │ ├── 1.g │ │ ├── 2.g │ │ ├── 3.g │ │ ├── 4.g │ │ ├── 5.g │ │ └── 6.g │ ├── 2D_bot.g │ ├── 2D_snake.g │ ├── 2_Two_Pandas.g │ ├── 3_TwoMobileManipulators.g │ ├── 4_kuka_box.g │ ├── 5_disc_obstacle.g │ ├── 6_rectangle_opening.g │ ├── 7_disc_rooms.g │ ├── 8_TwoMobileManipulators_hard.g │ ├── 9_TwoMobileRobots_hard.g │ ├── Configuration.txt │ ├── MovingDisc.g │ ├── arm.g │ ├── box.g │ ├── kuka_multimodal.g │ ├── maze.g │ ├── opening.g │ ├── panda_mobile.g │ ├── possible_configurations.txt │ └── rooms.g ├── Test_KOMO │ └── main.cpp ├── ompl-komo │ ├── -L │ ├── -lompl │ ├── Makefile │ ├── main.cpp │ └── model.g ├── ompl │ ├── Makefile │ └── main.cpp └── only_KOMO │ └── main.cpp └── src └── path ├── BITKOMO.cpp ├── BITKOMO.h ├── PKOMO.cpp ├── PKOMO.h ├── PathOptimizerKOMO.cpp ├── PathOptimizerKOMO.h ├── Planner_KOMO.cpp └── Planner_KOMO.h /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/.gitignore -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/.gitmodules -------------------------------------------------------------------------------- /Benchmark.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/Benchmark.sh -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /IROS/Benchmarks/commandsForBenchmarkPlotter.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/commandsForBenchmarkPlotter.txt -------------------------------------------------------------------------------- /IROS/Benchmarks/discRooms/benchmark_BITKOMO.db: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/discRooms/benchmark_BITKOMO.db -------------------------------------------------------------------------------- /IROS/Benchmarks/discRooms/benchmark_BITstar.db: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/discRooms/benchmark_BITstar.db -------------------------------------------------------------------------------- /IROS/Benchmarks/discRooms/benchmark_FMT.db: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/discRooms/benchmark_FMT.db -------------------------------------------------------------------------------- /IROS/Benchmarks/discRooms/discRooms.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/discRooms/discRooms.pdf -------------------------------------------------------------------------------- /IROS/Benchmarks/discRooms/logs/benchmark_BITKOMO.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/discRooms/logs/benchmark_BITKOMO.log -------------------------------------------------------------------------------- /IROS/Benchmarks/discRooms/logs/benchmark_BITstar.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/discRooms/logs/benchmark_BITstar.log -------------------------------------------------------------------------------- /IROS/Benchmarks/discRooms/logs/benchmark_FMT.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/discRooms/logs/benchmark_FMT.log -------------------------------------------------------------------------------- /IROS/Benchmarks/discRooms/logs/benchmark_LBTRRT.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/discRooms/logs/benchmark_LBTRRT.log -------------------------------------------------------------------------------- /IROS/Benchmarks/discRooms/logs/benchmark_RRTstar.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/discRooms/logs/benchmark_RRTstar.log -------------------------------------------------------------------------------- /IROS/Benchmarks/discRooms/runtime_table0.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/discRooms/runtime_table0.json -------------------------------------------------------------------------------- /IROS/Benchmarks/kukaBox/benchmark_BITKOMO.db: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/kukaBox/benchmark_BITKOMO.db -------------------------------------------------------------------------------- /IROS/Benchmarks/kukaBox/benchmark_BITstar.db: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/kukaBox/benchmark_BITstar.db -------------------------------------------------------------------------------- /IROS/Benchmarks/kukaBox/benchmark_KOMO.db: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/kukaBox/benchmark_KOMO.db -------------------------------------------------------------------------------- /IROS/Benchmarks/kukaBox/kukaBox.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/kukaBox/kukaBox.pdf -------------------------------------------------------------------------------- /IROS/Benchmarks/kukaBox/logs/benchmark_BITKOMO.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/kukaBox/logs/benchmark_BITKOMO.log -------------------------------------------------------------------------------- /IROS/Benchmarks/kukaBox/logs/benchmark_BITKOMOold.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/kukaBox/logs/benchmark_BITKOMOold.log -------------------------------------------------------------------------------- /IROS/Benchmarks/kukaBox/logs/benchmark_BITstar.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/kukaBox/logs/benchmark_BITstar.log -------------------------------------------------------------------------------- /IROS/Benchmarks/kukaBox/logs/benchmark_FMT.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/kukaBox/logs/benchmark_FMT.log -------------------------------------------------------------------------------- /IROS/Benchmarks/kukaBox/logs/benchmark_KOMO.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/kukaBox/logs/benchmark_KOMO.log -------------------------------------------------------------------------------- /IROS/Benchmarks/kukaBox/logs/benchmark_validBITKOMO.