├── .gitignore ├── LICENSE ├── README.md ├── assets ├── imgs │ └── logo.svg └── videos │ ├── iros_demo.gif │ ├── overview.gif │ ├── pisa.gif │ └── sydney.gif └── src ├── planner ├── .clang-format ├── active_perception │ ├── CMakeLists.txt │ ├── include │ │ └── active_perception │ │ │ ├── frontier_finder.h │ │ │ ├── graph_node.h │ │ │ ├── graph_search.h │ │ │ └── perception_utils.h │ ├── package.xml │ └── src │ │ ├── frontier_finder.cpp │ │ ├── graph_node.cpp │ │ └── perception_utils.cpp ├── heterogeneous_manager │ ├── CMakeLists.txt │ ├── config │ │ └── hetero.rviz │ ├── include │ │ ├── heterogeneous_manager │ │ │ ├── backward.hpp │ │ │ ├── coverage_manager.h │ │ │ ├── hetero_data.h │ │ │ ├── heterogeneous_planner_fsm.h │ │ │ └── heterogeneous_planner_manager.h │ │ └── ikd-Tree │ │ │ ├── ikd_Tree.cpp │ │ │ └── ikd_Tree.h │ ├── launch │ │ ├── algorithm_camera_drone_pisa.xml │ │ ├── algorithm_camera_drone_sydney.xml │ │ ├── algorithm_lidar_drone_pisa.xml │ │ ├── algorithm_lidar_drone_sydney.xml │ │ ├── pisa.launch │ │ ├── rviz.launch │ │ ├── single_camera_uav.xml │ │ ├── single_camera_uav_exploration.xml │ │ ├── single_lidar_uav.xml │ │ ├── single_lidar_uav_exploration.xml │ │ └── sydney.launch │ ├── msg │ │ ├── DroneState.msg │ │ ├── ViewpointsTask.msg │ │ └── VisitedTour.msg │ ├── package.xml │ └── src │ │ ├── coverage_manager.cpp │ │ ├── heterogeneous_planner_fsm.cpp │ │ ├── heterogeneous_planner_manager.cpp │ │ └── heterogeneous_planner_node.cpp ├── path_searching │ ├── CMakeLists.txt │ ├── include │ │ └── path_searching │ │ │ ├── astar2.h │ │ │ └── matrix_hash.h │ ├── package.xml │ └── src │ │ └── astar2.cpp ├── plan_env │ ├── CMakeLists.txt │ ├── include │ │ └── plan_env │ │ │ ├── edt_environment.h │ │ │ ├── map_ros.h │ │ │ ├── multi_map_manager.h │ │ │ ├── raycast.h │ │ │ └── sdf_map.h │ ├── msg │ │ ├── ChunkData.msg │ │ ├── ChunkStamps.msg │ │ └── IdxList.msg │ ├── package.xml │ └── src │ │ ├── edt_environment.cpp │ │ ├── map_ros.cpp │ │ ├── multi_map_manager.cpp │ │ ├── raycast.cpp │ │ └── sdf_map.cpp ├── traj_manager │ ├── CMakeLists.txt │ ├── include │ │ └── traj_manager │ │ │ ├── backward.hpp │ │ │ └── traj_generator.h │ ├── output │ │ └── .gitkeep │ ├── package.xml │ └── src │ │ ├── traj_generator.cpp │ │ └── traj_server.cpp └── utils │ ├── lkh_mtsp_solver │ ├── CMakeLists.txt │ ├── LKH │ │ ├── .DS_Store │ │ ├── Makefile │ │ ├── README.txt │ │ └── SRC │ │ │ ├── Activate.c │ │ │ ├── AddCandidate.c │ │ │ ├── AddExtraCandidates.c │ │ │ ├── AddTourCandidates.c │ │ │ ├── AdjustCandidateSet.c │ │ │ ├── AdjustClusters.c │ │ │ ├── AllocateStructures.c │ │ │ ├── Ascent.c │ │ │ ├── BIT.c │ │ │ ├── Best2OptMove.c │ │ │ ├── Best3OptMove.c │ │ │ ├── Best4OptMove.c │ │ │ ├── Best5OptMove.c │ │ │ ├── BestKOptMove.c │ │ │ ├── BestSpecialOptMove.c │ │ │ ├── Between.c │ │ │ ├── Between_SL.c │ │ │ ├── Between_SSL.c │ │ │ ├── BridgeGain.c │ │ │ ├── BuildKDTree.c │ │ │ ├── C.c │ │ │ ├── CTSP_InitialTour.c │ │ │ ├── CVRP_InitialTour.c │ │ │ ├── CandidateReport.c │ │ │ ├── ChooseInitialTour.c │ │ │ ├── Connect.c │ │ │ ├── CreateCandidateSet.c │ │ │ ├── CreateDelaunayCandidateSet.c │ │ │ ├── CreateNNCandidateSet.c │ │ │ ├── CreateQuadrantCandidateSet.c │ │ │ ├── Create_POPMUSIC_CandidateSet.c │ │ │ ├── Delaunay.c │ │ │ ├── Distance.c │ │ │ ├── Distance_MTSP.c │ │ │ ├── Distance_SOP.