├── .assets ├── figure_cover.png ├── figure_sim.png ├── forest-x30.gif ├── indoor1-x30.gif └── indoor2-x30.gif ├── .gitmodules ├── LICENSE ├── README.md ├── laea_planner ├── active_perception │ ├── CMakeLists.txt │ ├── include │ │ └── active_perception │ │ │ ├── frontier_finder.h │ │ │ ├── graph_node.h │ │ │ ├── graph_search.h │ │ │ ├── heading_planner.h │ │ │ ├── lidar_gain.h │ │ │ ├── perception_utils.h │ │ │ └── traj_visibility.h │ ├── package.xml │ ├── script │ │ └── calc_fov.py │ └── src │ │ ├── frontier_finder.cpp │ │ ├── graph_node.cpp │ │ ├── heading_planner.cpp │ │ ├── lidar_gain.cpp │ │ ├── perception_utils.cpp │ │ └── traj_visibility.cpp ├── bspline │ ├── CMakeLists.txt │ ├── include │ │ └── bspline │ │ │ └── non_uniform_bspline.h │ ├── msg │ │ └── Bspline.msg │ ├── package.xml │ └── src │ │ └── non_uniform_bspline.cpp ├── bspline_opt │ ├── CMakeLists.txt │ ├── include │ │ └── bspline_opt │ │ │ └── bspline_optimizer.h │ ├── package.xml │ ├── script │ │ ├── calc_jacobian.py │ │ ├── calc_jacobian.pyc │ │ ├── cost_function.py │ │ └── dist_to_line.py │ └── src │ │ └── bspline_optimizer.cpp ├── exploration_manager │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ └── traj.rviz │ ├── include │ │ └── exploration_manager │ │ │ ├── expl_data.h │ │ │ ├── fast_exploration_fsm.h │ │ │ ├── fast_exploration_manager.h │ │ │ ├── faster_types.hpp │ │ │ └── termcolor.hpp │ ├── launch │ │ └── poaozz │ │ │ ├── algorithm_.xml │ │ │ ├── explore_test.launch │ │ │ ├── rviz_alg.launch │ │ │ └── rviz_cmp.launch │ ├── package.xml │ ├── script │ │ ├── calc_bridge_time.py │ │ └── calc_maze_time.py │ ├── src │ │ ├── exploration_node.cpp │ │ ├── fast_exploration_fsm.cpp │ │ └── fast_exploration_manager.cpp │ └── test │ │ ├── load_obj.cpp │ │ ├── test.md │ │ └── write_tsp.cpp ├── octomap_mapping │ ├── README.md │ ├── octomap_mapping │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ └── package.xml │ └── octomap_server │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── cfg │ │ ├── OctomapServer.cfg │ │ └── map.rviz │ │ ├── color_nodelet_plugins.xml │ │ ├── include │ │ └── octomap_server │ │ │ ├── OctomapServer.h │ │ │ ├── OctomapServerMultilayer.h │ │ │ └── TrackingOctomapServer.h │ │ ├── launch │ │ ├── octomap_mapping_nodelet.launch │ │ ├── octomap_tracking_client.launch │ │ ├── octomap_tracking_server.launch │ │ ├── real │ │ │ └── scan_mapping_real.launch │ │ ├── rviz.launch │ │ └── scan_mapping.launch │ │ ├── mainpage.dox │ │ ├── nodelet_plugins.xml │ │ ├── package.xml │ │ ├── params │ │ └── default.yaml │ │ ├── scripts │ │ └── octomap_eraser_cli.py │ │ └── src │ │ ├── OctomapServer.cpp │ │ ├── OctomapServerMultilayer.cpp │ │ ├── TrackingOctomapServer.cpp │ │ ├── octomap_saver.cpp │ │ ├── octomap_server_multilayer.cpp │ │ ├── octomap_server_node.cpp │ │ ├── octomap_server_nodelet.cpp │ │ ├── octomap_server_static.cpp │ │ └── octomap_tracking_server_node.cpp ├── path_searching │ ├── CMakeLists.txt │ ├── include │ │ └── path_searching │ │ │ ├── astar.h │ │ │ ├── astar2.h │ │ │ ├── graph_search.hpp │ │ │ ├── kinodynamic_astar.h │ │ │ ├── matrix_hash.h │ │ │ └── topo_prm.h │ ├── package.xml │ └── src │ │ ├── astar.cpp │ │ ├── astar2.cpp │ │ ├── kinodynamic_astar.cpp │ │ └── topo_prm.cpp ├── plan_env │ ├── CMakeLists.txt │ ├── include │ │ └── plan_env │ │ │ ├── edt_environment.h │ │ │ ├── linear_obj_model.hpp │ │ │ ├── map_ros.h │ │ │ ├── obj_predictor.h │ │ │ ├── polynomial_traj.hpp │ │ │ ├── raycast.h │ │ │ └── sdf_map.h │ ├── package.xml │ └── src │ │ ├── edt_environment.cpp │ │ ├── map_ros.cpp │ │ ├── obj_generator.cpp │ │ ├── obj_predictor.cpp │ │ ├── raycast.cpp │ │ └── sdf_map.cpp ├── plan_manage │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ ├── exp.rviz │ │ ├── traj.rviz │ │ ├── traj_cmp.rviz │ │ └── traj_copy.rviz │ ├── include │ │ └── plan_manage │ │ │ ├── am_traj.hpp │ │ │ ├── backward.hpp │ │ │ ├── kino_replan_fsm.h │ │ │ ├── local_explore_fsm.h │ │ │ ├── plan_container.hpp │ │ │ ├── planner_manager.h │ │ │ ├── root_finder.hpp │ │ │ ├── topo_replan_fsm.h │ │ │ └── utils.h │ ├── launch │ │ ├── icra20 │ │ │ ├── compare_topo.launch │ │ │ └── exp_icra20.launch │ │ ├── kino_algorithm.xml │ │ ├── kino_replan.launch │ │ ├── rviz.launch │ │ ├── simulator.xml │ │ ├── topo_algorithm.xml │ │ ├── topo_replan.launch │ │ └── tro20 │ │ │ ├── experiment.launch │ │ │ ├── local_explore.launch │ │ │ ├── local_explore_alg.xml │ │ │ ├── rviz_exp.launch │ │ │ ├── simulator.launch │ │ │ └── simulator2.launch │ ├── package.xml │ ├── script │ │ ├── calc.py │ │ ├── polyfit_predict.py │ │ └── traj_opt.py │ ├── src │ │ ├── fast_planner_node.cpp │ │ ├── kino_replan_fsm.cpp │ │ ├── planner_manager.cpp │ │ ├── planner_manager_dev.cpp │ │ ├── topo_replan_fsm.cpp │ │ └── traj_server.cpp │ └── test │ │ ├── compare_topo.cpp │ │ ├── local_explore_fsm.cpp │ │ ├── opti_node.cpp │ │ ├── pos_vel_acc.cpp │ │ ├── process_msg.cpp │ │ ├── process_msg2.cpp │ │ ├── rotation.cpp │ │ └── test_collision_cost.cpp ├── poly_traj │ ├── CMakeLists.txt │ ├── include │ │ └── poly_traj │ │ │ └── polynomial_traj.h │ ├── package.xml │ └── src │ │ ├── polynomial_traj.cpp │ │ └── traj_generator.cpp ├── traj_utils │ ├── CMakeLists.txt │ ├── include │ │ └── traj_utils │ │ │ └── planning_visualization.h │ ├── package.xml │ └── src │ │ ├── planning_visualization.cpp │ │ └── process_msg.cpp └── utils │ ├── backward │ └── backward.hpp │ ├── cmake_utils │ ├── CMakeLists.txt │ ├── cmake │ │ ├── arch.cmake │ │ ├── cmake_modules.cmake │ │ └── color.cmake │ ├── cmake_modules │ │ ├── FindEigen.cmake │ │ ├── FindGSL.cmake │ │ └── FindmvIMPACT.cmake │ ├── lib │ │ └── mosek8 │ │ │ ├── libcilkrts.so.5 │ │ │ ├── libiomp5.so │ │ │ ├── libmosek64.so │ │ │ ├── libmosek64.so.8.0 │ │ │ ├── libmosek64.so.8.1 │ │ │ ├── libmosekjava8_0.so │ │ │ ├── libmosekjava8_1.so │ │ │ ├── libmosekscopt8_0.so │ │ │ ├── libmosekscopt8_1.so │ │ │ ├── libmosekxx8_0.so │ │ │ └── libmosekxx8_1.so │ └── package.xml │ ├── depthimage_to_laserscan │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── cfg │ │ └── Depth.cfg │ ├── include │ │ └── depthimage_to_laserscan │ │ │ ├── DepthImageToLaserScan.h │ │ │ ├── DepthImageToLaserScanROS.h │ │ │ └── depth_traits.h │ ├── launch │ │ ├── depth2scan.launch │ │ ├── depth2scan_real.launch │ │ └── launchfile_sample.launch │ ├── mainpage.dox │ ├── nodelets.xml │ ├── package.xml │ ├── src │ │ ├── DepthImageToLaserScan.cpp │ │ ├── DepthImageToLaserScanNodelet.cpp │ │ ├── DepthImageToLaserScanROS.cpp │ │ └── depthimage_to_laserscan.cpp │ └── test │ │ ├── DepthImageToLaserScanTest.cpp │ │ ├── depthimage_to_laserscan_rostest.cpp │ │ └── rostest │ │ └── depthimage_to_laserscan.test │ ├── laserscan_to_pointcloud │ ├── .project │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── cfg │ │ └── LaserScanToPointcloudAssembler.cfg │ ├── docs │ │ ├── eclipse_projects.bash │ │ └── interpolation_corrections │ │ │ ├── laser-deformation-1-corrected.png │ │ │ ├── laser-deformation-1.png │ │ │ ├── laser-deformation-2-corrected.png │ │ │ └── laser-deformation-2.png │ ├── include │ │ └── laserscan_to_pointcloud │ │ │ ├── laserscan_to_pointcloud.h │ │ │ ├── laserscan_to_pointcloud_assembler.h │ │ │ ├── laserscan_to_ros_pointcloud.h │ │ │ ├── polar_to_cartesian_matrix_cache.h │ │ │ ├── tf_collector.h │ │ │ └── tf_rosmsg_eigen_conversions.h │ ├── launch │ │ ├── cloud.launch │ │ ├── cloud_real.launch │ │ ├── depth_cloud.launch │ │ ├── depth_cloud_real.launch │ │ └── laserscan_to_pointcloud_assembler.launch │ ├── package.xml │ └── src │ │ ├── laserscan_to_pointcloud.cpp │ │ ├── laserscan_to_pointcloud_assembler.cpp │ │ ├── laserscan_to_pointcloud_assembler_node.cpp │ │ ├── laserscan_to_ros_pointcloud.cpp │ │ ├── polar_to_cartesian_matrix_cache.cpp │ │ ├── tf_collector.cpp │ │ └── tf_rosmsg_eigen_conversions.cpp │ ├── ldlidar_stl_ros │ ├── .gitignore │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── include │ │ └── ros_api.h │ ├── launch │ │ ├── ld06.launch │ │ ├── ld19.launch │ │ ├── viewer_ld06_kinetic_melodic.launch │ │ ├── viewer_ld06_noetic.launch │ │ ├── viewer_ld19_kinetic_melodic.launch │ │ └── viewer_ld19_noetic.launch │ ├── ldlidar_driver │ │ ├── include │ │ │ ├── core │ │ │ │ ├── ldlidar_datatype.h │ │ │ │ └── ldlidar_driver.h │ │ │ ├── dataprocess │ │ │ │ └── lipkg.h │ │ │ ├── filter │ │ │ │ └── tofbf.h │ │ │ ├── logger │ │ │ │ └── log_module.h │ │ │ ├── networkcom │ │ │ │ └── network_socket_interface_linux.h │ │ │ └── serialcom │ │ │ │ └── serial_interface_linux.h │ │ └── src │ │ │ ├── core │ │ │ └── ldlidar_driver.cpp │ │ │ ├── dataprocess │ │ │ └── lipkg.cpp │ │ │ ├── filter │ │ │ └── tofbf.cpp │ │ │ ├── logger │ │ │ └── log_module.cpp │ │ │ ├── networkcom │ │ │ └── network_socket_interface_linux.cpp │ │ │ └── serialcom │ │ │ └── serial_interface_linux.cpp │ ├── package.xml │ ├── rules │ │ └── ldlidar.rules │ ├── rviz │ │ ├── ldlidar_kinetic_melodic.rviz │ │ └── ldlidar_noetic.rviz │ ├── scripts │ │ ├── create_udev_rules.sh │ │ └── delete_udev_rules.sh │ └── src │ │ ├── listen_node │ │ └── listen_node.cpp │ │ └── publish_node │ │ └── main.cpp │ ├── lkh_tsp_solver │ ├── CMakeLists.txt │ ├── include │ │ ├── Delaunay.h │ │ ├── GainType.h │ │ ├── Genetic.h │ │ ├── GeoConversion.h │ │ ├── Hashing.h │ │ ├── Heap.h │ │ ├── LKH.h │ │ ├── Segment.h │ │ ├── Sequence.h │ │ ├── gpx.h │ │ └── lkh_tsp_solver │ │ │ └── lkh_interface.h │ ├── package.xml │ ├── resource │ │ ├── single.par │ │ ├── single.tsp │ │ ├── single.txt │ │ ├── test.par │ │ ├── test.tsp │ │ └── test.txt │ └── src │ │ ├── Activate.c │ │ ├── AddCandidate.c │ │ ├── AddExtraCandidates.c │ │ ├── AddTourCandidates.c │ │ ├── AdjustCandidateSet.c │ │ ├── AdjustClusters.c │ │ ├── AllocateStructures.c │ │ ├── Ascent.c │ │ ├── Best2OptMove.c │ │ ├── Best3OptMove.c │ │ ├── Best4OptMove.c │ │ ├── Best5OptMove.c │ │ ├── BestKOptMove.c │ │ ├── Between.c │ │ ├── Between_SL.c │ │ ├── Between_SSL.c │ │ ├── BridgeGain.c │ │ ├── BuildKDTree.c │ │ ├── C.c │ │ ├── CandidateReport.c │ │ ├── ChooseInitialTour.c │ │ ├── Connect.c │ │ ├── CreateCandidateSet.c │ │ ├── CreateDelaunayCandidateSet.c │ │ ├── CreateNNCandidateSet.c │ │ ├── CreateQuadrantCandidateSet.c │ │ ├── Create_POPMUSIC_CandidateSet.c │ │ ├── Delaunay.c │ │ ├── Distance.c │ │ ├── Distance_SPECIAL.c │ │ ├── ERXT.c │ │ ├── Excludable.c │ │ ├── Exclude.c │ │ ├── FindTour.c │ │ ├── FixedOrCommonCandidates.c │ │ ├── Flip.c │ │ ├── Flip_SL.c │ │ ├── Flip_SSL.c │ │ ├── Forbidden.c │ │ ├── FreeStructures.c │ │ ├── Gain23.c │ │ ├── GenerateCandidates.c │ │ ├── Genetic.c │ │ ├── GeoConversion.c │ │ ├── GetTime.c │ │ ├── GreedyTour.c │ │ ├── Hashing.c │ │ ├── Heap.c │ │ ├── IsBackboneCandidate.c │ │ ├── IsCandidate.c │ │ ├── IsCommonEdge.c │ │ ├── IsPossibleCandidate.c │ │ ├── KSwapKick.c │ │ ├── LKHmain.c │ │ ├── LinKernighan.c │ │ ├── Make2OptMove.c │ │ ├── Make3OptMove.c │ │ ├── Make4OptMove.c │ │ ├── Make5OptMove.c │ │ ├── MakeKOptMove.c │ │ ├── MergeTourWithBestTour.c │ │ ├── MergeWithTourGPX2.c │ │ ├── MergeWithTourIPT.c │ │ ├── Minimum1TreeCost.c │ │ ├── MinimumSpanningTree.c │ │ ├── NormalizeNodeList.c │ │ ├── NormalizeSegmentList.c │ │ ├── OrderCandidateSet.c │ │ ├── PatchCycles.c │ │ ├── PrintParameters.c │ │ ├── Random.c │ │ ├── ReadCandidates.c │ │ ├── ReadEdges.c │ │ ├── ReadLine.c │ │ ├── ReadParameters.c │ │ ├── ReadPenalties.c │ │ ├── ReadProblem.c │ │ ├── RecordBestTour.c │ │ ├── RecordBetterTour.c │ │ ├── RemoveFirstActive.c │ │ ├── ResetCandidateSet.c │ │ ├── RestoreTour.c │ │ ├── SFCTour.c │ │ ├── SegmentSize.c │ │ ├── Sequence.c │ │ ├── SolveCompressedSubproblem.c │ │ ├── SolveDelaunaySubproblems.c │ │ ├── SolveKCenterSubproblems.c │ │ ├── SolveKMeansSubproblems.c │ │ ├── SolveKarpSubproblems.c │ │ ├── SolveRoheSubproblems.c │ │ ├── SolveSFCSubproblems.c │ │ ├── SolveSubproblem.c │ │ ├── SolveSubproblemBorderProblems.c │ │ ├── SolveTourSegmentSubproblems.c │ │ ├── Statistics.c │ │ ├── StoreTour.c │ │ ├── SymmetrizeCandidateSet.c │ │ ├── TrimCandidateSet.c │ │ ├── WriteCandidates.c │ │ ├── WritePenalties.c │ │ ├── WriteTour.c │ │ ├── eprintf.c │ │ ├── fscanint.c │ │ ├── gpx.c │ │ ├── lkh_interface.cpp │ │ └── printff.c │ ├── multi_map_server │ ├── CMakeLists.txt │ ├── Makefile │ ├── build │ │ ├── CATKIN_IGNORE │ │ ├── CMakeCache.txt │ │ ├── CMakeFiles │ │ │ ├── 2.8.12.2 │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ ├── CompilerIdC │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ └── a.out │ │ │ │ └── CompilerIdCXX │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ └── a.out │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── CMakeError.log │ │ │ ├── CMakeOutput.log │ │ │ ├── CMakeRuleHashes.txt │ │ │ ├── Makefile.cmake │ │ │ ├── Makefile2 │ │ │ ├── ROSBUILD_genmsg_cpp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_genmsg_lisp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_genmsg_py.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_gensrv_cpp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_gensrv_lisp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── TargetDirectories.txt │ │ │ ├── _catkin_empty_exported_target.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── clean_test_results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── cmake.check_cache │ │ │ ├── doxygen.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── multi_map_visualization.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── src │ │ │ │ │ └── multi_map_visualization.cc.o │ │ │ ├── progress.marks │ │ │ ├── rosbuild_clean-test-results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rosbuild_precompile.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rosbuild_premsgsrvgen.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rospack_genmsg.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rospack_genmsg_all.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rospack_genmsg_libexe.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rospack_gensrv.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── run_tests.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-future.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-results-run.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ └── tests.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ ├── Makefile │ │ ├── catkin │ │ │ └── catkin_generated │ │ │ │ └── version │ │ │ │ └── package.cmake │ │ ├── catkin_generated │ │ │ ├── env_cached.sh │ │ │ ├── generate_cached_setup.py │ │ │ ├── installspace │ │ │ │ ├── .rosinstall │ │ │ │ ├── _setup_util.py │ │ │ │ ├── env.sh │ │ │ │ ├── setup.bash │ │ │ │ ├── setup.sh │ │ │ │ └── setup.zsh │ │ │ ├── ordered_paths.cmake │ │ │ ├── setup_cached.sh │ │ │ └── stamps │ │ │ │ └── multi_map_server │ │ │ │ ├── interrogate_setup_dot_py.py.stamp │ │ │ │ └── package.xml.stamp │ │ ├── cmake_install.cmake │ │ ├── devel │ │ │ ├── .catkin │ │ │ ├── .rosinstall │ │ │ ├── _setup_util.py │ │ │ ├── env.sh │ │ │ ├── etc │ │ │ │ └── catkin │ │ │ │ │ └── profile.d │ │ │ │ │ ├── 05.catkin-test-results.sh │ │ │ │ │ ├── 05.catkin_make.bash │ │ │ │ │ └── 05.catkin_make_isolated.bash │ │ │ ├── setup.bash │ │ │ ├── setup.sh │ │ │ └── setup.zsh │ │ └── gtest │ │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── gtest.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ ├── gtest_main.