├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── img ├── deadlock_avoidance_alg.png ├── deadlock_avoidance_example.png ├── demo.gif ├── map.png └── orca_theta_alg.png ├── include ├── agent.h ├── agent_pnr.h ├── agent_pnr_ecbs.h ├── agent_returning.h ├── const.h ├── direct_planner.h ├── environment_options.h ├── geom.h ├── line_of_sight.h ├── logger.h ├── map.h ├── mapf │ ├── astar.h │ ├── cbs.h │ ├── cbs_node.h │ ├── conflict.h │ ├── conflict_avoidance_table.h │ ├── conflict_set.h │ ├── constraints.h │ ├── focal_search.h │ ├── fs_node.h │ ├── isearch.h │ ├── mapf_actor.h │ ├── mapf_actor_set.h │ ├── mapf_config.h │ ├── mapf_search_interface.h │ ├── mapf_search_result.h │ ├── mdd.h │ ├── push_and_rotate.h │ ├── scipp.h │ ├── scipp_node.h │ ├── search_queue.h │ ├── sipp.h │ └── sipp_node.h ├── mapf_instances_logger.h ├── mission.h ├── orca_agent.h ├── orca_diff_drive_agent.h ├── path_planner.h ├── reader.h ├── sub_map.h ├── summary.h ├── thetastar.h ├── xml_logger.h └── xml_reader.h ├── readme.md ├── src ├── agent.cpp ├── agent_pnr.cpp ├── agent_pnr_ecbs.cpp ├── agent_returning.cpp ├── direct_planner.cpp ├── environment_options.cpp ├── experiments │ ├── series_test.cpp │ └── single_test.cpp ├── geom.cpp ├── map.cpp ├── mapf │ ├── astar.cpp │ ├── cbs.cpp │ ├── conflict_avoidance_table.cpp │ ├── conflict_set.cpp │ ├── constraints.cpp │ ├── focal_search.cpp │ ├── isearch.cpp │ ├── mapf_actor.cpp │ ├── mapf_actor_set.cpp │ ├── mdd.cpp │ ├── push_and_rotate.cpp │ ├── scipp.cpp │ ├── search_queue.cpp │ └── sipp.cpp ├── mapf_instances_logger.cpp ├── mission.cpp ├── orca_agent.cpp ├── orca_diff_drive_agent.cpp ├── sub_map.cpp ├── thetastar.cpp ├── xml_logger.cpp └── xml_reader.cpp └── task_examples ├── 0_task.xml ├── 0_task_10_log.xml ├── 1_task.xml ├── empty_task.xml └── empty_task_10_log.xml /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/PathPlanning/ORCA-algorithm/HEAD/.gitignore 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