├── README.md ├── asserts └── cover.png └── src ├── CMakeLists.txt ├── map_generator ├── CMakeLists.txt ├── config │ └── global_params.yaml ├── include │ ├── mapping │ │ ├── geoutils.hpp │ │ ├── quickhull.hpp │ │ └── sdlp.hpp │ ├── visualization │ │ └── visualization.hpp │ └── wr_msg │ │ └── wr_msg.hpp ├── launch │ ├── map_generate.launch │ ├── offline.rviz │ ├── offline_generate.launch │ └── rviz.launch ├── package.xml └── src │ ├── offline_generator.cpp │ └── racing_map.cpp ├── plan_assist ├── CMakeLists.txt ├── include │ ├── RC │ │ └── RC.h │ ├── corridor_helper │ │ └── corridor_helper.h │ ├── optimization_opt │ │ └── lbfgs_raw.hpp │ ├── risk_opt │ │ └── risk_monitor.h │ └── trajectory_utils │ │ ├── poly_traj_utils.hpp │ │ ├── poly_traj_utils_7.hpp │ │ ├── polynomial.h │ │ └── root_finder.hpp ├── package.xml └── src │ ├── RC.cpp │ ├── corridor_helper.cpp │ ├── polynomial.cc │ └── risk_monitor.cpp ├── plan_manage ├── CMakeLists.txt ├── config │ ├── gate.yaml │ └── planner_params.yaml ├── include │ ├── plan_manage │ │ └── plan_manage.h │ └── wr_msg │ │ └── wr_msg.hpp ├── launch │ ├── rviz.launch │ ├── test.launch │ └── test.rviz ├── package.xml ├── pcd │ └── globalmap.pcd └── src │ ├── fake_circle_node.cpp │ ├── main.cpp │ └── plan_manage.cpp ├── traj_opt ├── CMakeLists.txt ├── include │ ├── minco │ │ ├── banded_system.hpp │ │ ├── minco_time_uniform.hpp │ │ ├── minco_time_varied.hpp │ │ ├── minco_yaw_time_uniform.hpp │ │ └── minco_yaw_time_varied.hpp │ ├── traj_opt │ │ ├── chalk.hpp │ │ ├── config.hpp │ │ ├── flatness.hpp │ │ ├── global_traj_opt.h │ │ ├── lc_yaw_traj_opt_varied.h │ │ ├── uniform_minco_emergency.h │ │ └── uniform_minco_progress.h │ └── visualization │ │ └── visualization.hpp ├── package.xml └── src │ ├── global_traj_opt.cc │ ├── lc_yaw_traj_opt_varied.cc │ ├── uniform_minco_emergency.cc │ └── uniform_minco_progress.cc ├── uav_simulator ├── joy_to_mavros │ ├── CMakeLists.txt │ ├── config │ │ ├── blacksheep.yaml │ │ ├── jumper.yaml │ │ └── xbox.yaml │ ├── launch │ │ ├── blacksheep.launch │ │ ├── jumper.launch │ │ └── xbox.launch │ ├── package.xml │ └── src │ │ ├── joy.cpp │ │ ├── joy.h │ │ └── joy_to_mavros_node.cpp ├── odom_vis │ ├── odom_visualization │ │ ├── CMakeLists.txt │ │ ├── Makefile │ │ ├── bin │ │ │ ├── odom_visualization │ │ │ └── odom_visualization_vicon45 │ │ ├── launch │ │ │ ├── real_vis.launch │ │ │ ├── sim_vis.launch │ │ │ └── vins_vis.launch │ │ ├── mainpage.dox │ │ ├── meshes │ │ │ ├── car.dae │ │ │ ├── f250.dae │ │ │ └── hummingbird.mesh │ │ ├── package.xml │ │ └── src │ │ │ ├── odom_visualization.cpp │ │ │ └── odom_visualization_car.cpp │ └── pose_utils │ │ ├── CMakeLists.txt │ │ ├── Makefile │ │ ├── include │ │ └── pose_utils.h │ │ ├── package.xml │ │ └── src │ │ └── pose_utils.cpp ├── so3_controller │ ├── CMakeLists.txt │ ├── config │ │ └── so3_controller.yaml │ ├── include │ │ └── so3_controller │ │ │ └── so3_controller.hpp │ ├── nodelet_plugin.xml │ ├── package.xml │ └── src │ │ └── so3_controller_nodelet.cpp ├── so3_quadrotor │ ├── CMakeLists.txt │ ├── include │ │ └── so3_quadrotor │ │ │ ├── geometry_utils.hpp │ │ │ └── quadrotor_dynamics.hpp │ ├── nodelet_plugin.xml │ ├── package.xml │ └── src │ │ └── so3_quadrotor_nodelet.cpp └── uav_simulator │ ├── CMakeLists.txt │ ├── config │ ├── mockamap.yaml │ ├── so3_controller.yaml │ └── so3_quadrotor.yaml │ ├── launch │ ├── sim_map.launch │ └── uav_simulator.launch │ └── package.xml └── uav_utils ├── DecompROS ├── LICENSE ├── catkin_simple │ ├── CMakeLists.txt │ ├── cmake │ │ └── catkin_simple-extras.cmake.em │ ├── package.xml │ └── test │ │ └── scenarios │ │ └── hello_world │ │ ├── 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 ├── 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 ├── cmake_utils ├── CMakeLists.txt ├── cmake │ ├── arch.cmake │ ├── cmake_modules.cmake │ └── color.cmake ├── cmake_modules │ ├── FindEigen.cmake │ ├── FindGSL.cmake │ └── FindmvIMPACT.cmake └── package.xml ├── quadrotor_msgs ├── CMakeLists.txt ├── include │ └── quadrotor_msgs │ │ ├── comm_types.h │ │ ├── decode_msgs.h │ │ └── encode_msgs.h ├── msg │ ├── AutopilotFeedback.msg │ ├── AuxCommand.msg │ ├── Bspline.msg │ ├── ControlCommand.msg │ ├── Corrections.msg │ ├── DebugData.msg │ ├── Gains.msg │ ├── HpolyTimeSerial.msg │ ├── LowLevelFeedback.msg │ ├── MPCReferenceState.msg │ ├── OccMap3d.msg │ ├── Odometry.msg │ ├── OptimalTimeAllocator.msg │ ├── OutputData.msg │ ├── PPROutputData.msg │ ├── PolyTraj.msg │ ├── PolyTrajs.msg │ ├── PolynomialTrajectory.msg │ ├── PositionCommand.msg │ ├── PositionCommand_back.msg │ ├── Px4ctrlDebug.msg │ ├── Replan.msg │ ├── ReplanCheck.msg │ ├── RiskDebug.msg │ ├── SO3Command.msg │ ├── Serial.msg │ ├── SpatialTemporalTrajectory.msg │ ├── StatusData.msg │ ├── SwarmCommand.msg │ ├── SwarmInfo.msg │ ├── SwarmOdometry.msg │ ├── TRPYCommand.msg │ ├── TakeoffLand.msg │ ├── Trajectory.msg │ ├── TrajectoryMatrix.msg │ └── TrajectoryPoint.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 ├── Makefile ├── config │ └── rviz_config.rviz ├── package.xml ├── plugin_description.xml └── src │ ├── aerialmap_display.cpp │ ├── aerialmap_display.h │ ├── goal_tool.cpp │ ├── goal_tool.h │ ├── multi_probmap_display.cpp │ ├── multi_probmap_display.h │ ├── pose_tool.cpp │ ├── pose_tool.h │ ├── probmap_display.cpp │ └── probmap_display.h ├── traj_server ├── CMakeLists.txt ├── include │ └── fd ├── package.xml └── src │ └── 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