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ └── progress.marks │ │ │ ├── Makefile │ │ │ └── cmake_install.cmake │ ├── include │ │ └── multi_map_server │ │ │ ├── Map2D.h │ │ │ └── Map3D.h │ ├── mainpage.dox │ ├── msg │ │ ├── MultiOccupancyGrid.msg │ │ ├── MultiSparseMap3D.msg │ │ ├── SparseMap3D.msg │ │ └── VerticalOccupancyGridList.msg │ ├── msg_gen │ │ ├── cpp │ │ │ └── include │ │ │ │ └── multi_map_server │ │ │ │ ├── MultiOccupancyGrid.h │ │ │ │ ├── MultiSparseMap3D.h │ │ │ │ ├── SparseMap3D.h │ │ │ │ └── VerticalOccupancyGridList.h │ │ ├── generated │ │ └── lisp │ │ │ ├── MultiOccupancyGrid.lisp │ │ │ ├── MultiSparseMap3D.lisp │ │ │ ├── SparseMap3D.lisp │ │ │ ├── VerticalOccupancyGridList.lisp │ │ │ ├── _package.lisp │ │ │ ├── _package_MultiOccupancyGrid.lisp │ │ │ ├── _package_MultiSparseMap3D.lisp │ │ │ ├── _package_SparseMap3D.lisp │ │ │ ├── _package_VerticalOccupancyGridList.lisp │ │ │ └── multi_map_server-msg.asd │ ├── package.xml │ ├── quadrotor_msgs │ │ ├── CMakeLists.txt │ │ ├── Makefile │ │ ├── build │ │ │ ├── CATKIN_IGNORE │ │ │ ├── CMakeCache.txt │ │ │ ├── CMakeFiles │ │ │ │ ├── 2.8.12.2 │ │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ │ ├── CompilerIdC │ │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ │ └── a.out │ │ │ │ │ └── CompilerIdCXX │ │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ │ └── a.out │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ ├── CMakeError.log │ │ │ │ ├── CMakeOutput.log │ │ │ │ ├── CMakeRuleHashes.txt │ │ │ │ ├── Makefile.cmake │ │ │ │ ├── Makefile2 │ │ │ │ ├── ROSBUILD_genmsg_cpp.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ └── progress.make │ │ │ │ ├── ROSBUILD_genmsg_lisp.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ └── progress.make │ │ │ │ ├── ROSBUILD_genmsg_py.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ └── progress.make │ │ │ │ ├── ROSBUILD_gensrv_cpp.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── ROSBUILD_gensrv_lisp.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── TargetDirectories.txt │ │ │ │ ├── _catkin_empty_exported_target.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── clean_test_results.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── cmake.check_cache │ │ │ │ ├── decode_msgs.dir │ │ │ │ │ ├── CXX.includecache │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ ├── progress.make │ │ │ │ │ └── src │ │ │ │ │ │ └── decode_msgs.cpp.o │ │ │ │ ├── doxygen.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── encode_msgs.dir │ │ │ │ │ ├── CXX.includecache │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ ├── progress.make │ │ │ │ │ └── src │ │ │ │ │ │ └── encode_msgs.cpp.o │ │ │ │ ├── progress.marks │ │ │ │ ├── rosbuild_clean-test-results.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── rosbuild_precompile.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ └── progress.make │ │ │ │ ├── rosbuild_premsgsrvgen.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ └── progress.make │ │ │ │ ├── rospack_genmsg.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ └── progress.make │ │ │ │ ├── rospack_genmsg_all.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ └── progress.make │ │ │ │ ├── rospack_genmsg_libexe.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ └── progress.make │ │ │ │ ├── rospack_gensrv.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── run_tests.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── test-future.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── test-results-run.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── test-results.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── test.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ └── tests.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ ├── Makefile │ │ │ ├── catkin │ │ │ │ └── catkin_generated │ │ │ │ │ └── version │ │ │ │ │ └── package.cmake │ │ │ ├── catkin_generated │ │ │ │ ├── env_cached.sh │ │ │ │ ├── generate_cached_setup.py │ │ │ │ ├── installspace │ │ │ │ │ ├── .rosinstall │ │ │ │ │ ├── _setup_util.py │ │ │ │ │ ├── env.sh │ │ │ │ │ ├── setup.bash │ │ │ │ │ ├── setup.sh │ │ │ │ │ └── setup.zsh │ │ │ │ ├── ordered_paths.cmake │ │ │ │ ├── setup_cached.sh │ │ │ │ └── stamps │ │ │ │ │ └── quadrotor_msgs │ │ │ │ │ ├── interrogate_setup_dot_py.py.stamp │ │ │ │ │ └── package.xml.stamp │ │ │ ├── cmake_install.cmake │ │ │ ├── devel │ │ │ │ ├── .catkin │ │ │ │ ├── .rosinstall │ │ │ │ ├── _setup_util.py │ │ │ │ ├── env.sh │ │ │ │ ├── etc │ │ │ │ │ └── catkin │ │ │ │ │ │ └── profile.d │ │ │ │ │ │ ├── 05.catkin-test-results.sh │ │ │ │ │ │ ├── 05.catkin_make.bash │ │ │ │ │ │ └── 05.catkin_make_isolated.bash │ │ │ │ ├── setup.bash │ │ │ │ ├── setup.sh │ │ │ │ └── setup.zsh │ │ │ └── gtest │ │ │ │ ├── CMakeFiles │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ ├── gtest.