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/kukaBox/logs/benchmark_validBITKOMO.log -------------------------------------------------------------------------------- /IROS/Benchmarks/kukaBox/runtime_table0.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/kukaBox/runtime_table0.json -------------------------------------------------------------------------------- /IROS/Benchmarks/kukaShelf/benchmark_BITKOMO.db: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/kukaShelf/benchmark_BITKOMO.db -------------------------------------------------------------------------------- /IROS/Benchmarks/kukaShelf/benchmark_BITstar.db: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/kukaShelf/benchmark_BITstar.db -------------------------------------------------------------------------------- /IROS/Benchmarks/kukaShelf/benchmark_FMT.db: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/kukaShelf/benchmark_FMT.db -------------------------------------------------------------------------------- /IROS/Benchmarks/kukaShelf/benchmark_KOMO.db: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/kukaShelf/benchmark_KOMO.db -------------------------------------------------------------------------------- /IROS/Benchmarks/kukaShelf/kukaShelf.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/kukaShelf/kukaShelf.pdf -------------------------------------------------------------------------------- /IROS/Benchmarks/kukaShelf/logs/benchmark_BITstar.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/kukaShelf/logs/benchmark_BITstar.log -------------------------------------------------------------------------------- /IROS/Benchmarks/kukaShelf/logs/benchmark_FMT.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/kukaShelf/logs/benchmark_FMT.log -------------------------------------------------------------------------------- /IROS/Benchmarks/kukaShelf/logs/benchmark_KOMO.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/kukaShelf/logs/benchmark_KOMO.log -------------------------------------------------------------------------------- /IROS/Benchmarks/kukaShelf/logs/benchmark_KOMO_1.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/kukaShelf/logs/benchmark_KOMO_1.log -------------------------------------------------------------------------------- /IROS/Benchmarks/kukaShelf/logs/benchmark_KOMO_10.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/kukaShelf/logs/benchmark_KOMO_10.log -------------------------------------------------------------------------------- /IROS/Benchmarks/kukaShelf/logs/benchmark_KOMO_2.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/kukaShelf/logs/benchmark_KOMO_2.log -------------------------------------------------------------------------------- /IROS/Benchmarks/kukaShelf/logs/benchmark_KOMO_3.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/kukaShelf/logs/benchmark_KOMO_3.log -------------------------------------------------------------------------------- /IROS/Benchmarks/kukaShelf/logs/benchmark_KOMO_4.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/kukaShelf/logs/benchmark_KOMO_4.log -------------------------------------------------------------------------------- /IROS/Benchmarks/kukaShelf/logs/benchmark_KOMO_5.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/kukaShelf/logs/benchmark_KOMO_5.log -------------------------------------------------------------------------------- /IROS/Benchmarks/kukaShelf/logs/benchmark_KOMO_6.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/kukaShelf/logs/benchmark_KOMO_6.log -------------------------------------------------------------------------------- /IROS/Benchmarks/kukaShelf/logs/benchmark_KOMO_7.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/kukaShelf/logs/benchmark_KOMO_7.log -------------------------------------------------------------------------------- /IROS/Benchmarks/kukaShelf/logs/benchmark_KOMO_8.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/kukaShelf/logs/benchmark_KOMO_8.log -------------------------------------------------------------------------------- /IROS/Benchmarks/kukaShelf/logs/benchmark_KOMO_9.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/kukaShelf/logs/benchmark_KOMO_9.log -------------------------------------------------------------------------------- /IROS/Benchmarks/kukaShelf/logs/benchmark_LBTRRT.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/kukaShelf/logs/benchmark_LBTRRT.log -------------------------------------------------------------------------------- /IROS/Benchmarks/kukaShelf/logs/benchmark_RRTstar.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/kukaShelf/logs/benchmark_RRTstar.log -------------------------------------------------------------------------------- /IROS/Benchmarks/kukaShelf/logs/benchmark_validBITKOMO.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/kukaShelf/logs/benchmark_validBITKOMO.log -------------------------------------------------------------------------------- /IROS/Benchmarks/kukaShelf/runtime_table0.