├── LICENSE ├── README.md ├── files ├── bib.txt ├── drone_race_1.gif ├── drone_race_2.gif ├── joystick.png ├── keyboard2.png ├── keyboard3.jpg ├── replanning.gif ├── sys_architecture.png ├── teaching1.gif ├── teaching2.gif └── teaching3.gif ├── global_planner ├── CMakeLists.txt ├── config │ └── rviz_config.rviz ├── include │ └── global_planner │ │ ├── spatial_optimizer.h │ │ ├── temporal_optimizer.h │ │ └── utils │ │ ├── a_star.h │ │ ├── backward.hpp │ │ ├── bezier_base.h │ │ ├── data_type.h │ │ ├── glpk.h │ │ ├── poly_utils.h │ │ └── time_allocator.h ├── launch │ ├── global_planner.launch │ ├── map_generator.launch │ └── rviz_config │ │ └── simulation.rviz ├── package.xml ├── src │ ├── spatial_optimizer.cpp │ ├── teach_repeat_planner.cpp │ ├── temporal_optimizer.cpp │ └── utils │ │ ├── a_star.cpp │ │ ├── bezier_base.cpp │ │ ├── click_obstacle_generation.cpp │ │ ├── poly_utils.cpp │ │ └── random_complex_generator.cpp └── third_party │ ├── eigen-cdd │ ├── Polyhedron.cpp │ ├── Polyhedron.h │ └── typedefs.h │ ├── mosek │ ├── include │ │ └── mosek.h │ └── lib │ │ └── mosek8_1 │ │ ├── libcilkrts.so.5 │ │ ├── libiomp5.so │ │ ├── libmosek64.so │ │ ├── libmosek64.so.8.1 │ │ ├── libmosekjava8_1.so │ │ ├── libmosekscopt8_1.so │ │ ├── libmosekxx8_1.so │ │ └── mosek8_1.zip │ └── quickhull │ ├── ConvexHull.hpp │ ├── HalfEdgeMesh.hpp │ ├── MathUtils.hpp │ ├── QuickHull.cpp │ ├── QuickHull.hpp │ ├── README.md │ ├── Structs │ ├── Mesh.hpp │ ├── Plane.hpp │ ├── Pool.hpp │ ├── Ray.hpp │ ├── Vector3.hpp │ └── VertexDataSource.hpp │ ├── Tests │ ├── QuickHullTests.cpp │ └── QuickHullTests.hpp │ └── Types.hpp ├── install_tools.sh ├── installation └── OOQP.zip ├── key2joy.py ├── local_replanner ├── local_perception │ ├── CMakeLists.txt │ ├── include │ │ └── local_perception │ │ │ ├── raycast.h │ │ │ └── sdf_map.h │ ├── package.xml │ └── src │ │ ├── raycast.cpp │ │ └── sdf_map.cpp ├── local_replanner │ ├── CMakeLists.txt │ ├── config │ │ ├── generator1.yaml │ │ ├── generator2.yaml │ │ └── generator_replan.yaml │ ├── include │ │ └── grad_replanner │ │ │ ├── backward.hpp │ │ │ ├── bezier_base.h │ │ │ ├── bspline_replanner.h │ │ │ ├── grad_band_optimizer.h │ │ │ ├── non_uniform_bspline.h │ │ │ ├── uniform_bspline.h │ │ │ └── utils │ │ │ ├── display.h │ │ │ └── font_color.h │ ├── launch │ │ └── local_replanner.launch │ ├── package.xml │ └── src │ │ ├── bezier_base.cpp │ │ ├── bspline_replanner.cpp │ │ ├── grad_band_optimizer.cpp │ │ ├── non_uniform_bspline.cpp │ │ ├── replanner_node.cpp │ │ └── traj_server.