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ └── progress.make │ │ │ │ ├── gtest_main.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ └── progress.make │ │ │ │ └── progress.marks │ │ │ │ ├── Makefile │ │ │ │ └── cmake_install.cmake │ │ ├── cmake │ │ │ └── FindEigen3.cmake │ │ ├── include │ │ │ └── quadrotor_msgs │ │ │ │ ├── comm_types.h │ │ │ │ ├── decode_msgs.h │ │ │ │ └── encode_msgs.h │ │ ├── lib │ │ │ ├── libdecode_msgs.so │ │ │ └── libencode_msgs.so │ │ ├── mainpage.dox │ │ ├── msg │ │ │ ├── AuxCommand.msg │ │ │ ├── Corrections.msg │ │ │ ├── Gains.msg │ │ │ ├── OutputData.msg │ │ │ ├── PPROutputData.msg │ │ │ ├── PositionCommand.msg │ │ │ ├── SO3Command.msg │ │ │ ├── Serial.msg │ │ │ ├── StatusData.msg │ │ │ └── TRPYCommand.msg │ │ ├── msg_gen │ │ │ ├── cpp │ │ │ │ └── include │ │ │ │ │ └── quadrotor_msgs │ │ │ │ │ ├── AuxCommand.h │ │ │ │ │ ├── Corrections.h │ │ │ │ │ ├── Gains.h │ │ │ │ │ ├── OutputData.h │ │ │ │ │ ├── PPROutputData.h │ │ │ │ │ ├── PositionCommand.h │ │ │ │ │ ├── SO3Command.h │ │ │ │ │ ├── Serial.h │ │ │ │ │ ├── StatusData.h │ │ │ │ │ └── TRPYCommand.h │ │ │ ├── generated │ │ │ └── lisp │ │ │ │ ├── AuxCommand.lisp │ │ │ │ ├── Corrections.lisp │ │ │ │ ├── Gains.lisp │ │ │ │ ├── OutputData.lisp │ │ │ │ ├── PPROutputData.lisp │ │ │ │ ├── PositionCommand.lisp │ │ │ │ ├── SO3Command.lisp │ │ │ │ ├── Serial.lisp │ │ │ │ ├── StatusData.lisp │ │ │ │ ├── TRPYCommand.lisp │ │ │ │ ├── _package.lisp │ │ │ │ ├── _package_AuxCommand.lisp │ │ │ │ ├── _package_Corrections.lisp │ │ │ │ ├── _package_Gains.lisp │ │ │ │ ├── _package_OutputData.lisp │ │ │ │ ├── _package_PPROutputData.lisp │ │ │ │ ├── _package_PositionCommand.lisp │ │ │ │ ├── _package_SO3Command.lisp │ │ │ │ ├── _package_Serial.lisp │ │ │ │ ├── _package_StatusData.lisp │ │ │ │ ├── _package_TRPYCommand.lisp │ │ │ │ └── quadrotor_msgs-msg.asd │ │ ├── package.xml │ │ └── src │ │ │ ├── decode_msgs.cpp │ │ │ ├── encode_msgs.cpp │ │ │ └── quadrotor_msgs │ │ │ ├── __init__.py │ │ │ ├── __init__.pyc │ │ │ └── msg │ │ │ ├── _AuxCommand.py │ │ │ ├── _Corrections.py │ │ │ ├── _Gains.py │ │ │ ├── _OutputData.py │ │ │ ├── _PPROutputData.py │ │ │ ├── _PositionCommand.py │ │ │ ├── _SO3Command.py │ │ │ ├── _Serial.py │ │ │ ├── _StatusData.py │ │ │ ├── _TRPYCommand.py │ │ │ └── __init__.py │ └── src │ │ ├── multi_map_server │ │ ├── __init__.py │ │ └── msg │ │ │ ├── _MultiOccupancyGrid.py │ │ │ ├── _MultiSparseMap3D.py │ │ │ ├── _SparseMap3D.py │ │ │ ├── _VerticalOccupancyGridList.py │ │ │ └── __init__.py │ │ ├── multi_map_visualization.cc │ │ └── unused │ │ └── multi_map_server.cc │ ├── odom_visualization │ ├── CMakeLists.txt │ ├── Makefile │ ├── bin │ │ ├── odom_visualization │ │ └── odom_visualization_vicon45 │ ├── build │ │ ├── CATKIN_IGNORE │ │ ├── CMakeCache.txt │ │ ├── CMakeFiles │ │ │ ├── 2.8.12.2 │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ ├── CompilerIdC │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ └── a.out │ │ │ │ └── CompilerIdCXX │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ └── a.out │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── CMakeError.log │ │ │ ├── CMakeOutput.log │ │ │ ├── CMakeRuleHashes.txt │ │ │ ├── Makefile.cmake │ │ │ ├── Makefile2 │ │ │ ├── ROSBUILD_genmsg_cpp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_genmsg_lisp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_gensrv_cpp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_gensrv_lisp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── TargetDirectories.txt │ │ │ ├── _catkin_empty_exported_target.