├── .gitmodules ├── CMakeLists.txt ├── LICENSE ├── README.md ├── config ├── clf_cbf.yaml ├── clf_cbf_simu.yaml ├── color.yaml ├── communication.yaml ├── fake_map.yaml ├── fake_robot.yaml ├── obstacle1.yaml ├── obstacle2.yaml ├── robot_param.yaml ├── simulation1.yaml └── simulation2.yaml ├── graphics ├── CassieExperimentSq.png ├── autonomy_experiment.png ├── autonomy_system.png ├── experiment.gif ├── introduction_elevation.png ├── matlab_result.jpg ├── reactive_system.png ├── simulation_ROS1.gif └── simulation_ROS2.gif ├── include ├── Array.hh ├── QuadProg++.hh ├── cbf.h ├── communication.h ├── driver.h ├── fake_map.h ├── fake_robot.h ├── map_utils.h ├── planner_info_to_controller_t.h ├── point.h ├── pose.h ├── simutest.h └── utils │ ├── debugger.h │ ├── debugger_.cpp │ ├── line.h │ ├── nameof.h │ ├── plotting.h │ ├── ros_utils.h │ ├── timing.h │ └── utils.h ├── launch ├── cbf.launch ├── fake_map.launch ├── fake_robot.launch ├── simulation.launch └── test_QP.launch ├── matlab_simulation ├── different_obstacle_scenarios_simulation.m ├── dynsys │ └── @CassieRob │ │ ├── CassieRob.m │ │ ├── defineCbf.m │ │ ├── defineClf.m │ │ └── plot_count.mat ├── functions │ ├── computeCoMPosition.m │ ├── computeDistance.m │ ├── computeDistanceToManifold.m │ ├── computeEgoPolorCoordinate.m │ ├── computeEgoPolorCoordinateFacingTowardXaxis.m │ ├── computeEgoPolorCoordinateFoV.m │ ├── computeEuclideanPoseDistance.m │ ├── computeFeedbackControlVariables.m │ ├── computeFootPosition.m │ ├── computeForwardControlVariables.m │ ├── computeOptimalOmega.m │ ├── computeOptimalVx.m │ ├── computeOptimalVy.m │ ├── constructAMatrix.m │ ├── getControlParameters.m │ ├── getEquationNumbers.m │ ├── moveAlongRobotLocalFrameALIP.m │ ├── packToResults.m │ ├── plotRobot2DPoses.m │ └── rotateInPlace.m └── lib │ └── @CtrlAffineSys │ ├── CtrlAffineSys.m │ ├── ctrlCbfClfQp.m │ ├── initSys.m │ └── plot_count.mat ├── package.xml ├── rviz ├── cbf.rviz └── simulation.rviz └── src ├── Array.cc ├── QuadProg++.cc ├── 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