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 │ ├── 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 ├── polyhedron_generator ├── CMakeLists.txt ├── include │ └── polyhedron_generator │ │ ├── cluster_engine.cuh │ │ ├── cluster_engine_cpu.h │ │ ├── cluster_server.cuh │ │ └── cluster_server_cpu.h ├── package.xml └── src │ ├── cluster_engine.cu │ ├── cluster_engine_cpu.cpp │ ├── cluster_server.cu │ └── cluster_server_cpu.cpp ├── simulation ├── cascade_control │ ├── CMakeLists.txt │ ├── cfg │ │ └── params.cfg │ ├── include │ │ ├── accelerationcontrol.hpp │ │ ├── attitude_control.hpp │ │ ├── cascadecontrol.hpp │ │ ├── cascadecontrollernode.hpp │ │ ├── control_states.hpp │ │ ├── controller.hpp │ │ ├── estimator.hpp │ │ ├── frequencyalign.hpp │ │ ├── intergrationestimator.hpp │ │ ├── mixer.hpp │ │ ├── palstance_control.hpp │ │ ├── pid.hpp │ │ ├── position.hpp │ │ ├── pretreatmentor.hpp │ │ ├── so3control.hpp │ │ ├── thrust.hpp │ │ ├── translation_control.hpp │ │ ├── translationfeedforwardmixer.hpp │ │ └── velocity.hpp │ ├── launch │ │ └── simulator.launch │ ├── nodelet_plugins.xml │ ├── package.xml │ └── src │ │ ├── accelerationcontrol.cpp │ │ ├── attitude_control.cpp │ │ ├── cascadecontrol.cpp │ │ ├── cascadecontrollernode.cpp │ │ ├── control_states.cpp │ │ ├── controller.cpp │ │ ├── estimator.cpp │ │ ├── frequencyalign.cpp │ │ ├── intergrationestimator.cpp │ │ ├── mixer.cpp │ │ ├── palstance_control.cpp │ │ ├── pid.cpp │ │ ├── position.cpp │ │ ├── pretreatmentor.cpp │ │ ├── so3control.cpp │ │ ├── thrust.cpp │ │ ├── translation_control.cpp │ │ ├── translationfeedforwardmixer.cpp │ │ └── velocity.cpp ├── mission_template │ ├── CMakeLists.txt │ ├── action │ │ └── poll.action │ ├── include │ │ └── mission_template.hpp │ ├── launch │ │ ├── test.launch │ │ └── test2.launch │ ├── nodelet_plugins.xml │ ├── package.xml │ └── src │ │ └── mission_template.cpp ├── router │ ├── CMakeLists.txt │ ├── include │ │ └── router.hpp │ ├── launch │ │ └── test.launch │ ├── nodelet_plugins.xml │ ├── package.xml │ └── src │ │ └── router.cpp ├── simulator.launch ├── 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 └── state_machine │ ├── CMakeLists.txt │ ├── include │ ├── boost │ │ ├── sml.hpp │ │ └── sml │ │ │ └── utility │ │ │ ├── dispatch_table.hpp │ │ │ └── state_binding.hpp │ ├── dataio.hpp │ ├── eventspinner.hpp │ ├── external_mission.hpp │ ├── flightactions.hpp │ ├── link.hpp │ ├── mission.hpp │ ├── monitor.hpp │ ├── mpaux.hpp │ ├── rc.hpp │ ├── safefifo.hpp │ ├── self.hpp │ ├── stateitem.hpp │ ├── statemachine.hpp │ └── statemap.hpp │ ├── launch │ └── single.launch │ ├── node │ └── statemachine_node.cpp │ ├── package.xml │ ├── src │ ├── dataio.cpp │ ├── eventspinner.cpp │ ├── external_mission.cpp │ ├── flightactions.cpp │ ├── link.cpp │ ├── mission.cpp │ ├── monitor.cpp │ ├── rc.cpp │ ├── safefifo.cpp │ ├── self.cpp │ ├── stateitem.cpp │ └── statemachine.cpp │ └── test │ ├── dataio_test.cpp │ ├── eventspinner_test.cpp │ ├── mission_test.cpp │ ├── mpaux_test.cpp │ └── statemachine_test.cpp ├── trr_simulation.sh └── utils ├── DecompRos ├── LICENSE ├── decomp_ros_msgs │ ├── CMakeLists.txt │ ├── msg │ │ ├── Ellipsoid.msg │ │ ├── EllipsoidArray.msg │ │ ├── Polyhedron.msg │ │ └── PolyhedronArray.msg │ └── package.xml └── decomp_ros_utils │ ├── CMakeLists.txt │ ├── icons │ └── classes │ │ ├── EllipsoidArray.png │ │ └── PolyhedronArray.png │ ├── include │ ├── decomp_basis │ │ ├── data_type.h │ │ └── data_utils.h │ ├── decomp_geometry │ │ ├── ellipsoid.h │ │ ├── geometric_utils.h │ │ └── polyhedron.h │ ├── decomp_ros_utils │ │ └── data_ros_utils.h │ └── decomp_util │ │ ├── decomp_base.h │ │ ├── ellipsoid_decomp.h │ │ ├── iterative_decomp.h │ │ ├── line_segment.h │ │ └── seed_decomp.h │ ├── package.xml │ ├── plugin_description.xml │ └── src │ ├── bound_visual.cpp │ ├── bound_visual.h │ ├── ellipsoid_array_display.cpp │ ├── ellipsoid_array_display.h │ ├── ellipsoid_array_visual.cpp │ ├── ellipsoid_array_visual.h │ ├── mesh_visual.cpp │ ├── mesh_visual.h │ ├── polyhedron_array_display.cpp │ ├── polyhedron_array_display.h │ ├── vector_visual.cpp │ └── vector_visual.h ├── catkin_simple ├── CMakeLists.txt ├── cmake │ └── catkin_simple-extras.cmake.em ├── package.xml └── test │ └── scenarios │ └── hello_world │ ├── .gitignore │ ├── bar │ ├── include │ │ └── bar │ │ │ └── hello.h │ ├── msg │ │ └── HeaderString.msg │ ├── package.xml │ └── src │ │ └── hello.cpp │ ├── baz │ ├── include │ │ └── baz │ │ │ └── world.h │ └── package.xml │ └── foo │ ├── package.xml │ └── src │ └── main.cpp ├── cmake_utils ├── CMakeLists.txt ├── cmake │ ├── arch.cmake │ ├── cmake_modules.cmake │ └── color.cmake ├── cmake_modules │ ├── FindEigen.cmake │ ├── FindGSL.cmake │ ├── FindNLopt.cmake │ └── FindmvIMPACT.cmake └── package.xml ├── odom_visualization ├── CMakeLists.txt ├── 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 ├── include │ └── quadrotor_msgs │ │ ├── comm_types.h │ │ ├── decode_msgs.h │ │ └── encode_msgs.h ├── msg │ ├── AuxCommand.msg │ ├── Bspline.msg │ ├── Corrections.msg │ ├── Gains.msg │ ├── Odometry.msg │ ├── OptimalTimeAllocator.msg │ ├── OutputData.msg │ ├── PPROutputData.msg │ ├── PolynomialTrajectory.msg │ ├── PositionCommand.msg │ ├── PositionCommand_back.msg │ ├── Replan.msg │ ├── ReplanCheck.msg │ ├── SO3Command.msg │ ├── Serial.msg │ ├── SpatialTemporalTrajectory.msg │ ├── StatusData.msg │ ├── SwarmCommand.msg │ ├── SwarmInfo.msg │ ├── SwarmOdometry.msg │ ├── TRPYCommand.msg │ └── TrajectoryMatrix.msg ├── package.xml └── src │ ├── decode_msgs.cpp │ ├── encode_msgs.cpp │ └── quadrotor_msgs │ ├── __init__.py │ ├── __init__.pyc │ └── msg │ ├── _AuxCommand.py │ ├── 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