├── README.md ├── asset ├── demo.png └── image.png └── src ├── .vscode ├── c_cpp_properties.json └── settings.json ├── CMakeLists.txt ├── controller ├── CMakeLists.txt ├── include │ └── controller │ │ └── controller.hpp ├── package.xml └── src │ ├── controller.cpp │ └── controller_node.cpp ├── debug_assistant ├── CMakeLists.txt ├── package.xml └── scripts │ ├── __pycache__ │ ├── algorithms.cpython-38.pyc │ ├── component.cpython-38.pyc │ ├── event.cpython-38.pyc │ ├── input.cpython-38.pyc │ ├── monitor.cpython-38.pyc │ ├── news.cpython-38.pyc │ ├── render.cpython-38.pyc │ ├── ros_gol.cpython-38.pyc │ ├── surfaces.cpython-38.pyc │ └── toros.cpython-38.pyc │ ├── algorithms.py │ ├── component.py │ ├── component_new.py │ ├── event.py │ ├── gradient_debug.py │ ├── input.py │ ├── main.py │ ├── monitor.py │ ├── news.py │ ├── operations.json │ ├── render.py │ ├── ros_gol.py │ ├── surfaces.py │ └── toros.py ├── environment ├── laser_simulator │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ ├── map.yaml │ │ ├── normal_laser.yaml │ │ └── perspective_laser.yaml │ ├── launch │ │ ├── laser_sim.launch │ │ ├── params.yaml │ │ ├── play_bag.launch │ │ ├── rviz.launch │ │ └── rviz_sim.rviz │ ├── package.xml │ └── src │ │ ├── .clang-format │ │ └── laser_sim_node.cpp ├── lio │ └── FAST_LIO │ │ ├── .gitignore │ │ └── rviz_cfg │ │ └── .gitignore ├── plan_env │ ├── CMakeLists.txt │ ├── config │ │ ├── Generate_Map.m │ │ ├── mapsim.yaml │ │ ├── obs.png │ │ └── obs5.yaml │ ├── include │ │ └── plan_env │ │ │ ├── raycast.h │ │ │ └── sdf_map.h │ ├── package.xml │ └── src │ │ ├── raycast.cpp │ │ ├── sdf_map.cpp │ │ └── sdf_map_exam_node.cpp ├── robotstatemsgs │ ├── CMakeLists.txt │ ├── msg │ │ ├── robotState.msg │ │ └── robotTrajectory.msg │ └── package.xml └── simulator │ ├── CMakeLists.txt │ ├── include │ └── simulator │ │ ├── global_map.hpp │ │ └── simulator.hpp │ ├── package.xml │ ├── src │ ├── global_map.cpp │ └── simulator.cpp │ └── urdf │ ├── A.dae │ ├── Arc.dae │ ├── F.dae │ ├── S.dae │ └── T.dae ├── hello.md ├── log.txt ├── plan_manager ├── CMakeLists.txt ├── config │ ├── car3ms_unknown.yaml │ ├── obs5.yaml │ └── shape.yaml ├── include │ └── plan_manager.hpp ├── launch │ └── run_sim.launch ├── package.xml ├── rviz │ └── rviz_sim.rviz └── src │ ├── global_planning.cpp │ └── plan_manager.cpp ├── planner_algorithm ├── CMakeLists.txt ├── include │ └── planner_algorithm │ │ ├── BSpline_optimizer.hpp │ │ └── front_end_astar.hpp ├── package.xml └── src │ ├── BSpline_optimizer.cpp │ └── front_end_astar.cpp ├── src.code-workspace ├── swept_volume ├── CMakeLists.txt ├── include │ └── swept_volume │ │ └── swept_volume_manager.hpp ├── package.xml └── src │ └── swept_volume_manager.cpp └── utils ├── CMakeLists.txt ├── include └── utils │ ├── Makefile │ ├── NURBS.hpp │ ├── debug_publisher.hpp │ ├── lbfgs.hpp │ ├── lmbm.cpp │ ├── lmbm.h │ ├── lmbm.o │ ├── lmbm.so │ ├── lmbm_call.f │ ├── lmbm_call.o │ ├── lmbm_main.f │ ├── lmbm_main.o │ ├── lmbm_math.f │ ├── lmbm_math.o │ ├── 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