├── LICENSE ├── README.md ├── decision └── state_machine │ ├── CMakeLists.txt │ ├── include │ └── state_machine │ │ └── fsm.h │ ├── launch │ ├── planning.launch │ ├── record_bag.launch │ ├── rviz.launch │ ├── server.launch │ ├── simulator.launch │ └── traj.rviz │ ├── package.xml │ └── src │ ├── fsm.cpp │ ├── state_machine_node.cpp │ └── traj_server_node.cpp ├── mapping └── occ_grid │ ├── CMakeLists.txt │ ├── include │ └── occ_grid │ │ ├── occ_map.h │ │ ├── pos_checker.h │ │ └── raycast.h │ ├── package.xml │ └── src │ ├── occ_map.cpp │ ├── pos_checker.cpp │ └── raycast.cpp ├── misc ├── 3d_motion_compare.png ├── follow.gif ├── indoor_single.gif ├── rviz_set.gif ├── sim_global.gif └── sim_local.gif ├── planning ├── kino_plan │ ├── CMakeLists.txt │ ├── include │ │ └── kino_plan │ │ │ ├── bias_sampler.h │ │ │ ├── bvp_solver.h │ │ │ ├── kdtree.h │ │ │ ├── krrtplanner.h │ │ │ ├── node_utils.h │ │ │ └── raycast.h │ ├── package.xml │ └── src │ │ ├── bias_sampler.cpp │ │ ├── bvp_solver.cpp │ │ ├── kdtree.c │ │ ├── krrtplanner.cpp │ │ └── raycast.cpp ├── poly_opt │ ├── CMakeLists.txt │ ├── include │ │ └── poly_opt │ │ │ └── traj_optimizer.h │ ├── package.xml │ └── src │ │ └── traj_optimizer.cpp └── poly_traj_utils │ ├── CMakeLists.txt │ ├── include │ └── poly_traj_utils │ │ ├── root_finder.hpp │ │ └── traj_utils.hpp │ ├── package.xml │ └── src │ └── poly_traj_utils.cpp ├── self_msgs_and_srvs ├── CMakeLists.txt ├── package.xml └── srv │ └── GlbObsRcv.srv ├── uav_simulator ├── README.md ├── Utils │ ├── cmake_utils │ │ ├── CMakeLists.txt │ │ ├── cmake │ │ │ ├── arch.cmake │ │ │ ├── cmake_modules.cmake │ │ │ └── color.cmake │ │ ├── cmake_modules │ │ │ ├── FindEigen.cmake │ │ │ ├── FindGSL.cmake │ │ │ └── FindmvIMPACT.cmake │ │ └── package.xml │ ├── multi_map_server │ │ ├── CMakeLists.txt │ │ ├── Makefile │ │ ├── include │ │ │ └── multi_map_server │ │ │ │ ├── Map2D.h │ │ │ │ └── Map3D.h │ │ ├── mainpage.dox │ │ ├── msg │ │ │ ├── MultiOccupancyGrid.msg │ │ │ ├── MultiSparseMap3D.msg │ │ │ ├── SparseMap3D.msg │ │ │ └── VerticalOccupancyGridList.msg │ │ ├── msg_gen │ │ │ ├── cpp │ │ │ │ └── include │ │ │ │ │ └── multi_map_server │ │ │ │ │ ├── MultiOccupancyGrid.h │ │ │ │ │ ├── MultiSparseMap3D.h │ │ │ │ │ ├── SparseMap3D.h │ │ │ │ │ └── VerticalOccupancyGridList.h │ │ │ ├── generated │ │ │ └── lisp │ │ │ │ ├── MultiOccupancyGrid.lisp │ │ │ │ ├── MultiSparseMap3D.lisp │ │ │ │ ├── SparseMap3D.lisp │ │ │ │ ├── VerticalOccupancyGridList.lisp │ │ │ │ ├── _package.lisp │ │ │ │ ├── _package_MultiOccupancyGrid.lisp │ │ │ │ ├── _package_MultiSparseMap3D.lisp │ │ │ │ ├── _package_SparseMap3D.lisp │ │ │ │ ├── _package_VerticalOccupancyGridList.lisp │ │ │ │ └── multi_map_server-msg.asd │ │ ├── package.xml │ │ ├── quadrotor_msgs │ │ │ ├── CMakeLists.txt │ │ │ ├── Makefile │ │ │ ├── build │ │ │ │ ├── CATKIN_IGNORE │ │ │ │ ├── CMakeCache.txt │ │ │ │ ├── CMakeFiles │ │ │ │ │ ├── 2.8.12.2 │ │ │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ │ │ ├── CompilerIdC │ │ │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ │ │ └── a.out │ │ │ │ │ │ └── CompilerIdCXX │ │ │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ │ │ └── a.out │ │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ │ ├── CMakeError.log │ │ │ │ │ ├── CMakeOutput.log │ │ │ │ │ ├── CMakeRuleHashes.txt │ │ │ │ │ ├── Makefile.cmake │ │ │ │ │ ├── Makefile2 │ │ │ │ │ ├── ROSBUILD_genmsg_cpp.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ ├── depend.internal │ │ │ │ │ │ ├── depend.make │ │ │ │ │ │ └── progress.make │ │ │ │ │ ├── ROSBUILD_genmsg_lisp.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ ├── depend.internal │ │ │ │ │ │ ├── depend.make │ │ │ │ │ │ └── progress.make │ │ │ │ │ ├── ROSBUILD_genmsg_py.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ ├── depend.internal │ │ │ │ │ │ ├── depend.make │ │ │ │ │ │ └── progress.make │ │ │ │ │ ├── ROSBUILD_gensrv_cpp.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ └── progress.make │ │ │ │ │ ├── ROSBUILD_gensrv_lisp.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ └── progress.make │ │ │ │ │ ├── TargetDirectories.txt │ │ │ │ │ ├── _catkin_empty_exported_target.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ └── progress.make │ │ │ │ │ ├── clean_test_results.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ └── progress.make │ │ │ │ │ ├── cmake.check_cache │ │ │ │ │ ├── decode_msgs.dir │ │ │ │ │ │ ├── CXX.includecache │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ ├── depend.internal │ │ │ │ │ │ ├── depend.make │ │ │ │ │ │ ├── flags.make │ │ │ │ │ │ ├── link.txt │ │ │ │ │ │ ├── progress.make │ │ │ │ │ │ └── src │ │ │ │ │ │ │ └── decode_msgs.cpp.o │ │ │ │ │ ├── doxygen.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ └── progress.make │ │ │ │ │ ├── encode_msgs.dir │ │ │ │ │ │ ├── CXX.includecache │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ ├── depend.internal │ │ │ │ │ │ ├── depend.make │ │ │ │ │ │ ├── flags.make │ │ │ │ │ │ ├── link.txt │ │ │ │ │ │ ├── progress.make │ │ │ │ │ │ └── src │ │ │ │ │ │ │ └── encode_msgs.cpp.o │ │ │ │ │ ├── progress.marks │ │ │ │ │ ├── rosbuild_clean-test-results.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ └── progress.make │ │ │ │ │ ├── rosbuild_precompile.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ ├── depend.internal │ │ │ │ │ │ ├── depend.make │ │ │ │ │ │ └── progress.make │ │ │ │ │ ├── rosbuild_premsgsrvgen.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ ├── depend.internal │ │ │ │ │ │ ├── depend.make │ │ │ │ │ │ └── progress.make │ │ │ │ │ ├── rospack_genmsg.