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/kukaShelf/runtime_table0.json -------------------------------------------------------------------------------- /IROS/Benchmarks/oneMobilePanda/benchmark_BITKOMO.db: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/oneMobilePanda/benchmark_BITKOMO.db -------------------------------------------------------------------------------- /IROS/Benchmarks/oneMobilePanda/benchmark_BITstar.db: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/oneMobilePanda/benchmark_BITstar.db -------------------------------------------------------------------------------- /IROS/Benchmarks/oneMobilePanda/benchmark_FMT.db: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/oneMobilePanda/benchmark_FMT.db -------------------------------------------------------------------------------- /IROS/Benchmarks/oneMobilePanda/logs/benchmark_BITKOMO_15.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/oneMobilePanda/logs/benchmark_BITKOMO_15.log -------------------------------------------------------------------------------- /IROS/Benchmarks/oneMobilePanda/mobilePanda.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/oneMobilePanda/mobilePanda.pdf -------------------------------------------------------------------------------- /IROS/Benchmarks/oneMobilePanda/runtime_table0.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/oneMobilePanda/runtime_table0.json -------------------------------------------------------------------------------- /IROS/Benchmarks/twoFixedPandas/benchmark_BITKOMO.db: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/twoFixedPandas/benchmark_BITKOMO.db -------------------------------------------------------------------------------- /IROS/Benchmarks/twoFixedPandas/benchmark_BITstar.db: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/twoFixedPandas/benchmark_BITstar.db -------------------------------------------------------------------------------- /IROS/Benchmarks/twoFixedPandas/benchmark_KOMO.db: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/twoFixedPandas/benchmark_KOMO.db -------------------------------------------------------------------------------- /IROS/Benchmarks/twoFixedPandas/logs/benchmark_BITKOMO_11.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/twoFixedPandas/logs/benchmark_BITKOMO_11.log -------------------------------------------------------------------------------- /IROS/Benchmarks/twoFixedPandas/logs/benchmark_BITKOMO_12.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/twoFixedPandas/logs/benchmark_BITKOMO_12.log -------------------------------------------------------------------------------- /IROS/Benchmarks/twoFixedPandas/logs/benchmark_BITKOMO_13.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/twoFixedPandas/logs/benchmark_BITKOMO_13.log -------------------------------------------------------------------------------- /IROS/Benchmarks/twoFixedPandas/logs/benchmark_BITKOMO_14.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/twoFixedPandas/logs/benchmark_BITKOMO_14.log -------------------------------------------------------------------------------- /IROS/Benchmarks/twoFixedPandas/logs/benchmark_BITKOMO_15.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/twoFixedPandas/logs/benchmark_BITKOMO_15.log -------------------------------------------------------------------------------- /IROS/Benchmarks/twoFixedPandas/logs/benchmark_BITstar_11.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/twoFixedPandas/logs/benchmark_BITstar_11.log -------------------------------------------------------------------------------- /IROS/Benchmarks/twoFixedPandas/logs/benchmark_BITstar_15.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/twoFixedPandas/logs/benchmark_BITstar_15.log -------------------------------------------------------------------------------- /IROS/Benchmarks/twoFixedPandas/runtime_table0.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/twoFixedPandas/runtime_table0.json -------------------------------------------------------------------------------- /IROS/Benchmarks/twoFixedPandas/twoPandas.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/twoFixedPandas/twoPandas.pdf -------------------------------------------------------------------------------- /IROS/Benchmarks/twoMobilePandas/benchmark_BITKOMO.db: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/twoMobilePandas/benchmark_BITKOMO.db -------------------------------------------------------------------------------- /IROS/Benchmarks/twoMobilePandas/benchmark_BITstar.db: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/twoMobilePandas/benchmark_BITstar.db -------------------------------------------------------------------------------- /IROS/Benchmarks/twoMobilePandas/benchmark_FMT.db: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/twoMobilePandas/benchmark_FMT.db -------------------------------------------------------------------------------- /IROS/Benchmarks/twoMobilePandas/benchmark_KOMO.db: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/twoMobilePandas/benchmark_KOMO.db -------------------------------------------------------------------------------- /IROS/Benchmarks/twoMobilePandas/logs/benchmark_BITKOMO_11.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/twoMobilePandas/logs/benchmark_BITKOMO_11.log -------------------------------------------------------------------------------- /IROS/Benchmarks/twoMobilePandas/logs/benchmark_BITKOMO_12.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/twoMobilePandas/logs/benchmark_BITKOMO_12.log -------------------------------------------------------------------------------- /IROS/Benchmarks/twoMobilePandas/logs/benchmark_BITKOMO_13.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/twoMobilePandas/logs/benchmark_BITKOMO_13.log -------------------------------------------------------------------------------- /IROS/Benchmarks/twoMobilePandas/logs/benchmark_BITKOMO_14.