├── .gitignore ├── LICENSE ├── README.md ├── Thesis - ZhepeiWang - Chinese - A Geometrical Approach to Multicopter Motion Planning.pdf ├── gcopter ├── .vscode │ └── settings.json ├── CMakeLists.txt ├── config │ ├── global_planning.rviz │ └── global_planning.yaml ├── include │ ├── gcopter │ │ ├── firi.hpp │ │ ├── flatness.hpp │ │ ├── gcopter.hpp │ │ ├── geo_utils.hpp │ │ ├── lbfgs.hpp │ │ ├── minco.hpp │ │ ├── quickhull.hpp │ │ ├── root_finder.hpp │ │ ├── sdlp.hpp │ │ ├── sfc_gen.hpp │ │ ├── trajectory.hpp │ │ ├── voxel_dilater.hpp │ │ └── voxel_map.hpp │ └── misc │ │ └── visualizer.hpp ├── launch │ └── global_planning.launch ├── package.xml └── src │ └── global_planning.cpp ├── map_gen └── mockamap │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ └── rviz.rviz │ ├── include │ ├── maps.hpp │ └── perlinnoise.hpp │ ├── launch │ ├── maze2d.launch │ ├── maze3d.launch │ ├── mockamap.launch │ ├── perlin3d.launch │ └── post2d.launch │ ├── package.xml │ └── src │ ├── .clang-format │ ├── 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