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 │ │ │ ├── INCLUDE │ │ │ ├── .DS_Store │ │ │ ├── BIT.h │ │ │ ├── Delaunay.h │ │ │ ├── GainType.h │ │ │ ├── Genetic.h │ │ │ ├── GeoConversion.h │ │ │ ├── Hashing.h │ │ │ ├── Heap.h │ │ │ ├── LKH.h │ │ │ ├── Segment.h │ │ │ ├── Sequence.h │ │ │ └── gpx.h │ │ │ ├── Improvement.c │ │ │ ├── IsBackboneCandidate.c │ │ │ ├── IsCandidate.c │ │ │ ├── IsCommonEdge.c │ │ │ ├── IsPossibleCandidate.c │ │ │ ├── KSwapKick.c │ │ │ ├── LKH.c │ │ │ ├── LKHmain.c │ │ │ ├── LinKernighan.c │ │ │ ├── MTSP2TSP.c │ │ │ ├── MTSP_InitialTour.c │ │ │ ├── MTSP_Report.c │ │ │ ├── MTSP_WriteSolution.c │ │ │ ├── Make2OptMove.c │ │ │ ├── Make3OptMove.c │ │ │ ├── Make4OptMove.c │ │ │ ├── Make5OptMove.c │ │ │ ├── MakeKOptMove.c │ │ │ ├── Makefile │ │ │ ├── MergeTourWithBestTour.c │ │ │ ├── MergeWithTourGPX2.c │ │ │ ├── MergeWithTourIPT.c │ │ │ ├── Minimum1TreeCost.c │ │ │ ├── MinimumSpanningTree.c │ │ │ ├── NormalizeNodeList.c │ │ │ ├── NormalizeSegmentList.c │ │ │ ├── OBJ │ │ │ └── .gitkeep │ │ │ ├── OrderCandidateSet.c │ │ │ ├── PDPTW_Reduce.c │ │ │ ├── PatchCycles.c │ │ │ ├── Penalty_1_PDTSP.c │ │ │ ├── Penalty_ACVRP.c │ │ │ ├── Penalty_BWTSP.c │ │ │ ├── Penalty_CCVRP.c │ │ │ ├── Penalty_CTSP.c │ │ │ ├── Penalty_CVRP.c │ │ │ ├── Penalty_CVRPTW.c │ │ │ ├── Penalty_M1_PDTSP.c │ │ │ ├── Penalty_MLP.c │ │ │ ├── Penalty_MTSP.c │ │ │ ├── Penalty_M_PDTSP.c │ │ │ ├── Penalty_OVRP.c │ │ │ ├── Penalty_PDPTW.c │ │ │ ├── Penalty_PDTSP.c │ │ │ ├── Penalty_PDTSPF.c │ │ │ ├── Penalty_PDTSPL.c │ │ │ ├── Penalty_RCTVRP.c │ │ │ ├── Penalty_SOP.c │ │ │ ├── Penalty_TRP.c │ │ │ ├── Penalty_TSPDL.c │ │ │ ├── Penalty_TSPPD.c │ │ │ ├── Penalty_TSPTW.c │ │ │ ├── Penalty_VRPB.c │ │ │ ├── Penalty_VRPBTW.c │ │ │ ├── Penalty_VRPPD.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 │ │ │ ├── SINTEF_WriteSolution.c │ │ │ ├── SOP_InitialTour.c │ │ │ ├── SOP_RepairTour.c │ │ │ ├── SOP_Report.c │ │ │ ├── STTSP2TSP.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 │ │ │ ├── StatusReport.c │ │ │ ├── StoreTour.c │ │ │ ├── SymmetrizeCandidateSet.c │ │ │ ├── TSPDL_InitialTour.c │ │ │ ├── TSPTW_MakespanCost.c │ │ │ ├── TSPTW_Reduce.c │ │ │ ├── TrimCandidateSet.c │ │ │ ├── VRPB_Reduce.c │ │ │ ├── WriteCandidates.c │ │ │ ├── WritePenalties.c │ │ │ ├── WriteTour.c │ │ │ ├── eprintf.c │ │ │ ├── fscanint.c │ │ │ ├── gpx.c │ │ │ └── printff.c │ ├── LKHmain.c │ ├── include │ │ ├── BIT.h │ │ ├── Delaunay.h │ │ ├── GainType.h │ │ ├── Genetic.h │ │ ├── GeoConversion.h │ │ ├── Hashing.h │ │ ├── Heap.h │ │ ├── LKH.h │ │ ├── Segment.h │ │ ├── Sequence.h │ │ ├── gpx.h │ │ └── lkh_mtsp_solver │ │ │ └── lkh3_interface.h │ ├── package.xml │ ├── resource │ │ └── .gitkeep │ ├── src │ │ ├── Activate.c │ │ ├── AddCandidate.c │ │ ├── AddExtraCandidates.c │ │ ├── AddTourCandidates.c │ │ ├── AdjustCandidateSet.c │ │ ├── AdjustClusters.c │ │ ├── AllocateStructures.c │ │ ├── Ascent.c │ │ ├── BIT.c │ │ ├── Best2OptMove.c │ │ ├── Best3OptMove.c │ │ ├── Best4OptMove.c │ │ ├── Best5OptMove.c │ │ ├── BestKOptMove.c │ │ ├── BestSpecialOptMove.c │ │ ├── Between.c │ │ ├── Between_SL.c │ │ ├── Between_SSL.c │ │ ├── BridgeGain.c │ │ ├── BuildKDTree.c │ │ ├── C.c │ │ ├── CTSP_InitialTour.c │ │ ├── CVRP_InitialTour.c │ │ ├── CandidateReport.c │ │ ├── ChooseInitialTour.c │ │ ├── Connect.c │ │ ├── CreateCandidateSet.c │ │ ├── CreateDelaunayCandidateSet.c │ │ ├── CreateNNCandidateSet.c │ │ ├── CreateQuadrantCandidateSet.c │ │ ├── Create_POPMUSIC_CandidateSet.c │ │ ├── Delaunay.c │ │ ├── Distance.c │ │ ├── Distance_MTSP.c │ │ ├── Distance_SOP.