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/twoMobilePandas/logs/benchmark_BITKOMO_14.log -------------------------------------------------------------------------------- /IROS/Benchmarks/twoMobilePandas/logs/benchmark_BITKOMO_15.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/twoMobilePandas/logs/benchmark_BITKOMO_15.log -------------------------------------------------------------------------------- /IROS/Benchmarks/twoMobilePandas/logs/benchmark_BITstar_11.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/twoMobilePandas/logs/benchmark_BITstar_11.log -------------------------------------------------------------------------------- /IROS/Benchmarks/twoMobilePandas/logs/benchmark_BITstar_12.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/twoMobilePandas/logs/benchmark_BITstar_12.log -------------------------------------------------------------------------------- /IROS/Benchmarks/twoMobilePandas/logs/benchmark_BITstar_13.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/twoMobilePandas/logs/benchmark_BITstar_13.log -------------------------------------------------------------------------------- /IROS/Benchmarks/twoMobilePandas/logs/benchmark_BITstar_14.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/twoMobilePandas/logs/benchmark_BITstar_14.log -------------------------------------------------------------------------------- /IROS/Benchmarks/twoMobilePandas/logs/benchmark_BITstar_15.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/twoMobilePandas/logs/benchmark_BITstar_15.log -------------------------------------------------------------------------------- /IROS/Benchmarks/twoMobilePandas/logs/benchmark_FMT_11.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/twoMobilePandas/logs/benchmark_FMT_11.log -------------------------------------------------------------------------------- /IROS/Benchmarks/twoMobilePandas/logs/benchmark_FMT_12.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/twoMobilePandas/logs/benchmark_FMT_12.log -------------------------------------------------------------------------------- /IROS/Benchmarks/twoMobilePandas/logs/benchmark_FMT_13.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/twoMobilePandas/logs/benchmark_FMT_13.log -------------------------------------------------------------------------------- /IROS/Benchmarks/twoMobilePandas/logs/benchmark_FMT_14.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/twoMobilePandas/logs/benchmark_FMT_14.log -------------------------------------------------------------------------------- /IROS/Benchmarks/twoMobilePandas/logs/benchmark_FMT_15.log: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/twoMobilePandas/logs/benchmark_FMT_15.log -------------------------------------------------------------------------------- /IROS/Benchmarks/twoMobilePandas/runtime_table0.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/twoMobilePandas/runtime_table0.json -------------------------------------------------------------------------------- /IROS/Benchmarks/twoMobilePandas/twoMobilePandas.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/Benchmarks/twoMobilePandas/twoMobilePandas.pdf -------------------------------------------------------------------------------- /IROS/IROS22_0841_VI_i.mp4: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/IROS/IROS22_0841_VI_i.mp4 -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/README.md -------------------------------------------------------------------------------- /benchmark_script.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/benchmark_script.sh -------------------------------------------------------------------------------- /debug/2d_debug.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/debug/2d_debug.txt -------------------------------------------------------------------------------- /debug/3_finalPathConfigs.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/debug/3_finalPathConfigs.txt -------------------------------------------------------------------------------- /debug/7_configs.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/debug/7_configs.txt -------------------------------------------------------------------------------- /debug/finalPathConfigs.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/debug/finalPathConfigs.txt -------------------------------------------------------------------------------- /debug/initPath(print).txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/debug/initPath(print).txt -------------------------------------------------------------------------------- /debug/initPath.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/debug/initPath.txt -------------------------------------------------------------------------------- /debug/initPathConfigs.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/debug/initPathConfigs.txt -------------------------------------------------------------------------------- /examples/2D_Arm/2D.g: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/2D_Arm/2D.g -------------------------------------------------------------------------------- /examples/2D_Arm/Makefile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/2D_Arm/Makefile -------------------------------------------------------------------------------- /examples/2D_Arm/TODO: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/2D_Arm/TODO -------------------------------------------------------------------------------- /examples/2D_Arm/main.