├── Frenet&Cartesian ├── coordinate.py ├── cubic_spline.py └── racetrack_waypoints.txt ├── Frenet_planning ├── coordinate.py ├── cubic_spline.py ├── following.py ├── quartic_poly.py ├── quintic_poly.py ├── stopping.py └── velocity_keeping.py ├── discretized_points_smoothing ├── CMakeLists.txt ├── OSQP │ ├── include │ │ ├── osqp │ │ │ ├── auxil.h │ │ │ ├── constants.h │ │ │ ├── cs.h │ │ │ ├── ctrlc.h │ │ │ ├── error.h │ │ │ ├── glob_opts.h │ │ │ ├── lin_alg.h │ │ │ ├── lin_sys.h │ │ │ ├── osqp.h │ │ │ ├── osqp_configure.h │ │ │ ├── polish.h │ │ │ ├── proj.h │ │ │ ├── scaling.h │ │ │ ├── types.h │ │ │ └── util.h │ │ └── qdldl │ │ │ ├── qdldl.h │ │ │ └── qdldl_types.h │ └── lib │ │ ├── cmake │ │ ├── osqp │ │ │ ├── osqp-config.cmake │ │ │ ├── osqp-targets-noconfig.cmake │ │ │ └── osqp-targets.cmake │ │ └── qdldl │ │ │ ├── qdldl-config.cmake │ │ │ ├── qdldl-targets-noconfig.cmake │ │ │ └── qdldl-targets.cmake │ │ ├── libosqp.a │ │ ├── libosqp.so │ │ ├── libqdldl.a │ │ └── libqdldl.so ├── fem_pos_deviation_osqp_interface.cpp ├── fem_pos_deviation_osqp_interface.h ├── fem_pos_deviation_sqp_osqp_interface.cpp ├── fem_pos_deviation_sqp_osqp_interface.h ├── main.cpp ├── output │ └── bin │ │ └── Smooth └── visual.py ├── mpc ├── README.md ├── images │ ├── mpc_10ms.gif │ ├── mpc_3ms.gif │ └── mpc_5ms.gif └── mpc_linear.py └── spiral └── polynomial_spiral.py /Frenet&Cartesian/coordinate.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/Frenet&Cartesian/coordinate.py -------------------------------------------------------------------------------- /Frenet&Cartesian/cubic_spline.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/Frenet&Cartesian/cubic_spline.py -------------------------------------------------------------------------------- /Frenet&Cartesian/racetrack_waypoints.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/Frenet&Cartesian/racetrack_waypoints.txt -------------------------------------------------------------------------------- /Frenet_planning/coordinate.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/Frenet_planning/coordinate.py -------------------------------------------------------------------------------- /Frenet_planning/cubic_spline.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/Frenet_planning/cubic_spline.py -------------------------------------------------------------------------------- /Frenet_planning/following.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/Frenet_planning/following.py -------------------------------------------------------------------------------- /Frenet_planning/quartic_poly.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/Frenet_planning/quartic_poly.py -------------------------------------------------------------------------------- /Frenet_planning/quintic_poly.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/Frenet_planning/quintic_poly.py -------------------------------------------------------------------------------- /Frenet_planning/stopping.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/Frenet_planning/stopping.py -------------------------------------------------------------------------------- /Frenet_planning/velocity_keeping.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/Frenet_planning/velocity_keeping.py -------------------------------------------------------------------------------- /discretized_points_smoothing/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/discretized_points_smoothing/CMakeLists.txt -------------------------------------------------------------------------------- /discretized_points_smoothing/OSQP/include/osqp/auxil.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/discretized_points_smoothing/OSQP/include/osqp/auxil.h -------------------------------------------------------------------------------- /discretized_points_smoothing/OSQP/include/osqp/constants.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/discretized_points_smoothing/OSQP/include/osqp/constants.h -------------------------------------------------------------------------------- /discretized_points_smoothing/OSQP/include/osqp/cs.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/discretized_points_smoothing/OSQP/include/osqp/cs.h -------------------------------------------------------------------------------- /discretized_points_smoothing/OSQP/include/osqp/ctrlc.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/discretized_points_smoothing/OSQP/include/osqp/ctrlc.h -------------------------------------------------------------------------------- /discretized_points_smoothing/OSQP/include/osqp/error.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/discretized_points_smoothing/OSQP/include/osqp/error.h -------------------------------------------------------------------------------- /discretized_points_smoothing/OSQP/include/osqp/glob_opts.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/discretized_points_smoothing/OSQP/include/osqp/glob_opts.h -------------------------------------------------------------------------------- /discretized_points_smoothing/OSQP/include/osqp/lin_alg.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/discretized_points_smoothing/OSQP/include/osqp/lin_alg.h -------------------------------------------------------------------------------- /discretized_points_smoothing/OSQP/include/osqp/lin_sys.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/discretized_points_smoothing/OSQP/include/osqp/lin_sys.h -------------------------------------------------------------------------------- /discretized_points_smoothing/OSQP/include/osqp/osqp.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/discretized_points_smoothing/OSQP/include/osqp/osqp.h -------------------------------------------------------------------------------- /discretized_points_smoothing/OSQP/include/osqp/osqp_configure.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/discretized_points_smoothing/OSQP/include/osqp/osqp_configure.h -------------------------------------------------------------------------------- /discretized_points_smoothing/OSQP/include/osqp/polish.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/discretized_points_smoothing/OSQP/include/osqp/polish.h -------------------------------------------------------------------------------- /discretized_points_smoothing/OSQP/include/osqp/proj.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/discretized_points_smoothing/OSQP/include/osqp/proj.h -------------------------------------------------------------------------------- /discretized_points_smoothing/OSQP/include/osqp/scaling.