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 │ │ ├── Improvement.c │ │ ├── IsBackboneCandidate.c │ │ ├── IsCandidate.c │ │ ├── IsCommonEdge.c │ │ ├── IsPossibleCandidate.c │ │ ├── KSwapKick.c │ │ ├── LinKernighan.c │ │ ├── MTSP2TSP.c │ │ ├── MTSP_InitialTour.c │ │ ├── MTSP_Report.c │ │ ├── MTSP_WriteSolution.c │ │ ├── Make2OptMove.c │ │ ├── Make3OptMove.c │ │ ├── Make4OptMove.c │ │ ├── Make5OptMove.c │ │ ├── MakeKOptMove.c │ │ ├── Makefile │ │ ├── MergeTourWithBestTour.c │ │ ├── MergeWithTourGPX2.c │ │ ├── MergeWithTourIPT.c │ │ ├── Minimum1TreeCost.c │ │ ├── MinimumSpanningTree.c │ │ ├── NormalizeNodeList.c │ │ ├── NormalizeSegmentList.c │ │ ├── OrderCandidateSet.c │ │ ├── PDPTW_Reduce.c │ │ ├── PatchCycles.c │ │ ├── Penalty_1_PDTSP.c │ │ ├── Penalty_ACVRP.c │ │ ├── Penalty_BWTSP.c │ │ ├── Penalty_CCVRP.c │ │ ├── Penalty_CTSP.c │ │ ├── Penalty_CVRP.c │ │ ├── Penalty_CVRPTW.c │ │ ├── Penalty_M1_PDTSP.c │ │ ├── Penalty_MLP.c │ │ ├── Penalty_MTSP.c │ │ ├── Penalty_M_PDTSP.c │ │ ├── Penalty_OVRP.c │ │ ├── Penalty_PDPTW.c │ │ ├── Penalty_PDTSP.c │ │ ├── Penalty_PDTSPF.c │ │ ├── Penalty_PDTSPL.c │ │ ├── Penalty_RCTVRP.c │ │ ├── Penalty_SOP.c │ │ ├── Penalty_TRP.c │ │ ├── Penalty_TSPDL.c │ │ ├── Penalty_TSPPD.c │ │ ├── Penalty_TSPTW.c │ │ ├── Penalty_VRPB.c │ │ ├── Penalty_VRPBTW.c │ │ ├── Penalty_VRPPD.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 │ │ ├── SINTEF_WriteSolution.c │ │ ├── SOP_InitialTour.c │ │ ├── SOP_RepairTour.c │ │ ├── SOP_Report.c │ │ ├── STTSP2TSP.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 │ │ ├── StatusReport.c │ │ ├── StoreTour.c │ │ ├── SymmetrizeCandidateSet.c │ │ ├── TSPDL_InitialTour.c │ │ ├── TSPTW_MakespanCost.c │ │ ├── TSPTW_Reduce.c │ │ ├── TrimCandidateSet.c │ │ ├── VRPB_Reduce.c │ │ ├── WriteCandidates.c │ │ ├── WritePenalties.c │ │ ├── WriteTour.c │ │ ├── eprintf.c │ │ ├── fscanint.c │ │ ├── gpx.c │ │ └── printff.c │ ├── src2 │ │ ├── lkh3_interface.cpp │ │ └── mtsp_node.cpp │ └── srv │ │ └── SolveMTSP.srv │ └── traj_utils │ ├── CMakeLists.txt │ ├── include │ ├── gcopter │ │ ├── firi.hpp │ │ ├── flatness.hpp │ │ ├── gcopter.hpp │ │ ├── geo_utils.hpp │ │ ├── geoutils.hpp │ │ ├── lbfgs.hpp │ │ ├── lbfgs_new.hpp │ │ ├── minco.hpp │ │ ├── quickhull.hpp │ │ ├── root_finder.hpp │ │ ├── sdlp.hpp │ │ ├── sfc_gen.hpp │ │ ├── trajectory.hpp │ │ ├── voxel_dilater.hpp │ │ └── voxel_map.hpp │ └── traj_utils │ │ └── planning_visualization.h │ ├── package.xml │ └── src │ ├── planning_visualization.cpp │ └── process_msg.cpp └── simulator ├── README.md ├── Utils ├── mars_quadrotor_msgs │ ├── CMakeLists.txt │ ├── include │ │ └── quadrotor_msgs │ │ │ ├── comm_types.h │ │ │ ├── decode_msgs.h │ │ │ └── encode_msgs.h │ ├── msg │ │ ├── AuxCommand.msg │ │ ├── Bspline.msg │ │ ├── Corrections.msg │ │ ├── Gains.msg │ │ ├── LQRTrajectory.msg │ │ ├── MincoTrajectory.msg │ │ ├── MpcPositionCommand.msg │ │ ├── Odometry.msg │ │ ├── OptimalTimeAllocator.msg │ │ ├── OutputData.msg │ │ ├── PPROutputData.msg │ │ ├── PolyTraj.msg │ │ ├── PolynomialMatrix.msg │ │ ├── PolynomialTraj.msg │ │ ├── PolynomialTrajectory.msg │ │ ├── PositionCommand.msg │ │ ├── PositionCommand_back.msg │ │ ├── Px4ctrlDebug.msg │ │ ├── QuadrotorState.msg │ │ ├── Replan.msg │ │ ├── ReplanCheck.msg │ │ ├── SO3Command.msg │ │ ├── Serial.msg │ │ ├── ServerTime.msg │ │ ├── SpatialTemporalTrajectory.msg │ │ ├── StatusData.msg │ │ ├── SwarmCommand.msg │ │ ├── SwarmInfo.msg │ │ ├── SwarmOdometry.msg │ │ ├── TRPYCommand.msg │ │ ├── TakeoffLand.msg │ │ ├── TrajectoryMatrix.msg │ │ ├── TrakingPerformance.msg │ │ ├── aec.msg │ │ ├── ctrl.msg │ │ ├── drone_aec_info.msg │ │ ├── esdf_map.msg │ │ ├── fc_to_oa.msg │ │ ├── oa_manager_debug.msg │ │ ├── oa_result.msg │ │ └── vio_result.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 ├── odom_visualization │ ├── CMakeLists.txt │ ├── Makefile │ ├── cmake-build-debug │ │ ├── .cmake │ │ │ └── api │ │ │ │ └── v1 │ │ │ │ └── query │ │ │ │ ├── cache-v2 │ │ │ │ ├── cmakeFiles-v1 │ │ │ │ ├── codemodel-v2 │ │ │ │ └── toolchains-v1 │ │ ├── CMakeCache.txt │ │ ├── CMakeFiles │ │ │ ├── 3.21.1 │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ ├── CompilerIdC │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ └── a.out │ │ │ │ └── CompilerIdCXX │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ └── a.out │ │ │ ├── clion-environment.txt │ │ │ ├── clion-log.txt │ │ │ └── cmake.check_cache │ │ ├── CTestConfiguration.ini │ │ ├── CTestCustom.cmake │ │ ├── atomic_configure │ │ │ ├── .rosinstall │ │ │ ├── _setup_util.py │ │ │ ├── env.sh │ │ │ ├── local_setup.bash │ │ │ ├── local_setup.sh │ │ │ ├── local_setup.zsh │ │ │ ├── setup.bash │ │ │ ├── setup.sh │ │ │ └── setup.zsh │ │ ├── catkin │ │ │ └── catkin_generated │ │ │ │ └── version │ │ │ │ └── package.cmake │ │ └── catkin_generated │ │ │ ├── env_cached.sh │ │ │ ├── generate_cached_setup.py │ │ │ ├── installspace │ │ │ ├── .rosinstall │ │ │ ├── _setup_util.py │ │ │ ├── env.sh │ │ │ ├── local_setup.bash │ │ │ ├── local_setup.sh │ │ │ ├── local_setup.zsh │ │ │ ├── setup.bash │ │ │ ├── setup.sh │ │ │ └── setup.zsh │ │ │ ├── setup_cached.sh │ │ │ └── stamps │ │ │ └── odom_visualization │ │ │ ├── _setup_util.py.stamp │ │ │ ├── interrogate_setup_dot_py.py.stamp │ │ │ └── package.xml.stamp │ ├── meshes │ │ ├── Hongyan_addname0001.pcd │ │ ├── Hongyan_addname001.pcd │ │ ├── f250.dae │ │ ├── hongyan-pink.dae │ │ ├── hummingbird.mesh │ │ ├── yunque.dae │ │ ├── yunque0001.pcd │ │ └── yunque001.pcd │ ├── package.xml │ └── src │ │ └── odom_visualization.cpp ├── pose_utils │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ │ └── pose_utils.h │ ├── package.xml │ └── src │ │ └── pose_utils.cpp ├── rviz_plugins │ ├── CMakeLists.txt │ ├── Makefile │ ├── config │ │ └── rviz_config.rviz │ ├── package.xml │ ├── plugin_description.xml │ └── src │ │ ├── aerialmap_display.cpp │ │ ├── aerialmap_display.h │ │ ├── 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 ├── cascadePID ├── CMakeLists.txt ├── include │ └── cascadePID.hpp ├── package.xml └── src │ ├── cascadePID_node.cpp │ └── plot.py ├── local_sensing ├── CMakeLists.txt ├── include │ ├── 360camera.vs │ ├── FOV_Checker │ │ ├── FOV_Checker.cpp │ │ └── FOV_Checker.h │ ├── GL │ │ ├── glew.h │ │ ├── glxew.h │ │ └── wglew.h │ ├── camera.fs │ ├── camera.vs │ ├── filesystem.h │ ├── glad.c │ ├── glad │ │ └── glad.h │ ├── glm │ │ ├── CMakeLists.txt │ │ ├── common.hpp │ │ ├── detail │ │ │ ├── _features.hpp │ │ │ ├── _fixes.hpp │ │ │ ├── _noise.hpp │ │ │ ├── _swizzle.hpp │ │ │ ├── _swizzle_func.hpp │ │ │ ├── _vectorize.hpp │ │ │ ├── compute_common.hpp │ │ │ ├── compute_vector_relational.hpp │ │ │ ├── func_common.inl │ │ │ ├── func_common_simd.inl │ │ │ ├── func_exponential.inl │ │ │ ├── func_exponential_simd.inl │ │ │ ├── func_geometric.inl │ │ │ ├── func_geometric_simd.inl │ │ │ ├── func_integer.inl │ │ │ ├── func_integer_simd.inl │ │ │ ├── func_matrix.inl │ │ │ ├── func_matrix_simd.inl │ │ │ ├── func_packing.inl │ │ │ ├── func_packing_simd.inl │ │ │ ├── func_trigonometric.inl │ │ │ ├── func_trigonometric_simd.inl │ │ │ ├── func_vector_relational.inl │ │ │ ├── func_vector_relational_simd.inl │ │ │ ├── glm.cpp │ │ │ ├── qualifier.hpp │ │ │ ├── setup.hpp │ │ │ ├── type_float.hpp │ │ │ ├── type_half.hpp │ │ │ ├── type_half.inl │ │ │ ├── type_mat2x2.hpp │ │ │ ├── type_mat2x2.inl │ │ │ ├── type_mat2x3.hpp │ │ │ ├── type_mat2x3.inl │ │ │ ├── type_mat2x4.hpp │ │ │ ├── type_mat2x4.inl │ │ │ ├── type_mat3x2.hpp │ │ │ ├── type_mat3x2.inl │ │ │ ├── type_mat3x3.hpp │ │ │ ├── type_mat3x3.inl │ │ │ ├── type_mat3x4.hpp │ │ │ ├── type_mat3x4.inl │ │ │ ├── type_mat4x2.hpp │ │ │ ├── type_mat4x2.inl │ │ │ ├── type_mat4x3.hpp │ │ │ ├── type_mat4x3.inl │ │ │ ├── type_mat4x4.hpp │ │ │ ├── type_mat4x4.inl │ │ │ ├── type_mat4x4_simd.inl │ │ │ ├── type_quat.hpp │ │ │ ├── type_quat.inl │ │ │ ├── type_quat_simd.inl │ │ │ ├── type_vec1.hpp │ │ │ ├── type_vec1.inl │ │ │ ├── type_vec2.hpp │ │ │ ├── type_vec2.inl │ │ │ ├── type_vec3.hpp │ │ │ ├── type_vec3.inl │ │ │ ├── type_vec4.hpp │ │ │ ├── type_vec4.inl │ │ │ └── type_vec4_simd.inl │ │ ├── exponential.hpp │ │ ├── ext.hpp │ │ ├── ext │ │ │ ├── matrix_clip_space.hpp │ │ │ ├── matrix_clip_space.inl │ │ │ ├── matrix_double2x2.hpp │ │ │ ├── matrix_double2x2_precision.hpp │ │ │ ├── matrix_double2x3.hpp │ │ │ ├── matrix_double2x3_precision.hpp │ │ │ ├── matrix_double2x4.hpp │ │ │ ├── matrix_double2x4_precision.hpp │ │ │ ├── matrix_double3x2.hpp │ │ │ ├── matrix_double3x2_precision.hpp │ │ │ ├── matrix_double3x3.hpp │ │ │ ├── matrix_double3x3_precision.hpp │ │ │ ├── matrix_double3x4.hpp │ │ │ ├── matrix_double3x4_precision.hpp │ │ │ ├── matrix_double4x2.hpp │ │ │ ├── matrix_double4x2_precision.hpp │ │ │ ├── matrix_double4x3.hpp │ │ │ ├── matrix_double4x3_precision.hpp │ │ │ ├── matrix_double4x4.hpp │ │ │ ├── matrix_double4x4_precision.hpp │ │ │ ├── matrix_float2x2.hpp │ │ │ ├── matrix_float2x2_precision.hpp │ │ │ ├── matrix_float2x3.hpp │ │ │ ├── matrix_float2x3_precision.hpp │ │ │ ├── matrix_float2x4.hpp │ │ │ ├── matrix_float2x4_precision.hpp │ │ │ ├── matrix_float3x2.hpp │ │ │ ├── matrix_float3x2_precision.hpp │ │ │ ├── matrix_float3x3.hpp │ │ │ ├── matrix_float3x3_precision.hpp │ │ │ ├── matrix_float3x4.hpp │ │ │ ├── matrix_float3x4_precision.hpp │ │ │ ├── matrix_float4x2.hpp │ │ │ ├── matrix_float4x2_precision.hpp │ │ │ ├── matrix_float4x3.hpp │ │ │ ├── matrix_float4x3_precision.hpp │ │ │ ├── matrix_float4x4.hpp │ │ │ ├── matrix_float4x4_precision.hpp │ │ │ ├── matrix_projection.hpp │ │ │ ├── matrix_projection.inl │ │ │ ├── matrix_relational.hpp │ │ │ ├── matrix_relational.inl │ │ │ ├── matrix_transform.hpp │ │ │ ├── matrix_transform.inl │ │ │ ├── quaternion_common.hpp │ │ │ ├── quaternion_common.inl │ │ │ ├── quaternion_common_simd.inl │ │ │ ├── quaternion_double.hpp │ │ │ ├── quaternion_double_precision.hpp │ │ │ ├── quaternion_exponential.hpp │ │ │ ├── quaternion_exponential.inl │ │ │ ├── quaternion_float.hpp │ │ │ ├── quaternion_float_precision.hpp │ │ │ ├── quaternion_geometric.hpp │ │ │ ├── quaternion_geometric.inl │ │ │ ├── quaternion_relational.hpp │ │ │ ├── quaternion_relational.inl │ │ │ ├── quaternion_transform.hpp │ │ │ ├── quaternion_transform.inl │ │ │ ├── quaternion_trigonometric.hpp │ │ │ ├── quaternion_trigonometric.inl │ │ │ ├── scalar_common.hpp │ │ │ ├── scalar_common.inl │ │ │ ├── scalar_constants.hpp │ │ │ ├── scalar_constants.inl │ │ │ ├── scalar_int_sized.hpp │ │ │ ├── scalar_relational.hpp │ │ │ ├── scalar_relational.inl │ │ │ ├── scalar_uint_sized.hpp │ │ │ ├── scalar_ulp.hpp │ │ │ ├── scalar_ulp.inl │ │ │ ├── vector_bool1.hpp │ │ │ ├── vector_bool1_precision.hpp │ │ │ ├── vector_bool2.hpp │ │ │ ├── vector_bool2_precision.hpp │ │ │ ├── vector_bool3.hpp │ │ │ ├── vector_bool3_precision.hpp │ │ │ ├── vector_bool4.hpp │ │ │ ├── vector_bool4_precision.hpp │ │ │ ├── vector_common.hpp │ │ │ ├── vector_common.inl │ │ │ ├── vector_double1.hpp │ │ │ ├── vector_double1_precision.hpp │ │ │ ├── vector_double2.hpp │ │ │ ├── vector_double2_precision.hpp │ │ │ ├── vector_double3.hpp │ │ │ ├── vector_double3_precision.hpp │ │ │ ├── vector_double4.hpp │ │ │ ├── vector_double4_precision.hpp │ │ │ ├── vector_float1.hpp │ │ │ ├── vector_float1_precision.hpp │ │ │ ├── vector_float2.hpp │ │ │ ├── vector_float2_precision.hpp │ │ │ ├── vector_float3.hpp │ │ │ ├── vector_float3_precision.hpp │ │ │ ├── vector_float4.hpp │ │ │ ├── vector_float4_precision.hpp │ │ │ ├── vector_int1.hpp │ │ │ ├── vector_int1_precision.hpp │ │ │ ├── vector_int2.hpp │ │ │ ├── vector_int2_precision.hpp │ │ │ ├── vector_int3.hpp │ │ │ ├── vector_int3_precision.hpp │ │ │ ├── vector_int4.hpp │ │ │ ├── vector_int4_precision.hpp │ │ │ ├── vector_relational.hpp │ │ │ ├── vector_relational.inl │ │ │ ├── vector_uint1.hpp │ │ │ ├── vector_uint1_precision.hpp │ │ │ ├── vector_uint2.hpp │ │ │ ├── vector_uint2_precision.hpp │ │ │ ├── vector_uint3.hpp │ │ │ ├── vector_uint3_precision.hpp │ │ │ ├── vector_uint4.hpp │ │ │ ├── vector_uint4_precision.hpp │ │ │ ├── vector_ulp.hpp │ │ │ └── vector_ulp.inl │ │ ├── fwd.hpp │ │ ├── geometric.hpp │ │ ├── glm.hpp │ │ ├── gtc │ │ │ ├── bitfield.hpp │ │ │ ├── bitfield.inl │ │ │ ├── color_space.hpp │ │ │ ├── color_space.inl │ │ │ ├── constants.hpp │ │ │ ├── constants.inl │ │ │ ├── epsilon.hpp │ │ │ ├── epsilon.inl │ │ │ ├── integer.hpp │ │ │ ├── integer.inl │ │ │ ├── matrix_access.hpp │ │ │ ├── matrix_access.inl │ │ │ ├── matrix_integer.hpp │ │ │ ├── matrix_inverse.hpp │ │ │ ├── matrix_inverse.inl │ │ │ ├── matrix_transform.hpp │ │ │ ├── matrix_transform.inl │ │ │ ├── noise.hpp │ │ │ ├── noise.inl │ │ │ ├── packing.hpp │ │ │ ├── packing.inl │ │ │ ├── quaternion.hpp │ │ │ ├── quaternion.inl │ │ │ ├── quaternion_simd.inl │ │ │ ├── random.hpp │ │ │ ├── random.inl │ │ │ ├── reciprocal.hpp │ │ │ ├── reciprocal.inl │ │ │ ├── round.hpp │ │ │ ├── round.inl │ │ │ ├── type_aligned.hpp │ │ │ ├── type_precision.hpp │ │ │ ├── type_precision.inl │ │ │ ├── type_ptr.hpp │ │ │ ├── type_ptr.inl │ │ │ ├── ulp.hpp │ │ │ ├── ulp.inl │ │ │ └── vec1.hpp │ │ ├── gtx │ │ │ ├── associated_min_max.hpp │ │ │ ├── associated_min_max.inl │ │ │ ├── bit.hpp │ │ │ ├── bit.inl │ │ │ ├── closest_point.hpp │ │ │ ├── closest_point.inl │ │ │ ├── color_encoding.hpp │ │ │ ├── color_encoding.inl │ │ │ ├── color_space.hpp │ │ │ ├── color_space.inl │ │ │ ├── color_space_YCoCg.hpp │ │ │ ├── color_space_YCoCg.inl │ │ │ ├── common.hpp │ │ │ ├── common.inl │ │ │ ├── compatibility.hpp │ │ │ ├── compatibility.inl │ │ │ ├── component_wise.hpp │ │ │ ├── component_wise.inl │ │ │ ├── dual_quaternion.hpp │ │ │ ├── dual_quaternion.inl │ │ │ ├── easing.hpp │ │ │ ├── easing.inl │ │ │ ├── euler_angles.hpp │ │ │ ├── euler_angles.inl │ │ │ ├── extend.hpp │ │ │ ├── extend.inl │ │ │ ├── extended_min_max.hpp │ │ │ ├── extended_min_max.inl │ │ │ ├── exterior_product.hpp │ │ │ ├── exterior_product.inl │ │ │ ├── fast_exponential.hpp │ │ │ ├── fast_exponential.inl │ │ │ ├── fast_square_root.hpp │ │ │ ├── fast_square_root.inl │ │ │ ├── fast_trigonometry.hpp │ │ │ ├── fast_trigonometry.inl │ │ │ ├── float_notmalize.inl │ │ │ ├── functions.hpp │ │ │ ├── functions.inl │ │ │ ├── gradient_paint.hpp │ │ │ ├── gradient_paint.inl │ │ │ ├── handed_coordinate_space.hpp │ │ │ ├── handed_coordinate_space.inl │ │ │ ├── hash.hpp │ │ │ ├── hash.inl │ │ │ ├── integer.hpp │ │ │ ├── integer.inl │ │ │ ├── intersect.hpp │ │ │ ├── intersect.inl │ │ │ ├── io.hpp │ │ │ ├── io.inl │ │ │ ├── log_base.hpp │ │ │ ├── log_base.inl │ │ │ ├── matrix_cross_product.hpp │ │ │ ├── matrix_cross_product.inl │ │ │ ├── matrix_decompose.hpp │ │ │ ├── matrix_decompose.inl │ │ │ ├── matrix_factorisation.hpp │ │ │ ├── matrix_factorisation.inl │ │ │ ├── matrix_interpolation.hpp │ │ │ ├── matrix_interpolation.inl │ │ │ ├── matrix_major_storage.hpp │ │ │ ├── matrix_major_storage.inl │ │ │ ├── matrix_operation.hpp │ │ │ ├── matrix_operation.inl │ │ │ ├── matrix_query.hpp │ │ │ ├── matrix_query.inl │ │ │ ├── matrix_transform_2d.hpp │ │ │ ├── matrix_transform_2d.inl │ │ │ ├── mixed_product.hpp │ │ │ ├── mixed_product.inl │ │ │ ├── norm.hpp │ │ │ ├── norm.inl │ │ │ ├── normal.hpp │ │ │ ├── normal.inl │ │ │ ├── normalize_dot.hpp │ │ │ ├── normalize_dot.inl │ │ │ ├── number_precision.hpp │ │ │ ├── number_precision.inl │ │ │ ├── optimum_pow.hpp │ │ │ ├── optimum_pow.inl │ │ │ ├── orthonormalize.hpp │ │ │ ├── orthonormalize.inl │ │ │ ├── perpendicular.hpp │ │ │ ├── perpendicular.inl │ │ │ ├── polar_coordinates.hpp │ │ │ ├── polar_coordinates.inl │ │ │ ├── projection.hpp │ │ │ ├── projection.inl │ │ │ ├── quaternion.hpp │ │ │ ├── quaternion.inl │ │ │ ├── range.hpp │ │ │ ├── raw_data.hpp │ │ │ ├── raw_data.inl │ │ │ ├── rotate_normalized_axis.hpp │ │ │ ├── rotate_normalized_axis.inl │ │ │ ├── rotate_vector.hpp │ │ │ ├── rotate_vector.inl │ │ │ ├── scalar_multiplication.hpp │ │ │ ├── scalar_relational.hpp │ │ │ ├── scalar_relational.inl │ │ │ ├── spline.hpp │ │ │ ├── spline.inl │ │ │ ├── std_based_type.hpp │ │ │ ├── std_based_type.inl │ │ │ ├── string_cast.hpp │ │ │ ├── string_cast.inl │ │ │ ├── texture.hpp │ │ │ ├── texture.inl │ │ │ ├── transform.hpp │ │ │ ├── transform.inl │ │ │ ├── transform2.hpp │ │ │ ├── transform2.inl │ │ │ ├── type_aligned.hpp │ │ │ ├── type_aligned.inl │ │ │ ├── type_trait.hpp │ │ │ ├── type_trait.inl │ │ │ ├── vec_swizzle.hpp │ │ │ ├── vector_angle.hpp │ │ │ ├── vector_angle.inl │ │ │ ├── vector_query.hpp │ │ │ ├── vector_query.inl │ │ │ ├── wrap.hpp │ │ │ └── wrap.inl │ │ ├── integer.hpp │ │ ├── mat2x2.hpp │ │ ├── mat2x3.hpp │ │ ├── mat2x4.hpp │ │ ├── mat3x2.hpp │ │ ├── mat3x3.hpp │ │ ├── mat3x4.hpp │ │ ├── mat4x2.hpp │ │ ├── mat4x3.hpp │ │ ├── mat4x4.hpp │ │ ├── matrix.hpp │ │ ├── packing.hpp │ │ ├── simd │ │ │ ├── common.h │ │ │ ├── exponential.h │ │ │ ├── geometric.h │ │ │ ├── integer.h │ │ │ ├── matrix.h │ │ │ ├── packing.h │ │ │ ├── platform.h │ │ │ ├── trigonometric.h │ │ │ └── vector_relational.h │ │ ├── trigonometric.hpp │ │ ├── vec2.hpp │ │ ├── vec3.hpp │ │ ├── vec4.hpp │ │ └── vector_relational.hpp │ ├── ikd-Tree │ │ ├── ikd_Tree.cpp │ │ └── ikd_Tree.h │ ├── opengl_sim.hpp │ ├── shader_m.h │ └── tools_kd_hash.hpp ├── package.xml └── src │ ├── opengl_render_node.cpp │ ├── pcl_depth.cpp │ └── pointcloud_render_node.cpp ├── map_generator ├── CMakeLists.txt ├── package.xml ├── resource │ ├── pisa.pcd │ └── sydney.pcd └── src │ └── map_publisher.cpp ├── mars_drone_sim ├── CMakeLists.txt ├── include │ ├── dynamics.hpp │ └── quadrotor_dynamics.hpp ├── launch │ └── dynamics_test.launch ├── package.xml └── src │ └── quadrotor_dynamics_node.cpp └── test_interface ├── CMakeLists.txt ├── cmake-build-debug ├── .cmake │ └── api │ │ └── v1 │ │ └── query │ │ ├── cache-v2 │ │ ├── cmakeFiles-v1 │ │ ├── codemodel-v2 │ │ └── toolchains-v1 ├── CMakeCache.txt ├── CMakeFiles │ ├── 3.21.1 │ │ ├── CMakeCCompiler.cmake │ │ ├── CMakeCXXCompiler.cmake │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ ├── CMakeSystem.cmake │ │ ├── CompilerIdC │ │ │ ├── CMakeCCompilerId.c │ │ │ └── a.out │ │ └── CompilerIdCXX │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ └── a.out │ ├── clion-environment.txt │ ├── clion-log.txt │ └── cmake.check_cache ├── CTestConfiguration.ini ├── CTestCustom.cmake ├── atomic_configure │ ├── .rosinstall │ ├── _setup_util.py │ ├── env.sh │ ├── local_setup.bash │ ├── local_setup.sh │ ├── local_setup.zsh │ ├── setup.bash │ ├── setup.sh │ └── setup.zsh ├── catkin │ └── catkin_generated │ │ └── version │ │ └── package.cmake └── catkin_generated │ ├── env_cached.sh │ ├── generate_cached_setup.py │ ├── installspace │ ├── .rosinstall │ ├── _setup_util.py │ ├── env.sh │ ├── local_setup.bash │ ├── local_setup.sh │ ├── local_setup.zsh │ ├── setup.bash │ ├── setup.sh │ └── setup.zsh │ ├── setup_cached.sh │ └── stamps │ └── test_interface │ ├── _setup_util.py.stamp │ ├── interrogate_setup_dot_py.py.stamp │ └── package.xml.stamp ├── config ├── drone_withavia.yaml └── traj.rviz ├── launch ├── double_drone.launch ├── 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