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/2D_Arm/main.cpp -------------------------------------------------------------------------------- /examples/2D_Arm_withOptim/2D.g: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/2D_Arm_withOptim/2D.g -------------------------------------------------------------------------------- /examples/2D_Arm_withOptim/Makefile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/2D_Arm_withOptim/Makefile -------------------------------------------------------------------------------- /examples/2D_Arm_withOptim/TODO: -------------------------------------------------------------------------------- 1 | [ ] Convert vector to arrA. 2 | -------------------------------------------------------------------------------- /examples/2D_Arm_withOptim/main.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/2D_Arm_withOptim/main.cpp -------------------------------------------------------------------------------- /examples/2D_Arm_withOptim/rai.cfg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/2D_Arm_withOptim/rai.cfg -------------------------------------------------------------------------------- /examples/2D_bot/Makefile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/2D_bot/Makefile -------------------------------------------------------------------------------- /examples/2D_bot/main.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/2D_bot/main.cpp -------------------------------------------------------------------------------- /examples/2D_bot/rai.cfg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/2D_bot/rai.cfg -------------------------------------------------------------------------------- /examples/Just_Visualize_Example/main.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/Just_Visualize_Example/main.cpp -------------------------------------------------------------------------------- /examples/Main/main.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/Main/main.cpp -------------------------------------------------------------------------------- /examples/Manipulator/Makefile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/Manipulator/Makefile -------------------------------------------------------------------------------- /examples/Manipulator/main.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/Manipulator/main.cpp -------------------------------------------------------------------------------- /examples/Models/10_MobileManipulator.g: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/Models/10_MobileManipulator.g -------------------------------------------------------------------------------- /examples/Models/1_kuka_shelf.g: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/Models/1_kuka_shelf.g -------------------------------------------------------------------------------- /examples/Models/2D_arm.g: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/Models/2D_arm.g -------------------------------------------------------------------------------- /examples/Models/2D_arm/1.g: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/Models/2D_arm/1.g -------------------------------------------------------------------------------- /examples/Models/2D_arm/2.g: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/Models/2D_arm/2.g -------------------------------------------------------------------------------- /examples/Models/2D_arm/3.g: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/Models/2D_arm/3.g -------------------------------------------------------------------------------- /examples/Models/2D_arm/4.g: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/Models/2D_arm/4.g -------------------------------------------------------------------------------- /examples/Models/2D_arm/5.g: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/Models/2D_arm/5.g -------------------------------------------------------------------------------- /examples/Models/2D_arm/6.g: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/Models/2D_arm/6.g -------------------------------------------------------------------------------- /examples/Models/2D_bot.g: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/Models/2D_bot.g -------------------------------------------------------------------------------- /examples/Models/2D_snake.g: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/Models/2D_snake.g -------------------------------------------------------------------------------- /examples/Models/2_Two_Pandas.g: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/Models/2_Two_Pandas.g -------------------------------------------------------------------------------- /examples/Models/3_TwoMobileManipulators.g: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/Models/3_TwoMobileManipulators.g -------------------------------------------------------------------------------- /examples/Models/4_kuka_box.g: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/Models/4_kuka_box.g -------------------------------------------------------------------------------- /examples/Models/5_disc_obstacle.g: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/Models/5_disc_obstacle.g -------------------------------------------------------------------------------- /examples/Models/6_rectangle_opening.g: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/Models/6_rectangle_opening.g -------------------------------------------------------------------------------- /examples/Models/7_disc_rooms.g: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/Models/7_disc_rooms.g -------------------------------------------------------------------------------- /examples/Models/8_TwoMobileManipulators_hard.g: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/Models/8_TwoMobileManipulators_hard.g -------------------------------------------------------------------------------- /examples/Models/9_TwoMobileRobots_hard.g: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/Models/9_TwoMobileRobots_hard.g -------------------------------------------------------------------------------- /examples/Models/Configuration.txt: -------------------------------------------------------------------------------- 1 | /home/jay/git/optimization-course/examples/Models/2D_arm.g 2 | -------------------------------------------------------------------------------- /examples/Models/MovingDisc.g: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/Models/MovingDisc.g -------------------------------------------------------------------------------- /examples/Models/arm.g: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/Models/arm.g -------------------------------------------------------------------------------- /examples/Models/box.g: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/Models/box.g -------------------------------------------------------------------------------- /examples/Models/kuka_multimodal.g: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/Models/kuka_multimodal.g -------------------------------------------------------------------------------- /examples/Models/maze.g: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/Models/maze.g -------------------------------------------------------------------------------- /examples/Models/opening.g: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/Models/opening.g -------------------------------------------------------------------------------- /examples/Models/panda_mobile.g: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/Models/panda_mobile.g -------------------------------------------------------------------------------- /examples/Models/possible_configurations.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/Models/possible_configurations.txt -------------------------------------------------------------------------------- /examples/Models/rooms.g: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/Models/rooms.g -------------------------------------------------------------------------------- /examples/Test_KOMO/main.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/Test_KOMO/main.cpp -------------------------------------------------------------------------------- /examples/ompl-komo/-L: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /examples/ompl-komo/-lompl: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /examples/ompl-komo/Makefile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/ompl-komo/Makefile -------------------------------------------------------------------------------- /examples/ompl-komo/main.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/ompl-komo/main.cpp -------------------------------------------------------------------------------- /examples/ompl-komo/model.g: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/ompl-komo/model.g -------------------------------------------------------------------------------- /examples/ompl/Makefile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/ompl/Makefile -------------------------------------------------------------------------------- /examples/ompl/main.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/ompl/main.cpp -------------------------------------------------------------------------------- /examples/only_KOMO/main.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/examples/only_KOMO/main.cpp -------------------------------------------------------------------------------- /src/path/BITKOMO.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/src/path/BITKOMO.cpp -------------------------------------------------------------------------------- /src/path/BITKOMO.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/src/path/BITKOMO.h -------------------------------------------------------------------------------- /src/path/PKOMO.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/src/path/PKOMO.cpp -------------------------------------------------------------------------------- /src/path/PKOMO.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/src/path/PKOMO.h -------------------------------------------------------------------------------- /src/path/PathOptimizerKOMO.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/src/path/PathOptimizerKOMO.cpp -------------------------------------------------------------------------------- /src/path/PathOptimizerKOMO.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/src/path/PathOptimizerKOMO.h -------------------------------------------------------------------------------- /src/path/Planner_KOMO.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/src/path/Planner_KOMO.cpp -------------------------------------------------------------------------------- /src/path/Planner_KOMO.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/JayKamat99/mt-multimodal_optimization/HEAD/src/path/Planner_KOMO.h --------------------------------------------------------------------------------