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── clean_test_results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── cmake.check_cache │ │ │ ├── doxygen.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── odom_visualization.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── src │ │ │ │ │ └── odom_visualization.cpp.o │ │ │ ├── progress.marks │ │ │ ├── rosbuild_clean-test-results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rosbuild_precompile.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rosbuild_premsgsrvgen.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rospack_genmsg.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rospack_genmsg_libexe.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rospack_gensrv.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── run_tests.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-future.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-results-run.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ └── tests.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ ├── Makefile │ │ ├── catkin │ │ │ └── catkin_generated │ │ │ │ └── version │ │ │ │ └── package.cmake │ │ ├── catkin_generated │ │ │ ├── env_cached.sh │ │ │ ├── generate_cached_setup.py │ │ │ ├── installspace │ │ │ │ ├── .rosinstall │ │ │ │ ├── _setup_util.py │ │ │ │ ├── env.sh │ │ │ │ ├── setup.bash │ │ │ │ ├── setup.sh │ │ │ │ └── setup.zsh │ │ │ ├── ordered_paths.cmake │ │ │ ├── setup_cached.sh │ │ │ └── stamps │ │ │ │ └── odom_visualization │ │ │ │ ├── interrogate_setup_dot_py.py.stamp │ │ │ │ └── package.xml.stamp │ │ ├── cmake_install.cmake │ │ ├── devel │ │ │ ├── .catkin │ │ │ ├── .rosinstall │ │ │ ├── _setup_util.py │ │ │ ├── env.sh │ │ │ ├── etc │ │ │ │ └── catkin │ │ │ │ │ └── profile.d │ │ │ │ │ ├── 05.catkin-test-results.sh │ │ │ │ │ ├── 05.catkin_make.bash │ │ │ │ │ └── 05.catkin_make_isolated.bash │ │ │ ├── setup.bash │ │ │ ├── setup.sh │ │ │ └── setup.zsh │ │ └── gtest │ │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── gtest.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ ├── gtest_main.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ └── progress.marks │ │ │ ├── Makefile │ │ │ └── cmake_install.cmake │ ├── mainpage.dox │ ├── meshes │ │ └── hummingbird.mesh │ ├── package.xml │ └── src │ │ ├── odom_visualization.cpp │ │ └── odom_visualization.cpp~ │ ├── pose_utils │ ├── CMakeLists.txt │ ├── Makefile │ ├── build │ │ ├── CATKIN_IGNORE │ │ ├── CMakeCache.txt │ │ ├── CMakeFiles │ │ │ ├── 2.8.12.2 │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ ├── CompilerIdC │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ └── a.out │ │ │ │ └── CompilerIdCXX │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ └── a.out │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── CMakeError.log │ │ │ ├── CMakeOutput.log │ │ │ ├── CMakeRuleHashes.txt │ │ │ ├── Makefile.cmake │ │ │ ├── Makefile2 │ │ │ ├── ROSBUILD_genmsg_cpp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_genmsg_lisp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_gensrv_cpp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_gensrv_lisp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── TargetDirectories.txt │ │ │ ├── _catkin_empty_exported_target.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── clean_test_results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── cmake.check_cache │ │ │ ├── doxygen.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── pose_utils.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── src │ │ │ │ │ └── pose_utils.cpp.o │ │ │ ├── progress.marks │ │ │ ├── rosbuild_clean-test-results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rosbuild_precompile.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rosbuild_premsgsrvgen.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rospack_genmsg.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rospack_genmsg_libexe.