├── .gitignore ├── CMakeLists.txt ├── README.md ├── config ├── controller_config.yaml ├── planner_config.yaml └── reference_line.yaml ├── docs ├── 0926.png ├── cilqr.png ├── em_planner.gif ├── em_planner.png ├── lattice_planner.gif └── lattice_planner.png ├── include ├── collision_detection.hpp ├── controller │ ├── controller.h │ └── controller_node.h ├── m_common.hpp ├── m_types.hpp ├── optim │ ├── b_spline_optim.hpp │ ├── optim_interface.hpp │ └── qp_optim.hpp ├── plan.hpp ├── planner │ ├── cilqr.hpp │ ├── cilqr_constraints.hpp │ ├── cilqr_constraints_interface.hpp │ ├── cilqr_planner.hpp │ ├── cilqr_vehicle_model.hpp │ ├── em_planner.hpp │ └── lattice_planner.hpp ├── quartic_polynomial.hpp ├── quintic_polynomial.hpp ├── reference_line.hpp └── visualization.hpp ├── launch ├── controller.launch └── plan.launch ├── package.xml ├── rviz └── plan.rviz ├── scripts ├── cilqr_visualization.py ├── create_npc.py └── get_lane_info.py ├── src ├── collision_detection.cpp ├── controller │ ├── controller.cpp │ ├── controller_main.cpp │ └── controller_node.cpp ├── m_common.cpp ├── main.cpp ├── optim │ ├── b_spline_optim.cpp │ └── qp_optim.cpp ├── plan.cpp ├── planner │ ├── cilqr.cpp │ ├── cilqr_constraints.cpp │ ├── cilqr_planner.cpp │ ├── em_planner.cpp │ └── lattice_planner.cpp ├── reference_line.cpp └── visualization.cpp └── waypoint_msgs ├── Waypoint.msg └── WaypointArray.msg /.gitignore: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Raiden49/auto_drive/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Raiden49/auto_drive/HEAD/README.md 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