├── .gitignore ├── README.md └── src ├── CMakeLists.txt ├── Fast-Planner ├── .gitignore ├── fast_planner │ ├── bag │ │ └── record.sh │ ├── bspline │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── bspline │ │ │ │ └── non_uniform_bspline.h │ │ ├── package.xml │ │ └── src │ │ │ └── non_uniform_bspline.cpp │ ├── bspline_opt │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── bspline_opt │ │ │ │ └── bspline_optimizer.h │ │ ├── package.xml │ │ ├── script │ │ │ ├── calc_jacobian.py │ │ │ ├── cost_function.py │ │ │ └── dist_to_line.py │ │ └── src │ │ │ └── bspline_optimizer.cpp │ ├── path_searching │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── path_searching │ │ │ │ ├── astar.h │ │ │ │ ├── kinodynamic_astar.h │ │ │ │ └── topo_prm.h │ │ ├── package.xml │ │ └── src │ │ │ ├── astar.cpp │ │ │ ├── kinodynamic_astar.cpp │ │ │ └── topo_prm.cpp │ ├── plan_env │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── plan_env │ │ │ │ ├── edt_environment.h │ │ │ │ ├── linear_obj_model.hpp │ │ │ │ ├── obj_predictor.h │ │ │ │ ├── polynomial_traj.hpp │ │ │ │ ├── raycast.h │ │ │ │ └── sdf_map.h │ │ ├── package.xml │ │ └── src │ │ │ ├── edt_environment.cpp │ │ │ ├── obj_generator.cpp │ │ │ ├── obj_predictor.cpp │ │ │ ├── raycast.cpp │ │ │ └── sdf_map.cpp │ ├── plan_manage │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── config │ │ │ ├── exp.rviz │ │ │ ├── kino.rviz │ │ │ └── traj.rviz │ │ ├── include │ │ │ └── plan_manage │ │ │ │ ├── backward.hpp │ │ │ │ ├── kino_replan_fsm.h │ │ │ │ ├── plan_container.hpp │ │ │ │ ├── planner_manager.h │ │ │ │ ├── topo_replan_fsm.h │ │ │ │ └── utils.h │ │ ├── launch │ │ │ ├── 16_lidar.launch │ │ │ ├── kino_algorithm.xml │ │ │ ├── kino_replan.launch │ │ │ ├── lidar.xml │ │ │ ├── lidar_rviz.launch │ │ │ ├── real.launch │ │ │ ├── real.xml │ │ │ ├── rviz.launch │ │ │ ├── simulator.xml │ │ │ ├── topo_algorithm.xml │ │ │ └── topo_replan.launch │ │ ├── msg │ │ │ └── Bspline.msg │ │ ├── package.xml │ │ ├── script │ │ │ ├── calc.py │ │ │ ├── polyfit_predict.py │ │ │ └── traj_opt.py │ │ └── src │ │ │ ├── fast_planner_node.cpp │ │ │ ├── kino_replan_fsm.cpp │ │ │ ├── planner_manager.cpp │ │ │ ├── topo_replan_fsm.cpp │ │ │ └── traj_server.cpp │ ├── poly_traj │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── poly_traj │ │ │ │ └── polynomial_traj.h │ │ ├── package.xml │ │ └── src │ │ │ ├── polynomial_traj.cpp │ │ │ └── traj_generator.cpp │ └── traj_utils │ │ ├── CMakeLists.txt │ │ ├── include │ │ └── traj_utils │ │ │ └── planning_visualization.h │ │ ├── package.xml │ │ └── src │ │ └── planning_visualization.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 │ │ │ │ ├── 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 │ │ │ │ │ ├── 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 │ │ │ │ └── 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 │ │ ├── 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 │ │ │ │ ├── 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 │ ├── 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 │ │ │ │ ├── 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 │ ├── 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 │ │ │ ├── PositionCommand.msg │ │ │ ├── SO3Command.msg │ │ │ ├── Serial.msg │ │ │ ├── StatusData.msg │ │ │ └── TRPYCommand.