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/discretized_points_smoothing/OSQP/include/osqp/scaling.h -------------------------------------------------------------------------------- /discretized_points_smoothing/OSQP/include/osqp/types.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/discretized_points_smoothing/OSQP/include/osqp/types.h -------------------------------------------------------------------------------- /discretized_points_smoothing/OSQP/include/osqp/util.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/discretized_points_smoothing/OSQP/include/osqp/util.h -------------------------------------------------------------------------------- /discretized_points_smoothing/OSQP/include/qdldl/qdldl.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/discretized_points_smoothing/OSQP/include/qdldl/qdldl.h -------------------------------------------------------------------------------- /discretized_points_smoothing/OSQP/include/qdldl/qdldl_types.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/discretized_points_smoothing/OSQP/include/qdldl/qdldl_types.h -------------------------------------------------------------------------------- /discretized_points_smoothing/OSQP/lib/cmake/osqp/osqp-config.cmake: -------------------------------------------------------------------------------- 1 | include("${CMAKE_CURRENT_LIST_DIR}/osqp-targets.cmake") 2 | -------------------------------------------------------------------------------- /discretized_points_smoothing/OSQP/lib/cmake/osqp/osqp-targets-noconfig.cmake: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/discretized_points_smoothing/OSQP/lib/cmake/osqp/osqp-targets-noconfig.cmake -------------------------------------------------------------------------------- /discretized_points_smoothing/OSQP/lib/cmake/osqp/osqp-targets.cmake: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/discretized_points_smoothing/OSQP/lib/cmake/osqp/osqp-targets.cmake -------------------------------------------------------------------------------- /discretized_points_smoothing/OSQP/lib/cmake/qdldl/qdldl-config.cmake: -------------------------------------------------------------------------------- 1 | include("${CMAKE_CURRENT_LIST_DIR}/qdldl-targets.cmake") 2 | -------------------------------------------------------------------------------- /discretized_points_smoothing/OSQP/lib/cmake/qdldl/qdldl-targets-noconfig.cmake: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/discretized_points_smoothing/OSQP/lib/cmake/qdldl/qdldl-targets-noconfig.cmake -------------------------------------------------------------------------------- /discretized_points_smoothing/OSQP/lib/cmake/qdldl/qdldl-targets.cmake: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/discretized_points_smoothing/OSQP/lib/cmake/qdldl/qdldl-targets.cmake -------------------------------------------------------------------------------- /discretized_points_smoothing/OSQP/lib/libosqp.a: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/discretized_points_smoothing/OSQP/lib/libosqp.a -------------------------------------------------------------------------------- /discretized_points_smoothing/OSQP/lib/libosqp.so: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/discretized_points_smoothing/OSQP/lib/libosqp.so -------------------------------------------------------------------------------- /discretized_points_smoothing/OSQP/lib/libqdldl.a: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/discretized_points_smoothing/OSQP/lib/libqdldl.a -------------------------------------------------------------------------------- /discretized_points_smoothing/OSQP/lib/libqdldl.so: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/discretized_points_smoothing/OSQP/lib/libqdldl.so -------------------------------------------------------------------------------- /discretized_points_smoothing/fem_pos_deviation_osqp_interface.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/discretized_points_smoothing/fem_pos_deviation_osqp_interface.cpp -------------------------------------------------------------------------------- /discretized_points_smoothing/fem_pos_deviation_osqp_interface.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/discretized_points_smoothing/fem_pos_deviation_osqp_interface.h -------------------------------------------------------------------------------- /discretized_points_smoothing/fem_pos_deviation_sqp_osqp_interface.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/discretized_points_smoothing/fem_pos_deviation_sqp_osqp_interface.cpp -------------------------------------------------------------------------------- /discretized_points_smoothing/fem_pos_deviation_sqp_osqp_interface.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/discretized_points_smoothing/fem_pos_deviation_sqp_osqp_interface.h -------------------------------------------------------------------------------- /discretized_points_smoothing/main.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/discretized_points_smoothing/main.cpp -------------------------------------------------------------------------------- /discretized_points_smoothing/output/bin/Smooth: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/discretized_points_smoothing/output/bin/Smooth -------------------------------------------------------------------------------- /discretized_points_smoothing/visual.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/discretized_points_smoothing/visual.py -------------------------------------------------------------------------------- /mpc/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/mpc/README.md -------------------------------------------------------------------------------- /mpc/images/mpc_10ms.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/mpc/images/mpc_10ms.gif -------------------------------------------------------------------------------- /mpc/images/mpc_3ms.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/mpc/images/mpc_3ms.gif -------------------------------------------------------------------------------- /mpc/images/mpc_5ms.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/mpc/images/mpc_5ms.gif -------------------------------------------------------------------------------- /mpc/mpc_linear.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/mpc/mpc_linear.py -------------------------------------------------------------------------------- /spiral/polynomial_spiral.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/YoungTimes/algorithms/HEAD/spiral/polynomial_spiral.py --------------------------------------------------------------------------------