├── .gitignore ├── README.md ├── Utils ├── odom_visualization │ ├── CMakeLists.txt │ ├── Makefile │ ├── mainpage.dox │ ├── meshes │ │ └── hummingbird.mesh │ ├── package.xml │ └── src │ │ ├── CameraPoseVisualization.cpp │ │ ├── CameraPoseVisualization.h │ │ └── odom_visualization.cpp ├── pose_utils │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ └── pose_utils.h │ ├── package.xml │ └── src │ │ └── 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 │ │ ├── Corrections.msg │ │ ├── Gains.msg │ │ ├── Odometry.msg │ │ ├── OutputData.msg │ │ ├── PPROutputData.msg │ │ ├── PolynomialMatrix.msg │ │ ├── PolynomialTraj.msg │ │ ├── PolynomialTrajectory.msg │ │ ├── PositionCommand.msg │ │ ├── Px4ctrlDebug.msg │ │ ├── SO3Command.msg │ │ ├── Serial.msg │ │ ├── StatusData.msg │ │ ├── TRPYCommand.msg │ │ ├── TakeoffLand.msg │ │ └── Trajectory.msg │ ├── package.xml │ └── src │ │ ├── decode_msgs.cpp │ │ ├── encode_msgs.cpp │ │ └── quadrotor_msgs │ │ ├── __init__.py │ │ └── msg │ │ ├── _AuxCommand.py │ │ ├── _Corrections.py │ │ ├── _Gains.py │ │ ├── _OutputData.py │ │ ├── _PPROutputData.py │ │ ├── _PositionCommand.py │ │ ├── _SO3Command.py │ │ ├── _Serial.py │ │ ├── _StatusData.py │ │ ├── _TRPYCommand.py │ │ └── __init__.py ├── rviz_plugins │ ├── CMakeLists.txt │ ├── config │ │ └── rviz_config.rviz │ ├── package.xml │ ├── plugin_description.xml │ └── src │ │ ├── goal_tool.cpp │ │ ├── goal_tool.h │ │ ├── pose_tool.cpp │ │ └── pose_tool.h └── uav_utils │ ├── CMakeLists.txt │ ├── 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 ├── controller └── payload_mpc_controller │ ├── CMakeLists.txt │ ├── config │ ├── model.yaml │ └── mpc.yaml │ ├── externals │ └── qpoases │ │ ├── EXAMPLES │ │ ├── example1.cpp │ │ └── example1b.cpp │ │ ├── INCLUDE │ │ ├── Bounds.hpp │ │ ├── Constants.hpp │ │ ├── Constraints.hpp │ │ ├── CyclingManager.hpp │ │ ├── EXTRAS │ │ │ └── SolutionAnalysis.hpp │ │ ├── Indexlist.hpp │ │ ├── MessageHandling.hpp │ │ ├── QProblem.hpp │ │ ├── QProblemB.hpp │ │ ├── SubjectTo.hpp │ │ ├── Types.hpp │ │ └── Utils.hpp │ │ ├── LICENSE.txt │ │ ├── README.txt │ │ ├── SRC │ │ ├── Bounds.cpp │ │ ├── Bounds.ipp │ │ ├── Constraints.cpp │ │ ├── Constraints.ipp │ │ ├── CyclingManager.cpp │ │ ├── CyclingManager.ipp │ │ ├── EXTRAS │ │ │ └── SolutionAnalysis.cpp │ │ ├── Indexlist.cpp │ │ ├── Indexlist.ipp │ │ ├── MessageHandling.cpp │ │ ├── MessageHandling.ipp │ │ ├── QProblem.cpp │ │ ├── QProblem.ipp │ │ ├── QProblemB.cpp │ │ ├── QProblemB.ipp │ │ ├── SubjectTo.cpp │ │ ├── SubjectTo.ipp │ │ ├── Utils.cpp │ │ └── Utils.ipp │ │ └── VERSIONS.txt │ ├── include │ └── payload_mpc_controller │ │ ├── flatness.h │ │ ├── force_estimator.hpp │ │ ├── lbfgs.hpp │ │ ├── lowpassfilter2p.h │ │ ├── mpc_controller.h │ │ ├── mpc_fsm.h │ │ ├── mpc_input.h │ │ ├── mpc_params.h │ │ ├── mpc_wrapper.h │ │ ├── multi_optimization_based_force_estimator.hpp │ │ ├── multi_optimization_based_force_estimator_min_length.hpp │ │ ├── optimization_based_force_estimator_lbfgs.hpp │ │ └── polynomial_trajectory.h │ ├── model │ ├── CMakeLists.txt │ ├── FindACADO.cmake │ ├── Makefile │ ├── README.md │ ├── Yaml.cpp │ ├── Yaml.hpp │ ├── quadrotor_payload_mpc │ │ ├── acado_auxiliary_functions.c │ │ ├── acado_auxiliary_functions.h │ │ ├── acado_common.h │ │ ├── acado_integrator.c │ │ ├── acado_qpoases_interface.cpp │ │ ├── acado_qpoases_interface.hpp │ │ └── acado_solver.c │ ├── quadrotor_payload_mpc_hybird.cpp │ └── quadrotor_payload_mpc_with_ext_force.cpp │ ├── package.xml │ └── src │ ├── mpc_controller.cpp │ ├── mpc_controller_node.cpp │ ├── mpc_fsm.cpp │ ├── mpc_input.cpp │ └── mpc_wrapper.cpp ├── imgs ├── cover.png ├── simulation.gif └── system.png ├── planner ├── path_searching │ ├── CMakeLists.txt │ ├── include │ │ └── path_searching │ │ │ ├── dyn_a_star.h │ │ │ └── kinodynamic_astar.h │ ├── package.xml │ └── src │ │ ├── dyn_a_star.cpp │ │ └── kinodynamic_astar.cpp ├── plan_env │ ├── CMakeLists.txt │ ├── include │ │ └── plan_env │ │ │ ├── grid_map.h │ │ │ └── raycast.h │ ├── package.xml │ └── src │ │ ├── grid_map.cpp │ │ └── raycast.cpp ├── plan_manage │ ├── CMakeLists.txt │ ├── config │ │ └── planning_params.yaml │ ├── include │ │ └── plan_manage │ │ │ ├── backward.hpp │ │ │ ├── planner_manager.h │ │ │ ├── planning_visualization.h │ │ │ └── replan_fsm.h │ ├── launch │ │ ├── planning_node_params.xml │ │ ├── replan.launch │ │ ├── rviz.launch │ │ ├── sim_vis.rviz │ │ ├── simple_run.launch │ │ └── simulator.xml │ ├── package.xml │ └── src │ │ ├── payload_planner_node.cpp │ │ ├── planner_manager.cpp │ │ ├── planning_visualization.cpp │ │ └── replan_fsm.cpp ├── traj_opt │ ├── CMakeLists.txt │ ├── include │ │ └── optimizer │ │ │ ├── flatness.hpp │ │ │ ├── lbfgs.hpp │ │ │ ├── plan_container.hpp │ │ │ ├── poly_traj_optimizer.h │ │ │ ├── poly_traj_utils.hpp │ │ │ └── root_finder.hpp │ ├── package.xml │ └── src │ │ └── poly_traj_optimizer.cpp └── traj_utils │ ├── CMakeLists.txt │ ├── msg │ └── DataDisp.msg │ ├── package.xml │ └── src │ └── main.cpp └── uav_simulator ├── local_sensing ├── CMakeLists.txt ├── CMakeModules │ ├── FindCUDA.cmake │ ├── FindCUDA │ │ ├── make2cmake.cmake │ │ ├── parse_cubin.cmake │ │ └── run_nvcc.cmake │ └── FindEigen.cmake ├── cfg │ └── local_sensing_node.cfg ├── package.xml ├── params │ └── camera.yaml └── src │ ├── AlignError.h │ ├── ceres_extensions.h │ ├── csv_convert.py │ ├── cuda_exception.cuh │ ├── depth_render.cu │ ├── depth_render.cuh │ ├── device_image.cuh │ ├── empty.cpp │ ├── empty.h │ ├── euroc.cpp │ ├── helper_math.h │ ├── pcl_render_node.cpp │ └── pointcloud_render_node.cpp ├── map_generator ├── CMakeLists.txt ├── include │ └── map_generator │ │ └── map_generator.hpp ├── package.xml ├── payload_replan.launch └── src │ ├── map_generator.cpp │ └── random_forest_sensing.cpp ├── mockamap ├── CMakeLists.txt ├── README.md ├── config │ └── rviz.rviz ├── include │ ├── maps.hpp │ └── perlinnoise.hpp ├── launch │ ├── maze2d.launch │ ├── maze3d.launch │ ├── mockamap.launch │ ├── perlin3d.launch │ └── post2d.launch ├── package.xml └── src │ ├── .clang-format │ ├── ces_randommap.cpp │ ├── maps.cpp │ ├── mockamap.cpp │ └── perlinnoise.cpp ├── so3_quadrotor ├── CMakeLists.txt ├── include │ └── so3_quadrotor │ │ ├── geometry_utils.hpp │ │ └── quadrotor_dynamics.hpp ├── nodelet_plugin.xml ├── package.xml └── src │ └── so3_quadrotor_nodelet.cpp └── uav_simulator ├── CMakeLists.txt ├── config ├── local_sensing.yaml ├── mockamap.yaml ├── rviz.rviz └── so3_quadrotor.yaml ├── launch └── uav_simulator.launch └── package.xml /.gitignore: -------------------------------------------------------------------------------- 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