├── .gitignore ├── .vscode ├── c_cpp_properties.json └── settings.json ├── LICENSE ├── README.md ├── figs ├── cover.png ├── debug.gif ├── perching1.gif ├── perching2.gif └── replan.gif ├── sh_utils └── pub_triger.sh └── src ├── 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 │ │ ├── f250.dae │ │ └── hummingbird.mesh │ ├── package.xml │ └── src │ │ ├── odom_visualization.cpp │ │ └── odom_visualization_plate.cpp └── pose_utils │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ └── pose_utils.h │ ├── package.xml │ └── src │ └── pose_utils.cpp ├── planning ├── CMakeLists.txt ├── config │ └── rviz_sim.rviz ├── launch │ └── perching.launch ├── nodelet_plugin.xml ├── package.xml └── src │ └── planning_nodelet.cpp ├── traj_opt ├── CMakeLists.txt ├── include │ └── traj_opt │ │ ├── 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