├── .gitignore ├── .travis.yml ├── LICENSE ├── pose_follower ├── CMakeLists.txt ├── blp_plugin.xml ├── include │ └── pose_follower │ │ └── pose_follower.h ├── package.xml └── src │ └── pose_follower.cpp ├── sbpl ├── CMakeLists.txt ├── include │ └── sbpl │ │ ├── config.h │ │ ├── discrete_space_information │ │ ├── environment.h │ │ ├── environment_XXX.h │ │ ├── environment_nav2D.h │ │ ├── environment_nav2Duu.h │ │ ├── environment_navxythetalat.h │ │ ├── environment_navxythetamlevlat.h │ │ ├── environment_precomputed_adjacency_list.h │ │ └── environment_robarm.h │ │ ├── headers.h │ │ ├── planners │ │ ├── ANAplanner.h │ │ ├── adplanner.h │ │ ├── araplanner.h │ │ ├── lazyARA.h │ │ ├── planner.h │ │ ├── ppcpplanner.h │ │ ├── rstarplanner.h │ │ └── viplanner.h │ │ ├── sbpl_exception.h │ │ └── utils │ │ ├── 2Dgridsearch.h │ │ ├── heap.h │ │ ├── key.h │ │ ├── list.h │ │ ├── mdp.h │ │ ├── mdpconfig.h │ │ ├── sbpl_bfs_2d.h │ │ ├── sbpl_bfs_3d.h │ │ ├── sbpl_fifo.h │ │ └── utils.h ├── matlab │ ├── mprim │ │ ├── all_file.mprim │ │ ├── frames.gv │ │ ├── frames.pdf │ │ ├── genmprim.m │ │ ├── genmprim_unicycle.m │ │ ├── genmprim_unicycleplussideways.m │ │ ├── genmprim_unicycleplussidewaysplusbackturn.m │ │ ├── genmprim_unicycleplussidewaysplusbackturnplusdiag.m │ │ ├── mprim_unic_sideback.mprim │ │ ├── mprim_unic_sidebackdiag.mprim │ │ ├── output_unicycle.mprim │ │ ├── pr2.mprim │ │ ├── pr2_10cm.mprim │ │ ├── pr2_all_2.5cm_20turncost.mprim │ │ ├── pr2_bak.mprim │ │ ├── pr2_unicycle_10cm.mprim │ │ ├── pr2sides.mprim │ │ ├── rover.mprim │ │ ├── rover_16.m │ │ ├── rover_32.m │ │ ├── unicycle_backonlystraight.mprim │ │ └── unicycle_noturninplace.mprim │ └── visualization │ │ └── plot_3Dpath.m ├── package.xml ├── sbpl-config-version.cmake.in ├── sbpl-config.cmake.in ├── sbpl.pc.in └── src │ ├── discrete_space_information │ ├── environment_XXX.cpp │ ├── environment_nav2D.cpp │ ├── environment_nav2Duu.cpp │ ├── environment_navxythetalat.cpp │ ├── environment_navxythetamlevlat.cpp │ └── environment_robarm.cpp │ ├── include │ └── sbpl │ │ ├── config.h │ │ ├── discrete_space_information │ │ ├── environment.h │ │ ├── environment_XXX.h │ │ ├── environment_nav2D.h │ │ ├── environment_nav2Duu.h │ │ ├── environment_navxythetalat.h │ │ ├── environment_navxythetamlevlat.h │ │ ├── environment_precomputed_adjacency_list.h │ │ └── environment_robarm.h │ │ ├── headers.h │ │ ├── planners │ │ ├── ANAplanner.h │ │ ├── adplanner.h │ │ ├── araplanner.h │ │ ├── lazyARA.h │ │ ├── planner.h │ │ ├── ppcpplanner.h │ │ ├── rstarplanner.h │ │ └── viplanner.h │ │ ├── sbpl_exception.h │ │ └── utils │ │ ├── 2Dgridsearch.h │ │ ├── heap.h │ │ ├── key.h │ │ ├── list.h │ │ ├── mdp.h │ │ ├── mdpconfig.h │ │ ├── sbpl_bfs_2d.h │ │ ├── sbpl_bfs_3d.h │ │ ├── sbpl_fifo.h │ │ └── utils.h │ ├── planners │ ├── ANAplanner.cpp │ ├── adplanner.cpp │ ├── araplanner.cpp │ ├── lazyARA.cpp │ ├── ppcpplanner.cpp │ ├── rstarplanner.cpp │ └── viplanner.cpp │ ├── test │ ├── env1.cfg │ ├── env1.cfg.out.valid │ ├── main.cpp │ ├── module-tests.cpp │ └── test_adjacency_list.cpp │ └── utils │ ├── 2Dgridsearch.cpp │ ├── config.cpp │ ├── heap.cpp │ ├── mdp.cpp │ └── utils.cpp ├── sbpl_lattice_planner ├── CMakeLists.txt ├── Makefile ├── bgp_plugin.xml ├── include │ └── sbpl_lattice_planner │ │ └── sbpl_lattice_planner.h ├── launch │ ├── base_local_planner_params_close.yaml │ ├── costmap_common_params.yaml │ ├── global_costmap_params.yaml │ ├── local_costmap_params_close.yaml │ ├── move_base_sbpl.launch │ └── sbpl_global_params.yaml ├── msg │ └── SBPLLatticePlannerStats.msg ├── package.xml ├── rover.mprim └── src │ └── sbpl_lattice_planner.cpp ├── teb_local_planner_husky ├── CMakeLists.txt ├── cfg │ ├── costmap_common_params.yaml │ ├── costmap_converter_params.yaml │ ├── global_costmap_params.yaml │ ├── global_costmap_params.yaml_backup │ ├── local_costmap_params.yaml │ └── teb_local_planner_params.yaml ├── launch │ └── teb_local_planner_husky_costmap_conversion.launch └── package.xml └── 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