├── .clang-format ├── LICENSE ├── README.md ├── attachment ├── Scene1_show.gif ├── Scene2_show.gif ├── fail.gif ├── map1.gif ├── map2.gif ├── map3.gif ├── real_experiment.png └── system_framework.png ├── perception_aware_planner ├── active_perception │ ├── CMakeLists.txt │ ├── include │ │ └── active_perception │ │ │ ├── frontier_data.h │ │ │ ├── frontier_finder.h │ │ │ ├── graph_search.h │ │ │ └── localization_aware_graph_search.h │ ├── package.xml │ └── src │ │ ├── frontier_finder.cpp │ │ └── localization_aware_graph_search.cpp ├── exploration_manager │ ├── CMakeLists.txt │ ├── config │ │ └── ft_param │ │ │ ├── map1.yaml │ │ │ ├── map2.yaml │ │ │ └── map3.yaml │ ├── include │ │ └── exploration_manager │ │ │ ├── expl_data.h │ │ │ ├── failure_detector.h │ │ │ ├── perception_aware_exploration_fsm.h │ │ │ └── perception_aware_exploration_manager.h │ ├── launch │ │ ├── include │ │ │ ├── algorithm.xml │ │ │ ├── exploration.launch │ │ │ ├── rviz.launch │ │ │ └── simulator.xml │ │ ├── run_map1.launch │ │ ├── run_map2.launch │ │ └── run_map3.launch │ ├── package.xml │ └── src │ │ ├── exploration_node.cpp │ │ ├── failure_detector.cpp │ │ ├── perception_aware_exploration_fsm.cpp │ │ └── perception_aware_exploration_manager.cpp ├── local_plan_manager │ ├── CMakeLists.txt │ ├── config │ │ └── traj.rviz │ ├── include │ │ └── local_plan_manager │ │ │ ├── backward.hpp │ │ │ ├── perception_aware_planner_manager.h │ │ │ ├── plan_container.hpp │ │ │ └── yaw_initial_planner.h │ ├── package.xml │ └── src │ │ ├── perception_aware_planner_manager.cpp │ │ ├── traj_server.cpp │ │ └── yaw_initial_planner.cpp ├── path_searching │ ├── CMakeLists.txt │ ├── include │ │ └── path_searching │ │ │ ├── astar2.h │ │ │ ├── kinodynamic_astar.h │ │ │ └── matrix_hash.h │ ├── package.xml │ └── src │ │ ├── astar2.cpp │ │ └── kinodynamic_astar.cpp ├── plan_env │ ├── CMakeLists.txt │ ├── include │ │ └── plan_env │ │ │ ├── edt_environment.h │ │ │ ├── feature_map.h │ │ │ ├── linear_obj_model.hpp │ │ │ ├── map_ros.h │ │ │ ├── obj_predictor.h │ │ │ ├── raycast.h │ │ │ └── sdf_map.h │ ├── package.xml │ └── src │ │ ├── edt_environment.cpp │ │ ├── feature_map.cpp │ │ ├── map_ros.cpp │ │ ├── obj_generator.cpp │ │ ├── obj_predictor.cpp │ │ ├── raycast.cpp │ │ └── sdf_map.cpp ├── traj_opt │ ├── CMakeLists.txt │ ├── include │ │ └── traj_opt │ │ │ ├── bspline_optimizer.h │ │ │ ├── lbfgs.hpp │ │ │ └── yaw_traj_opt.h │ ├── package.xml │ └── src │ │ ├── bspline_optimizer.cpp │ │ └── yaw_traj_opt.cpp ├── traj_utils │ ├── CMakeLists.txt │ ├── include │ │ ├── gcopter │ │ │ ├── firi.hpp │ │ │ ├── flatness.hpp │ │ │ ├── gcopter.hpp │ │ │ ├── geo_utils.hpp │ │ │ ├── lbfgs.hpp │ │ │ ├── minco.hpp │ │ │ ├── quickhull.hpp │ │ │ ├── root_finder.hpp │ │ │ ├── sdlp.hpp │ │ │ ├── sfc_gen.hpp │ │ │ ├── trajectory.hpp │ │ │ ├── voxel_dilater.hpp │ │ │ └── voxel_map.hpp │ │ └── traj_utils │ │ │ ├── non_uniform_bspline.h │ │ │ ├── planning_visualization.h │ │ │ ├── polynomial_traj.h │ │ │ └── pub_fov_marker_tf.h │ ├── msg │ │ ├── Bspline.msg │ │ ├── MINCOTraj.msg │ │ ├── MixTraj.msg │ │ └── PolyTraj.msg │ ├── package.xml │ └── src │ │ ├── non_uniform_bspline.cpp │ │ ├── planning_visualization.cpp │ │ ├── polynomial_traj.cpp │ │ └── pub_fov_marker_tf.cpp └── utils │ ├── CMakeLists.txt │ ├── config │ └── cam.yaml │ ├── include │ └── utils │ │ └── utils.h │ ├── package.xml │ └── src │ └── utils.cpp └── uav_simulator ├── Utils ├── cmake_utils │ ├── CMakeLists.txt │ ├── cmake │ │ ├── arch.cmake │ │ ├── cmake_modules.cmake │ │ └── color.cmake │ ├── cmake_modules │ │ ├── FindEigen.cmake │ │ ├── FindGSL.cmake │ │ └── FindmvIMPACT.cmake │ └── package.xml ├── 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 │ │ ├── Corrections.msg │ │ ├── Gains.msg │ │ ├── LQRTrajectory.msg │ │ ├── Odometry.msg │ │ ├── OutputData.msg │ │ ├── PPROutputData.msg │ │ ├── PolynomialTrajectory.msg │ │ ├── PolynomialTrajectory.msg~ │ │ ├── PositionCommand.msg │ │ ├── PositionCommand.msg~ │ │ ├── SO3Command.msg │ │ ├── Serial.msg │ │ ├── StatusData.msg │ │ └── TRPYCommand.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 ├── 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 │ └── waypoint_generator.cpp ├── local_sensing ├── CMakeLists.txt ├── CMakeModules │ ├── FindCUDA.cmake │ ├── FindCUDA │ │ ├── make2cmake.cmake │ │ ├── parse_cubin.cmake │ │ └── run_nvcc.cmake │ ├── FindEigen.cmake │ └── FindEigen.cmake~ ├── cfg │ └── local_sensing_node.cfg ├── include │ └── backward.hpp ├── package.xml ├── params │ └── camera.yaml └── src │ ├── AlignError.h │ ├── ceres_extensions.h │ ├── csv_convert.py │ ├── cuda_exception.cuh │ ├── depth_render.cu │ ├── depth_render.cuh │ ├── depth_render_node.cpp │ ├── device_image.cuh │ ├── empty.cpp │ ├── empty.h │ ├── euroc.cpp │ ├── helper_math.h │ ├── pcl_render_node.cpp │ └── pointcloud_render_node.cpp ├── map_generator ├── CMakeLists.txt ├── package.xml ├── resource │ ├── map_5.ply │ ├── office.pcd │ ├── office2.pcd │ ├── office3.pcd │ └── pillar.pcd └── src │ ├── click_map.cpp │ ├── map_publisher.cpp │ ├── map_recorder.cpp │ └── random_forest_sensing.cpp ├── map_publisher ├── CMakeLists.txt ├── data │ ├── map1 │ │ ├── feature.ply │ │ └── scene.ply │ ├── map2 │ │ ├── feature.ply │ │ └── scene.ply │ └── map3 │ │ ├── feature.ply │ │ └── scene.ply ├── launch │ ├── map_publisher.launch │ └── map_publisher_bag.launch ├── package.xml └── src │ └── map_publisher.cpp ├── poscmd_2_odom ├── CMakeLists.txt ├── package.xml └── src │ └── poscmd_2_odom.cpp ├── so3_control ├── CMakeLists.txt ├── config │ ├── corrections_hummingbird.yaml │ ├── corrections_pelican.yaml │ ├── gains.yaml │ ├── gains_hummingbird.yaml │ └── gains_pelican.yaml ├── include │ └── so3_control │ │ └── SO3Control.h ├── mainpage.dox ├── nodelet_plugin.xml ├── package.xml └── src │ ├── SO3Control.cpp │ └── so3_control_nodelet.cpp ├── so3_disturbance_generator ├── CMakeLists.txt ├── cfg │ ├── cpp │ │ └── so3_disturbance_generator │ │ │ └── DisturbanceUIConfig.h │ ├── disturbance_ui.cfg │ └── disturbance_ui.cfgc ├── docs │ ├── DisturbanceUIConfig-usage.dox │ ├── DisturbanceUIConfig.dox │ └── DisturbanceUIConfig.wikidoc ├── include │ └── so3_disturbance_generator │ │ └── DisturbanceUIConfig.h ├── mainpage.dox ├── package.xml └── src │ ├── pose_utils.h │ ├── so3_disturbance_generator.cpp │ ├── so3_disturbance_generator.cpp~ │ └── so3_disturbance_generator │ ├── __init__.py │ └── cfg │ ├── DisturbanceUIConfig.py │ └── __init__.py └── so3_quadrotor_simulator ├── CMakeLists.txt ├── config └── rviz.rviz ├── include ├── ode │ ├── CHANGELOG │ ├── Jamroot │ ├── README │ ├── boost │ │ └── numeric │ │ │ ├── odeint.hpp │ │ │ └── odeint │ │ │ ├── algebra │ │ │ ├── array_algebra.hpp │ │ │ ├── default_operations.hpp │ │ │ ├── detail │ │ │ │ ├── for_each.hpp │ │ │ │ ├── macros.hpp │ │ │ │ └── reduce.hpp │ │ │ ├── fusion_algebra.hpp │ │ │ ├── range_algebra.hpp │ │ │ └── vector_space_algebra.hpp │ │ │ ├── config.hpp │ │ │ ├── external │ │ │ ├── gsl │ │ │ │ └── gsl_wrapper.hpp │ │ │ ├── mkl │ │ │ │ └── mkl_operations.hpp │ │ │ ├── mtl4 │ │ │ │ ├── implicit_euler_mtl4.hpp │ │ │ │ └── mtl4_resize.hpp │ │ │ ├── thrust │ │ │ │ ├── thrust_algebra.hpp │ │ │ │ ├── thrust_operations.hpp │ │ │ │ └── thrust_resize.hpp │ │ │ ├── vexcl │ │ │ │ └── vexcl_resize.hpp │ │ │ └── viennacl │ │ │ │ ├── viennacl_operations.hpp │ │ │ │ └── viennacl_resize.hpp │ │ │ ├── integrate │ │ │ ├── detail │ │ │ │ ├── integrate_adaptive.hpp │ │ │ │ ├── integrate_const.hpp │ │ │ │ ├── integrate_n_steps.hpp │ │ │ │ └── integrate_times.hpp │ │ │ ├── integrate.hpp │ │ │ ├── integrate_adaptive.hpp │ │ │ ├── integrate_const.hpp │ │ │ ├── integrate_n_steps.hpp │ │ │ ├── integrate_times.hpp │ │ │ ├── null_observer.hpp │ │ │ └── observer_collection.hpp │ │ │ ├── stepper │ │ │ ├── adams_bashforth.hpp │ │ │ ├── adams_bashforth_moulton.hpp │ │ │ ├── adams_moulton.hpp │ │ │ ├── base │ │ │ │ ├── algebra_stepper_base.hpp │ │ │ │ ├── explicit_error_stepper_base.hpp │ │ │ │ ├── explicit_error_stepper_fsal_base.hpp │ │ │ │ ├── explicit_stepper_base.hpp │ │ │ │ └── symplectic_rkn_stepper_base.hpp │ │ │ ├── bulirsch_stoer.hpp │ │ │ ├── bulirsch_stoer_dense_out.hpp │ │ │ ├── controlled_runge_kutta.hpp │ │ │ ├── controlled_step_result.hpp │ │ │ ├── dense_output_runge_kutta.hpp │ │ │ ├── detail │ │ │ │ ├── adams_bashforth_call_algebra.hpp │ │ │ │ ├── adams_bashforth_coefficients.hpp │ │ │ │ ├── adams_moulton_call_algebra.hpp │ │ │ │ ├── adams_moulton_coefficients.hpp │ │ │ │ ├── generic_rk_algorithm.hpp │ │ │ │ ├── generic_rk_call_algebra.hpp │ │ │ │ ├── generic_rk_operations.hpp │ │ │ │ └── rotating_buffer.hpp │ │ │ ├── euler.hpp │ │ │ ├── explicit_error_generic_rk.hpp │ │ │ ├── explicit_generic_rk.hpp │ │ │ ├── generation.hpp │ │ │ ├── generation │ │ │ │ ├── generation_controlled_runge_kutta.hpp │ │ │ │ ├── generation_dense_output_runge_kutta.hpp │ │ │ │ ├── generation_rosenbrock4.hpp │ │ │ │ ├── generation_runge_kutta_cash_karp54.hpp │ │ │ │ ├── generation_runge_kutta_cash_karp54_classic.hpp │ │ │ │ ├── generation_runge_kutta_dopri5.hpp │ │ │ │ ├── generation_runge_kutta_fehlberg78.hpp │ │ │ │ ├── make_controlled.hpp │ │ │ │ └── make_dense_output.hpp │ │ │ ├── implicit_euler.hpp │ │ │ ├── modified_midpoint.hpp │ │ │ ├── rosenbrock4.hpp │ │ │ ├── rosenbrock4_controller.hpp │ │ │ ├── rosenbrock4_dense_output.hpp │ │ │ ├── runge_kutta4.hpp │ │ │ ├── runge_kutta4_classic.hpp │ │ │ ├── runge_kutta_cash_karp54.hpp │ │ │ ├── runge_kutta_cash_karp54_classic.hpp │ │ │ ├── runge_kutta_dopri5.hpp │ │ │ ├── runge_kutta_fehlberg78.hpp │ │ │ ├── stepper_categories.hpp │ │ │ ├── symplectic_euler.hpp │ │ │ ├── symplectic_rkn_sb3a_m4_mclachlan.hpp │ │ │ └── symplectic_rkn_sb3a_mclachlan.hpp │ │ │ ├── util │ │ │ ├── bind.hpp │ │ │ ├── copy.hpp │ │ │ ├── detail │ │ │ │ ├── is_range.hpp │ │ │ │ └── less_with_sign.hpp │ │ │ ├── is_pair.hpp │ │ │ ├── is_resizeable.hpp │ │ │ ├── resize.hpp │ │ │ ├── resizer.hpp │ │ │ ├── same_instance.hpp │ │ │ ├── same_size.hpp │ │ │ ├── state_wrapper.hpp │ │ │ ├── ublas_wrapper.hpp │ │ │ ├── unit_helper.hpp │ │ │ └── unwrap_reference.hpp │ │ │ └── version.hpp │ └── libs │ │ └── numeric │ │ └── odeint │ │ ├── doc │ │ ├── Jamfile.v2 │ │ ├── acknowledgements.qbk │ │ ├── concepts.qbk │ │ ├── concepts │ │ │ ├── controlled_stepper.qbk │ │ │ ├── dense_output_stepper.qbk │ │ │ ├── error_stepper.qbk │ │ │ ├── implicit_system.qbk │ │ │ ├── state_algebra_operations.qbk │ │ │ ├── state_wrapper.qbk │ │ │ ├── stepper.qbk │ │ │ ├── symplectic_system.qbk │ │ │ └── system.qbk │ │ ├── controlled_stepper_table.qbk │ │ ├── details.qbk │ │ ├── details_bind_member_functions.qbk │ │ ├── details_boost_range.qbk │ │ ├── details_boost_ref.qbk │ │ ├── details_generation_functions.qbk │ │ ├── details_integrate_functions.qbk │ │ ├── details_state_types_algebras_operations.qbk │ │ ├── details_steppers.qbk │ │ ├── examples_table.qbk │ │ ├── getting_started.qbk │ │ ├── html │ │ │ ├── boostbook.css │ │ │ ├── images │ │ │ │ ├── alert.png │ │ │ │ ├── blank.png │ │ │ │ ├── callouts │ │ │ │ │ ├── 1.png │ │ │ │ │ ├── 1.svg │ │ │ │ │ ├── 10.png │ │ │ │ │ ├── 10.svg │ │ │ │ │ ├── 11.png │ │ │ │ │ ├── 11.svg │ │ │ │ │ ├── 12.png │ │ │ │ │ ├── 12.svg │ │ │ │ │ ├── 13.png │ │ │ │ │ ├── 13.svg │ │ │ │ │ ├── 14.png │ │ │ │ │ ├── 14.svg │ │ │ │ │ ├── 15.png │ │ │ │ │ ├── 15.svg │ │ │ │ │ ├── 16.svg │ │ │ │ │ ├── 17.svg │ │ │ │ │ ├── 18.svg │ │ │ │ │ ├── 