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 │ │ │ ├── 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 │ ├── 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 │ ├── package.xml │ └── src │ │ └── random_forest_sensing.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 │ │ ├── __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 │ ├── quadrotor_simulator_so3.cpp │ └── test_dynamics │ └── test_dynamics.cpp ├── lidar2world ├── CMakeLists.txt ├── package.xml └── src │ └── transform.cpp ├── mpc_tracking ├── CMakeLists.txt ├── include │ └── mpc_tracking │ │ ├── matplotlibcpp.h │ │ ├── mpc.h │ │ └── test_casadi.py ├── msg │ └── Bspline.msg ├── package.xml └── src │ ├── mpc.cpp │ └── mpc_node.cpp ├── omni_robot ├── CMakeList.txt ├── README.md ├── omni_control │ ├── CMakeLists.txt │ ├── README.md │ ├── launch │ │ └── omni_control.launch │ ├── package.xml │ ├── results │ │ ├── move2pose.png │ │ └── pure_pursuit.png │ └── src │ │ ├── move_to_pose.cpp │ │ └── pure_pursuit.cpp ├── omni_fake │ ├── CMakeLists.txt │ ├── README.md │ ├── launch │ │ └── omni_fake.launch │ ├── model.png │ ├── package.xml │ ├── rviz │ │ └── rviz_config.rviz │ └── src │ │ ├── odom_path_node.cpp │ │ └── omni_fake_node.cpp ├── omni_gazebo │ ├── CMakeLists.txt │ ├── config │ │ └── rviz_config.rviz │ ├── launch │ │ └── gazebo.launch │ ├── meshes │ │ ├── agvs_logos.dae │ │ ├── agvs_logos.stl │ │ ├── agvs_top.dae │ │ ├── agvs_top.stl │ │ ├── agvs_wheel.dae │ │ ├── agvs_wheel.stl │ │ ├── astra.dae │ │ ├── base.stl │ │ ├── box.dae │ │ ├── chassis_agvs.dae │ │ ├── chassis_agvs.stl │ │ ├── laser │ │ │ └── hokuyo.dae │ │ ├── meshes │ │ │ ├── astra.dae │ │ │ ├── box.dae │ │ │ ├── rplidar.dae │ │ │ ├── upper.dae │ │ │ └── wheel.dae │ │ ├── motor_wheel.dae │ │ ├── motor_wheel.stl │ │ ├── omni_wheel_1.dae │ │ ├── omni_wheel_2.dae │ │ ├── omniwheel.dae │ │ ├── rgbd │ │ │ ├── 0_xtion_pro.jpg │ │ │ ├── astra.dae │ │ │ ├── astra.jpg │ │ │ ├── asus_xtion_pro_live.dae │ │ │ ├── asus_xtion_pro_live.png │ │ │ ├── hokuyo.dae │ │ │ ├── kinect.dae │ │ │ ├── kinect.jpg │ │ │ ├── kinect.tga │ │ │ ├── r200.dae │ │ │ ├── r200.jpg │ │ │ ├── r200_bracket.stl │ │ │ ├── r200_bracket_end.stl │ │ │ ├── sensor_pole.dae │ │ │ ├── xtion_pro.jpg │ │ │ ├── xtion_pro_camera.dae │ │ │ ├── xtion_pro_camera.jpg │ │ │ └── xtion_pro_stack.dae │ │ ├── rim.stl │ │ ├── rim1.dae │ │ ├── rimfix.stl │ │ ├── robot │ │ │ ├── ExtendedAmiroOnly_degenerateDissolve_cleanUpGeometry005.dae │ │ │ └── WheelDrive_degenerateDissolve_cleanUpGeometry002_centered.dae │ │ ├── roller.stl │ │ ├── rplidar.dae │ │ ├── sensors │ │ │ ├── 0_xtion_pro.jpg │ │ │ ├── astra.dae │ │ │ ├── astra.jpg │ │ │ ├── asus_xtion_pro_live.dae │ │ │ ├── asus_xtion_pro_live.png │ │ │ ├── kinect.dae │ │ │ ├── kinect.jpg │ │ │ ├── kinect.tga │ │ │ ├── r200.dae │ │ │ ├── r200.jpg │ │ │ ├── r200_bracket.stl │ │ │ ├── r200_bracket_end.stl │ │ │ ├── sensor_pole.dae │ │ │ ├── xtion_pro.jpg │ │ │ ├── xtion_pro_camera.dae │ │ │ ├── xtion_pro_camera.jpg │ │ │ └── xtion_pro_stack.dae │ │ ├── side_wheel_agvs.dae │ │ ├── side_wheel_agvs.stl │ │ ├── stacks │ │ │ ├── circles │ │ │ │ ├── 68-02403-125_Spacer.dae │ │ │ │ ├── 68-02421-8000-RA_Turtlebot_F-F_Standoff.dae │ │ │ │ ├── 68-02421-8000-RA_Turtlebot_F-F_Standoff_color.png │ │ │ │ ├── 68-04552-1000-RA_Turtlebot_M-F_Standoff.dae │ │ │ │ ├── 68-04552-1000-RA_Turtlebot_M-F_Standoff_color.png │ │ │ │ ├── 68-04552-2000-RA_Turtlebot_M-F_Standoff.dae │ │ │ │ ├── 68-04552-2000-RA_Turtlebot_M-F_Standoff_color.png │ │ │ │ ├── 68-04556-RA_Kinect_Standoff_Assy.3ds │ │ │ │ ├── 68-04556-RA_Kinect_Standoff_Assy.dae │ │ │ │ ├── plate_0_logo.dae │ │ │ │ ├── plate_0_logo.tga │ │ │ │ ├── plate_1_logo.dae │ │ │ │ ├── plate_1_logo.tga │ │ │ │ ├── plate_2_logo.dae │ │ │ │ └── plate_2_logo.tga │ │ │ └── hexagons │ │ │ │ ├── plate_bottom.dae │ │ │ │ ├── plate_middle.dae │ │ │ │ ├── plate_top.dae │ │ │ │ ├── pole_bottom.dae │ │ │ │ ├── pole_kinect.dae │ │ │ │ ├── pole_middle.dae │ │ │ │ └── pole_top.dae │ │ ├── tfs_1.bmp │ │ ├── tfs_2.bmp │ │ ├── upper.dae │ │ └── wheel.dae │ ├── package.xml │ ├── urdf │ │ ├── camera │ │ │ ├── astra.xacro │ │ │ ├── camera.xacro │ │ │ └── generic_rgbd.xacro │ │ ├── laser │ │ │ ├── hokuyo.xacro │ │ │ └── hokuyo_gpu.xacro │ │ ├── omni_robot.gazebo │ │ ├── omni_robot.xacro │ │ ├── proximity │ │ │ ├── floor.xacro │ │ │ ├── proximity.xacro │ │ │ └── ring.xacro │ │ └── sensors │ │ │ ├── astra.urdf.xacro │ │ │ ├── asus_xtion_pro.urdf.xacro │ │ │ ├── asus_xtion_pro_offset.urdf.xacro │ │ │ ├── imu.xacro │ │ │ ├── inertial.xacro │ │ │ ├── kinect.urdf.xacro │ │ │ ├── laser_support.xacro │ │ │ └── r200.urdf.xacro │ └── world │ │ ├── jiandan.world │ │ ├── room.world │ │ ├── s322.world │ │ ├── simple.world │ │ └── spare_room │ │ ├── room_test │ │ └── model.config │ │ └── simple │ │ └── model.config ├── omni_gmapping │ ├── CMakeLists.txt │ ├── launch │ │ └── slam_gmapping.launch │ ├── package.xml │ ├── src │ │ ├── main.cpp │ │ ├── nodelet.cpp │ │ ├── replay.cpp │ │ ├── slam_gmapping.cpp │ │ └── slam_gmapping.h │ └── test │ │ ├── basic_localization_laser_different_beamcount.test │ │ ├── basic_localization_stage.launch │ │ ├── basic_localization_stage_replay.launch │ │ ├── basic_localization_stage_replay2.launch │ │ ├── basic_localization_symmetry.launch │ │ ├── basic_localization_upside_down.launch │ │ ├── rtest.cpp │ │ └── test_map.py ├── omni_navigation │ ├── CMakeLists.txt │ ├── launch │ │ ├── amcl.launch │ │ ├── move_base.launch │ │ └── omni_navigation.launch │ ├── package.xml │ └── param │ │ ├── base_local_planner_params.yaml │ │ ├── costmap_common_params_omni.yaml │ │ ├── dwa_local_planner_params_omni.yaml │ │ ├── global_costmap_params.yaml │ │ ├── local_costmap_params.yaml │ │ └── move_base_params.yaml ├── omni_path_generator │ ├── CMakeLists.txt │ ├── launch │ │ └── simple_path.launch │ ├── package.xml │ └── src │ │ └── simple_path.cpp ├── omni_teleop │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ └── keyboard_teleop.cpp └── velodyne_simulator │ ├── .gitignore │ ├── README.md │ ├── bitbucket-pipelines.yml │ ├── gazebo_upgrade.md │ ├── img │ ├── gpu.png │ └── rviz.png │ ├── velodyne_description │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── launch │ │ └── example.launch │ ├── meshes │ │ ├── HDL32E_base.dae │ │ ├── HDL32E_base.stl 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