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rospack_gensrv.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── run_tests.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-future.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-results-run.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ └── tests.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ ├── Makefile │ │ ├── catkin │ │ │ └── catkin_generated │ │ │ │ └── version │ │ │ │ └── package.cmake │ │ ├── catkin_generated │ │ │ ├── env_cached.sh │ │ │ ├── generate_cached_setup.py │ │ │ ├── installspace │ │ │ │ ├── .rosinstall │ │ │ │ ├── _setup_util.py │ │ │ │ ├── env.sh │ │ │ │ ├── setup.bash │ │ │ │ ├── setup.sh │ │ │ │ └── setup.zsh │ │ │ ├── ordered_paths.cmake │ │ │ ├── setup_cached.sh │ │ │ └── stamps │ │ │ │ └── pose_utils │ │ │ │ ├── interrogate_setup_dot_py.py.stamp │ │ │ │ └── package.xml.stamp │ │ ├── cmake_install.cmake │ │ ├── devel │ │ │ ├── .catkin │ │ │ ├── .rosinstall │ │ │ ├── _setup_util.py │ │ │ ├── env.sh │ │ │ ├── etc │ │ │ │ └── catkin │ │ │ │ │ └── profile.d │ │ │ │ │ ├── 05.catkin-test-results.sh │ │ │ │ │ ├── 05.catkin_make.bash │ │ │ │ │ └── 05.catkin_make_isolated.bash │ │ │ ├── setup.bash │ │ │ ├── setup.sh │ │ │ └── setup.zsh │ │ └── gtest │ │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── gtest.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ ├── gtest_main.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ └── progress.marks │ │ │ ├── Makefile │ │ │ └── cmake_install.cmake │ ├── include │ │ └── pose_utils.h │ ├── lib │ │ └── libpose_utils.so │ ├── package.xml │ └── src │ │ ├── pose_utils.cpp │ │ └── pose_utils.cpp~ │ ├── quadrotor_msgs │ ├── CMakeLists.txt │ ├── cmake │ │ └── FindEigen3.cmake │ ├── include │ │ └── quadrotor_msgs │ │ │ ├── comm_types.h │ │ │ ├── decode_msgs.h │ │ │ └── encode_msgs.h │ ├── msg │ │ ├── AuxCommand.msg │ │ ├── Bspline.msg │ │ ├── Corrections.msg │ │ ├── Gains.msg │ │ ├── GoalSet.msg │ │ ├── LQRTrajectory.msg │ │ ├── Odometry.msg │ │ ├── OptimalTimeAllocator.msg │ │ ├── OutputData.msg │ │ ├── PPROutputData.msg │ │ ├── PolynomialTrajectory.msg │ │ ├── PolynomialTrajectory.msg~ │ │ ├── PositionCommand.msg │ │ ├── PositionCommand.msg~ │ │ ├── PositionCommand_back.msg │ │ ├── Px4ctrlDebug.msg │ │ ├── Replan.msg │ │ ├── ReplanCheck.msg │ │ ├── SO3Command.msg │ │ ├── Serial.msg │ │ ├── SpatialTemporalTrajectory.msg │ │ ├── StatusData.msg │ │ ├── SwarmCommand.msg │ │ ├── SwarmInfo.msg │ │ ├── SwarmOdometry.msg │ │ ├── TRPYCommand.msg │ │ ├── TakeoffLand.msg │ │ └── TrajectoryMatrix.msg │ ├── package.xml │ └── src │ │ ├── decode_msgs.cpp │ │ ├── encode_msgs.cpp │ │ └── quadrotor_msgs │ │ ├── __init__.py │ │ ├── __init__.pyc │ │ └── msg │ │ ├── _AuxCommand.py │ │ ├── _Corrections.py │ │ ├── _Gains.py │ │ ├── _OutputData.py │ │ ├── _PPROutputData.py │ │ ├── _PositionCommand.py │ │ ├── _SO3Command.py │ │ ├── _Serial.py │ │ ├── _StatusData.py │ │ ├── _TRPYCommand.py │ │ └── __init__.py │ ├── record.sh │ ├── rviz_plugins │ ├── CMakeLists.txt │ ├── config │ │ └── rviz_config.rviz │ ├── package.xml │ ├── plugin_description.xml │ └── src │ │ ├── aerialmap_display.cpp │ │ ├── aerialmap_display.h │ │ ├── gamelikeinput.cpp │ │ ├── gamelikeinput.hpp │ │ ├── goal_tool.cpp │ │ ├── goal_tool.h │ │ ├── multi_probmap_display.cpp │ │ ├── multi_probmap_display.h │ │ ├── pose_tool.cpp │ │ ├── pose_tool.h │ │ ├── probmap_display.cpp │ │ └── probmap_display.h │ ├── uav_utils │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── uav_utils │ │ │ ├── converters.h │ │ │ ├── geometry_utils.h │ │ │ └── utils.h │ ├── package.xml │ ├── scripts │ │ ├── odom_to_euler.py │ │ ├── send_odom.py │ │ ├── tf_assist.py │ │ └── topic_statistics.py │ └── src │ │ └── uav_utils_test.cpp │ └── waypoint_generator │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ ├── sample_waypoints.h │ └── 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