19.svg │ │ │ │ │ ├── 2.png │ │ │ │ │ ├── 2.svg │ │ │ │ │ ├── 20.svg │ │ │ │ │ ├── 21.svg │ │ │ │ │ ├── 22.svg │ │ │ │ │ ├── 23.svg │ │ │ │ │ ├── 24.svg │ │ │ │ │ ├── 25.svg │ │ │ │ │ ├── 26.svg │ │ │ │ │ ├── 27.svg │ │ │ │ │ ├── 28.svg │ │ │ │ │ ├── 29.svg │ │ │ │ │ ├── 3.png │ │ │ │ │ ├── 3.svg │ │ │ │ │ ├── 30.svg │ │ │ │ │ ├── 4.png │ │ │ │ │ ├── 4.svg │ │ │ │ │ ├── 5.png │ │ │ │ │ ├── 5.svg │ │ │ │ │ ├── 6.png │ │ │ │ │ ├── 6.svg │ │ │ │ │ ├── 7.png │ │ │ │ │ ├── 7.svg │ │ │ │ │ ├── 8.png │ │ │ │ │ ├── 8.svg │ │ │ │ │ ├── 9.png │ │ │ │ │ └── 9.svg │ │ │ │ ├── caution.png │ │ │ │ ├── caution.svg │ │ │ │ ├── draft.png │ │ │ │ ├── home.png │ │ │ │ ├── home.svg │ │ │ │ ├── important.png │ │ │ │ ├── important.svg │ │ │ │ ├── next.png │ │ │ │ ├── next.svg │ │ │ │ ├── next_disabled.png │ │ │ │ ├── note.png │ │ │ │ ├── note.svg │ │ │ │ ├── prev.png │ │ │ │ ├── prev.svg │ │ │ │ ├── prev_disabled.png │ │ │ │ ├── smiley.png │ │ │ │ ├── tip.png │ │ │ │ ├── tip.svg │ │ │ │ ├── toc-blank.png │ │ │ │ ├── toc-minus.png │ │ │ │ ├── toc-plus.png │ │ │ │ ├── up.png │ │ │ │ ├── up.svg │ │ │ │ ├── up_disabled.png │ │ │ │ ├── warning.png │ │ │ │ └── warning.svg │ │ │ ├── logo.jpg │ │ │ ├── phase_lattice_2d_0000.jpg │ │ │ ├── phase_lattice_2d_0100.jpg │ │ │ ├── phase_lattice_2d_1000.jpg │ │ │ └── solar_system.jpg │ │ ├── literature.qbk │ │ ├── make_controlled_table.qbk │ │ ├── make_dense_output_table.qbk │ │ ├── odeint.idx │ │ ├── odeint.qbk │ │ ├── range_table.qbk │ │ ├── stepper_table.qbk │ │ ├── tutorial.qbk │ │ ├── tutorial_chaotic_system.qbk │ │ ├── tutorial_harmonic_oscillator.qbk │ │ ├── tutorial_solar_system.qbk │ │ ├── tutorial_special_topics.qbk │ │ ├── tutorial_stiff_systems.qbk │ │ ├── tutorial_thrust_cuda.qbk │ │ └── tutorial_vexcl_opencl.qbk │ │ ├── examples │ │ ├── 2d_lattice │ │ │ ├── Jamfile.v2 │ │ │ ├── lattice2d.hpp │ │ │ ├── nested_range_algebra.hpp │ │ │ ├── spreading.cpp │ │ │ └── vector_vector_resize.hpp │ │ ├── Jamfile.v2 │ │ ├── bind_member_functions.cpp │ │ ├── bind_member_functions_cpp11.cpp │ │ ├── bulirsch_stoer.cpp │ │ ├── chaotic_system.cpp │ │ ├── elliptic.py │ │ ├── elliptic_functions.cpp │ │ ├── fpu.cpp │ │ ├── generation_functions.cpp │ │ ├── gmpxx │ │ │ └── lorenz_gmpxx.cpp │ │ ├── gram_schmidt.hpp │ │ ├── harmonic_oscillator.cpp │ │ ├── harmonic_oscillator_units.cpp │ │ ├── heun.cpp │ │ ├── list_lattice.cpp │ │ ├── lorenz_point.cpp │ │ ├── mtl │ │ │ ├── Jamfile.v2 │ │ │ ├── gauss_packet.cpp │ │ │ └── implicit_euler_mtl.cpp │ │ ├── my_vector.cpp │ │ ├── phase_oscillator_ensemble.cpp │ │ ├── point_type.hpp │ │ ├── quadmath │ │ │ ├── Jamfile.v2 │ │ │ └── black_hole.cpp │ │ ├── resizing_lattice.cpp │ │ ├── simple1d.cpp │ │ ├── solar_system.agr │ │ ├── solar_system.cpp │ │ ├── stepper_details.cpp │ │ ├── stiff_system.cpp │ │ ├── stochastic_euler.cpp │ │ ├── stuart_landau.cpp │ │ ├── thrust │ │ │ ├── Makefile │ │ │ ├── lorenz_parameters.cu │ │ │ ├── phase_oscillator_chain.cu │ │ │ ├── phase_oscillator_ensemble.cu │ │ │ └── relaxation.cu │ │ ├── two_dimensional_phase_lattice.cpp │ │ ├── ublas │ │ │ ├── Jamfile.v2 │ │ │ └── lorenz_ublas.cpp │ │ ├── van_der_pol_stiff.cpp │ │ └── vexcl │ │ │ ├── Jamfile.v2 │ │ │ └── lorenz_ensemble.cpp │ │ ├── index.html │ │ ├── performance │ │ ├── Jamfile.v2 │ │ ├── fusion_algebra.hpp │ │ ├── fusion_explicit_error_rk.hpp │ │ ├── fusion_explicit_rk_new.hpp │ │ ├── generic_odeint_rk4_lorenz.cpp │ │ ├── gsl_rk4_lorenz.cpp │ │ ├── lorenz.hpp │ │ ├── lorenz_gsl.hpp │ │ ├── nr_rk4_lorenz.cpp │ │ ├── nr_rk4_phase_lattice.cpp │ │ ├── odeint_rk4_lorenz_array.cpp │ │ ├── odeint_rk4_lorenz_range.cpp │ │ ├── odeint_rk4_phase_lattice.cpp │ │ ├── odeint_rk4_phase_lattice_mkl.cpp │ │ ├── performance.py │ │ ├── phase_lattice.hpp │ │ ├── phase_lattice_mkl.hpp │ │ ├── plot_result.py │ │ ├── rk4_lorenz.f │ │ ├── rk_performance_test_case.hpp │ │ ├── rt_algebra.hpp │ │ ├── rt_explicit_rk.hpp │ │ ├── rt_generic_rk4_lorenz.cpp │ │ └── rt_generic_rk4_phase_lattice.cpp │ │ ├── test │ │ ├── Jamfile.v2 │ │ ├── adams_bashforth.cpp │ │ ├── adams_bashforth_moulton.cpp │ │ ├── adams_moulton.cpp │ │ ├── boost_units_helpers.hpp │ │ ├── bulirsch_stoer.cpp │ │ ├── const_range.hpp │ │ ├── default_operations.cpp │ │ ├── diagnostic_state_type.hpp │ │ ├── dummy_odes.hpp │ │ ├── dummy_steppers.hpp │ │ ├── euler_stepper.cpp │ │ ├── fusion_algebra.cpp │ │ ├── generation.cpp │ │ ├── generic_error_stepper.cpp │ │ ├── generic_stepper.cpp │ │ ├── implicit_euler.cpp │ │ ├── integrate.cpp │ │ ├── integrate_implicit.cpp │ │ ├── integrate_times.cpp │ │ ├── is_pair.cpp │ │ ├── is_resizeable.cpp │ │ ├── numeric │ │ │ ├── Jamfile.v2 │ │ │ ├── rosenbrock.cpp │ │ │ ├── runge_kutta.cpp │ │ │ └── symplectic.cpp │ │ ├── prepare_stepper_testing.hpp │ │ ├── range_algebra.cpp │ │ ├── resize.cpp │ │ ├── resizing.cpp │ │ ├── rosenbrock4.cpp │ │ ├── runge_kutta_concepts.cpp │ │ ├── runge_kutta_controlled_concepts.cpp │ │ ├── runge_kutta_error_concepts.cpp │ │ ├── same_size.cpp │ │ ├── stepper_copying.cpp │ │ ├── stepper_with_ranges.cpp │ │ ├── stepper_with_units.cpp │ │ ├── symplectic_steppers.cpp │ │ ├── trivial_state.cpp │ │ └── vector_space_1d.hpp │ │ └── test_external │ │ ├── gmp │ │ ├── Jamfile.v2 │ │ ├── check_gmp.cpp │ │ └── gmp_integrate.cpp │ │ ├── gsl │ │ ├── Jamfile.v2 │ │ └── check_gsl.cpp │ │ ├── mkl │ │ ├── Jamfile.v2 │ │ └── check_mkl.cpp │ │ ├── mtl4 │ │ ├── Jamfile.v2 │ │ └── mtl4_resize.cpp │ │ ├── thrust │ │ ├── Makefile │ │ └── check_thrust.cu │ │ └── vexcl │ │ ├── Jamfile.v2 │ │ └── lorenz.cpp └── quadrotor_simulator │ └── Quadrotor.h ├── launch └── simulator.launch ├── package.xml └── src ├── dynamics └── Quadrotor.cpp ├── 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