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ ├── depend.internal │ │ │ │ │ │ ├── depend.make │ │ │ │ │ │ └── progress.make │ │ │ │ │ ├── rospack_genmsg_all.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ ├── depend.internal │ │ │ │ │ │ ├── depend.make │ │ │ │ │ │ └── progress.make │ │ │ │ │ ├── rospack_genmsg_libexe.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ ├── depend.internal │ │ │ │ │ │ ├── depend.make │ │ │ │ │ │ └── progress.make │ │ │ │ │ ├── rospack_gensrv.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ └── progress.make │ │ │ │ │ ├── run_tests.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ └── progress.make │ │ │ │ │ ├── test-future.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ └── progress.make │ │ │ │ │ ├── test-results-run.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ └── progress.make │ │ │ │ │ ├── test-results.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ └── progress.make │ │ │ │ │ ├── test.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ └── progress.make │ │ │ │ │ └── tests.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ └── progress.make │ │ │ │ ├── Makefile │ │ │ │ ├── catkin │ │ │ │ │ └── catkin_generated │ │ │ │ │ │ └── version │ │ │ │ │ │ └── package.cmake │ │ │ │ ├── catkin_generated │ │ │ │ │ ├── env_cached.sh │ │ │ │ │ ├── generate_cached_setup.py │ │ │ │ │ ├── installspace │ │ │ │ │ │ ├── .rosinstall │ │ │ │ │ │ ├── _setup_util.py │ │ │ │ │ │ ├── env.sh │ │ │ │ │ │ ├── setup.bash │ │ │ │ │ │ ├── setup.sh │ │ │ │ │ │ └── setup.zsh │ │ │ │ │ ├── ordered_paths.cmake │ │ │ │ │ ├── setup_cached.sh │ │ │ │ │ └── stamps │ │ │ │ │ │ └── quadrotor_msgs │ │ │ │ │ │ ├── interrogate_setup_dot_py.py.stamp │ │ │ │ │ │ └── package.xml.stamp │ │ │ │ ├── cmake_install.cmake │ │ │ │ ├── devel │ │ │ │ │ ├── .catkin │ │ │ │ │ ├── .rosinstall │ │ │ │ │ ├── _setup_util.py │ │ │ │ │ ├── env.sh │ │ │ │ │ ├── etc │ │ │ │ │ │ └── catkin │ │ │ │ │ │ │ └── profile.d │ │ │ │ │ │ │ ├── 05.catkin-test-results.sh │ │ │ │ │ │ │ ├── 05.catkin_make.bash │ │ │ │ │ │ │ └── 05.catkin_make_isolated.bash │ │ │ │ │ ├── setup.bash │ │ │ │ │ ├── setup.sh │ │ │ │ │ └── setup.zsh │ │ │ │ └── gtest │ │ │ │ │ ├── CMakeFiles │ │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ │ ├── gtest.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ ├── depend.make │ │ │ │ │ │ ├── flags.make │ │ │ │ │ │ ├── link.txt │ │ │ │ │ │ └── progress.make │ │ │ │ │ ├── gtest_main.dir │ │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ │ ├── build.make │ │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ │ ├── depend.make │ │ │ │ │ │ ├── flags.make │ │ │ │ │ │ ├── link.txt │ │ │ │ │ │ └── progress.make │ │ │ │ │ └── progress.marks │ │ │ │ │ ├── Makefile │ │ │ │ │ └── cmake_install.cmake │ │ │ ├── cmake │ │ │ │ └── FindEigen3.cmake │ │ │ ├── include │ │ │ │ └── quadrotor_msgs │ │ │ │ │ ├── comm_types.h │ │ │ │ │ ├── decode_msgs.h │ │ │ │ │ └── encode_msgs.h │ │ │ ├── lib │ │ │ │ ├── libdecode_msgs.so │ │ │ │ └── libencode_msgs.so │ │ │ ├── mainpage.dox │ │ │ ├── msg │ │ │ │ ├── AuxCommand.msg │ │ │ │ ├── Corrections.msg │ │ │ │ ├── Gains.msg │ │ │ │ ├── OutputData.msg │ │ │ │ ├── PPROutputData.msg │ │ │ │ ├── PositionCommand.msg │ │ │ │ ├── SO3Command.msg │ │ │ │ ├── Serial.msg │ │ │ │ ├── StatusData.msg │ │ │ │ └── TRPYCommand.msg │ │ │ ├── msg_gen │ │ │ │ ├── cpp │ │ │ │ │ └── include │ │ │ │ │ │ └── quadrotor_msgs │ │ │ │ │ │ ├── AuxCommand.h │ │ │ │ │ │ ├── Corrections.h │ │ │ │ │ │ ├── Gains.h │ │ │ │ │ │ ├── OutputData.h │ │ │ │ │ │ ├── PPROutputData.h │ │ │ │ │ │ ├── PositionCommand.h │ │ │ │ │ │ ├── SO3Command.h │ │ │ │ │ │ ├── Serial.h │ │ │ │ │ │ ├── StatusData.h │ │ │ │ │ │ └── TRPYCommand.h │ │ │ │ ├── generated │ │ │ │ └── lisp │ │ │ │ │ ├── AuxCommand.lisp │ │ │ │ │ ├── Corrections.lisp │ │ │ │ │ ├── Gains.lisp │ │ │ │ │ ├── OutputData.lisp │ │ │ │ │ ├── PPROutputData.lisp │ │ │ │ │ ├── PositionCommand.lisp │ │ │ │ │ ├── SO3Command.lisp │ │ │ │ │ ├── Serial.lisp │ │ │ │ │ ├── StatusData.lisp │ │ │ │ │ ├── TRPYCommand.lisp │ │ │ │ │ ├── _package.lisp │ │ │ │ │ ├── _package_AuxCommand.lisp │ │ │ │ │ ├── _package_Corrections.lisp │ │ │ │ │ ├── _package_Gains.lisp │ │ │ │ │ ├── _package_OutputData.lisp │ │ │ │ │ ├── _package_PPROutputData.lisp │ │ │ │ │ ├── _package_PositionCommand.lisp │ │ │ │ │ ├── _package_SO3Command.lisp │ │ │ │ │ ├── _package_Serial.lisp │ │ │ │ │ ├── _package_StatusData.lisp │ │ │ │ │ ├── _package_TRPYCommand.lisp │ │ │ │ │ └── quadrotor_msgs-msg.asd │ │ │ ├── package.xml │ │ │ └── src │ │ │ │ ├── decode_msgs.cpp │ │ │ │ ├── encode_msgs.cpp │ │ │ │ └── quadrotor_msgs │ │ │ │ ├── __init__.py │ │ │ │ ├── __init__.pyc │ │ │ │ └── msg │ │ │ │ ├── _AuxCommand.py │ │ │ │ ├── _Corrections.py │ │ │ │ ├── _Gains.py │ │ │ │ ├── _OutputData.py │ │ │ │ ├── _PPROutputData.py │ │ │ │ ├── _PositionCommand.py │ │ │ │ ├── _SO3Command.py │ │ │ │ ├── _Serial.py │ │ │ │ ├── _StatusData.py │ │ │ │ ├── _TRPYCommand.py │ │ │ │ └── __init__.py │ │ └── src │ │ │ ├── multi_map_server │ │ │ ├── __init__.py │ │ │ └── msg │ │ │ │ ├── _MultiOccupancyGrid.py │ │ │ │ ├── _MultiSparseMap3D.py │ │ │ │ ├── _SparseMap3D.py │ │ │ │ ├── _VerticalOccupancyGridList.py │ │ │ │ └── __init__.py │ │ │ ├── multi_map_visualization.cc │ │ │ └── unused │ │ │ └── multi_map_server.cc │ ├── pose_utils │ │ ├── CMakeLists.txt │ │ ├── Makefile │ │ ├── include │ │ │ └── pose_utils.h │ │ ├── package.xml │ │ └── src │ │ │ └── pose_utils.cpp │ ├── rviz_plugins │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ └── rviz_config.rviz │ │ ├── package.xml │ │ ├── plugin_description.xml │ │ └── src │ │ │ ├── aerialmap_display.cpp │ │ │ ├── aerialmap_display.h │ │ │ ├── gamelikeinput.cpp │ │ │ ├── gamelikeinput.hpp │ │ │ ├── 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 │ ├── uav_utils │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── include │ │ │ └── uav_utils │ │ │ │ ├── converters.h │ │ │ │ ├── geometry_utils.h │ │ │ │ └── utils.h │ │ ├── package.xml │ │ ├── scripts │ │ │ ├── odom_to_euler.py │ │ │ ├── send_odom.py │ │ │ ├── tf_assist.py │ │ │ └── topic_statistics.py │ │ └── src │ │ │ └── uav_utils_test.cpp │ └── waypoint_generator │ │ ├── CMakeLists.txt │ │ ├── package.xml │ │ └── src │ │ ├── sample_waypoints.h │ │ └── waypoint_generator.cpp ├── cascade_control │ ├── CMakeLists.txt │ ├── cfg │ │ └── params.cfg │ ├── include │ │ ├── accelerationcontrol.hpp │ │ ├── attitude_control.hpp │ │ ├── cascadecontrol.hpp │ │ ├── cascadecontrollernode.hpp │ │ ├── control_states.hpp │ │ ├── controller.hpp │ │ ├── estimator.hpp │ │ ├── frequencyalign.hpp │ │ ├── intergrationestimator.hpp │ │ ├── mixer.hpp │ │ ├── palstance_control.hpp │ │ ├── pid.hpp │ │ ├── position.hpp │ │ ├── pretreatmentor.hpp │ │ ├── so3control.hpp │ │ ├── thrust.hpp │ │ ├── translation_control.hpp │ │ ├── translationfeedforwardmixer.hpp │ │ └── velocity.hpp │ ├── launch │ │ └── simulator.launch │ ├── nodelet_plugins.xml │ ├── package.xml │ └── src │ │ ├── accelerationcontrol.cpp │ │ ├── attitude_control.cpp │ │ ├── cascadecontrol.cpp │ │ ├── cascadecontrollernode.cpp │ │ ├── control_states.cpp │ │ ├── controller.cpp │ │ ├── estimator.cpp │ │ ├── frequencyalign.cpp │ │ ├── intergrationestimator.cpp │ │ ├── mixer.cpp │ │ ├── palstance_control.cpp │ │ ├── pid.cpp │ │ ├── position.cpp │ │ ├── pretreatmentor.cpp │ │ ├── so3control.cpp │ │ ├── thrust.cpp │ │ ├── translation_control.cpp │ │ ├── translationfeedforwardmixer.cpp │ │ └── velocity.cpp ├── depth_sensor_simulator │ ├── .vscode │ │ └── settings.json │ ├── CMakeLists.txt │ ├── CMakeModules │ │ ├── FindCUDA.cmake │ │ ├── FindCUDA │ │ │ ├── make2cmake.cmake │ │ │ ├── parse_cubin.cmake │ │ │ └── run_nvcc.cmake │ │ └── FindEigen.cmake │ ├── cfg │ │ └── depth_sensor_simulator.cfg │ ├── package.xml │ ├── params │ │ └── camera.yaml │ └── src │ │ ├── AlignError.h │ │ ├── ceres_extensions.h │ │ ├── csv_convert.py │ │ ├── cuda_exception.cuh │ │ ├── depth_render.cu │ │ ├── depth_render.cuh │ │ ├── device_image.cuh │ │ ├── empty.cpp │ │ ├── empty.h │ │ ├── euroc.cpp │ │ ├── helper_math.h │ │ ├── pcl_render_node.cpp │ │ └── pointcloud_render_node.cpp ├── map_generator │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ │ └── random_forest_sensing.cpp ├── odom_visualization │ ├── CMakeLists.txt │ ├── Makefile │ ├── mainpage.dox │ ├── meshes │ │ └── hummingbird.mesh │ ├── package.xml │ └── src │ │ └── odom_visualization.cpp ├── quadrotor_msgs │ ├── CMakeLists.txt │ ├── cmake │ │ └── FindEigen3.cmake │ ├── include │ │ └── quadrotor_msgs │ │ │ ├── comm_types.h │ │ │ ├── decode_msgs.h │ │ │ └── encode_msgs.h │ ├── msg │ │ ├── AuxCommand.msg │ │ ├── Corrections.msg │ │ ├── Gains.msg │ │ ├── LQRTrajectory.msg │ │ ├── Odometry.msg │ │ ├── OutputData.msg │ │ ├── PPROutputData.msg │ │ ├── PolynomialTrajectory.msg │ │ ├── PositionCommand.msg │ │ ├── SO3Command.msg │ │ ├── Serial.msg │ │ ├── StatusData.msg │ │ └── TRPYCommand.msg │ ├── package.xml │ └── src │ │ ├── decode_msgs.cpp │ │ ├── encode_msgs.cpp │ │ └── quadrotor_msgs │ │ ├── __init__.py │ │ ├── __init__.pyc │ │ └── msg │ │ ├── _AuxCommand.py │ │ ├── _Corrections.py │ │ ├── _Gains.py │ │ ├── _OutputData.py │ │ ├── _PPROutputData.py │ │ ├── _PositionCommand.py │ │ ├── _SO3Command.py │ │ ├── _Serial.py │ │ ├── _StatusData.py │ │ ├── _TRPYCommand.py │ │ └── __init__.py ├── so3_control │ ├── CMakeLists.txt │ ├── config │ │ ├── corrections_hummingbird.yaml │ │ ├── corrections_pelican.yaml │ │ ├── gains.yaml │ │ ├── gains_hummingbird.yaml │ │ └── gains_pelican.yaml │ ├── include │ │ └── so3_control │ │ │ └── SO3Control.h │ ├── mainpage.dox │ ├── nodelet_plugin.xml │ ├── package.xml │ └── src │ │ ├── SO3Control.cpp │ │ └── so3_control_nodelet.cpp ├── so3_disturbance_generator │ ├── CMakeLists.txt │ ├── cfg │ │ ├── cpp │ │ │ └── so3_disturbance_generator │ │ │ │ └── DisturbanceUIConfig.h │ │ ├── disturbance_ui.cfg │ │ └── disturbance_ui.cfgc │ ├── docs │ │ ├── DisturbanceUIConfig-usage.dox │ │ ├── DisturbanceUIConfig.dox │ │ └── DisturbanceUIConfig.wikidoc │ ├── include │ │ └── so3_disturbance_generator │ │ │ └── DisturbanceUIConfig.h │ ├── mainpage.dox │ ├── package.xml │ └── src │ │ ├── pose_utils.h │ │ ├── so3_disturbance_generator.cpp │ │ └── so3_disturbance_generator │ │ ├── __init__.py │ │ └── cfg │ │ ├── DisturbanceUIConfig.py │ │ └── __init__.py └── so3_quadrotor_simulator │ ├── CMakeLists.txt │ ├── config │ └── rviz.rviz │ ├── include │ ├── ode │ │ ├── CHANGELOG │ │ ├── Jamroot │ │ ├── README │ │ ├── boost │ │ │ └── numeric │ │ │ │ ├── odeint.hpp │ │ │ │ └── odeint │ │ │ │ ├── algebra │ │ │ │ ├── array_algebra.hpp │ │ │ │ ├── default_operations.hpp │ │ │ │ ├── detail │ │ │ │ │ ├── for_each.hpp │ │ │ │ │ ├── macros.hpp │ │ │ │ │ └── reduce.hpp │ │ │ │ ├── fusion_algebra.hpp │ │ │ │ ├── range_algebra.hpp │ │ │ │ └── vector_space_algebra.hpp │ │ │ │ ├── config.hpp │ │ │ │ ├── external │ │ │ │ ├── gsl │ │ │ │ │ └── gsl_wrapper.hpp │ │ │ │ ├── mkl │ │ │ │ │ └── mkl_operations.hpp │ │ │ │ ├── mtl4 │ │ │ │ │ ├── implicit_euler_mtl4.hpp │ │ │ │ │ └── mtl4_resize.hpp │ │ │ │ ├── thrust │ │ │ │ │ ├── thrust_algebra.hpp │ │ │ │ │ ├── thrust_operations.hpp │ │ │ │ │ └── thrust_resize.hpp │ │ │ │ ├── vexcl │ │ │ │ │ └── vexcl_resize.hpp │ │ │ │ └── viennacl │ │ │ │ │ ├── viennacl_operations.hpp │ │ │ │ │ └── viennacl_resize.hpp │ │ │ │ ├── integrate │ │ │ │ ├── detail │ │ │ │ │ ├── integrate_adaptive.hpp │ │ │ │ │ ├── integrate_const.hpp │ │ │ │ │ ├── integrate_n_steps.hpp │ │ │ │ │ └── integrate_times.hpp │ │ │ │ ├── integrate.hpp │ │ │ │ ├── integrate_adaptive.hpp │ │ │ │ ├── integrate_const.hpp │ │ │ │ ├── integrate_n_steps.hpp │ │ │ │ ├── integrate_times.hpp │ │ │ │ ├── null_observer.hpp │ │ │ │ └── observer_collection.hpp │ │ │ │ ├── stepper │ │ │ │ ├── adams_bashforth.hpp │ │ │ │ ├── adams_bashforth_moulton.hpp │ │ │ │ ├── adams_moulton.hpp │ │ │ │ ├── base │ │ │ │ │ ├── algebra_stepper_base.hpp │ │ │ │ │ ├── explicit_error_stepper_base.hpp │ │ │ │ │ ├── explicit_error_stepper_fsal_base.hpp │ │ │ │ │ ├── explicit_stepper_base.hpp │ │ │ │ │ └── symplectic_rkn_stepper_base.hpp │ │ │ │ ├── bulirsch_stoer.hpp │ │ │ │ ├── bulirsch_stoer_dense_out.hpp │ │ │ │ ├── controlled_runge_kutta.hpp │ │ │ │ ├── controlled_step_result.hpp │ │ │ │ ├── dense_output_runge_kutta.hpp │ │ │ │ ├── detail │ │ │ │ │ ├── adams_bashforth_call_algebra.hpp │ │ │ │ │ ├── adams_bashforth_coefficients.hpp │ │ │ │ │ ├── adams_moulton_call_algebra.hpp │ │ │ │ │ ├── adams_moulton_coefficients.hpp │ │ │ │ │ ├── generic_rk_algorithm.hpp │ │ │ │ │ ├── generic_rk_call_algebra.hpp │ │ │ │ │ ├── generic_rk_operations.hpp │ │ │ │ │ └── rotating_buffer.hpp │ │ │ │ ├── euler.hpp │ │ │ │ ├── explicit_error_generic_rk.hpp │ │ │ │ ├── explicit_generic_rk.hpp │ │ │ │ ├── generation.hpp │ │ │ │ ├── generation │ │ │ │ │ ├── generation_controlled_runge_kutta.hpp │ │ │ │ │ ├── generation_dense_output_runge_kutta.hpp │ │ │ │ │ ├── generation_rosenbrock4.hpp │ │ │ │ │ ├── generation_runge_kutta_cash_karp54.hpp │ │ │ │ │ ├── generation_runge_kutta_cash_karp54_classic.hpp │ │ │ │ │ ├── generation_runge_kutta_dopri5.hpp │ │ │ │ │ ├── generation_runge_kutta_fehlberg78.hpp │ │ │ │ │ ├── make_controlled.hpp │ │ │ │ │ └── make_dense_output.hpp │ │ │ │ ├── implicit_euler.hpp │ │ │ │ ├── modified_midpoint.hpp │ │ │ │ ├── rosenbrock4.hpp │ │ │ │ ├── rosenbrock4_controller.hpp │ │ │ │ ├── rosenbrock4_dense_output.hpp │ │ │ │ ├── runge_kutta4.hpp │ │ │ │ ├── runge_kutta4_classic.hpp │ │ │ │ ├── runge_kutta_cash_karp54.hpp │ │ │ │ ├── runge_kutta_cash_karp54_classic.hpp │ │ │ │ ├── runge_kutta_dopri5.hpp │ │ │ │ ├── runge_kutta_fehlberg78.hpp │ │ │ │ ├── stepper_categories.hpp │ │ │ │ ├── symplectic_euler.hpp │ │ │ │ ├── symplectic_rkn_sb3a_m4_mclachlan.hpp │ │ │ │ └── symplectic_rkn_sb3a_mclachlan.hpp │ │ │ │ ├── util │ │ │ │ ├── bind.hpp │ │ │ │ ├── copy.hpp │ │ │ │ ├── detail │ │ │ │ │ ├── is_range.hpp │ │ │ │ │ └── less_with_sign.hpp │ │ │ │ ├── is_pair.hpp │ │ │ │ ├── is_resizeable.hpp │ │ │ │ ├── resize.hpp │ │ │ │ ├── resizer.hpp │ │ │ │ ├── same_instance.hpp │ │ │ │ ├── same_size.hpp │ │ │ │ ├── state_wrapper.hpp │ │ │ │ ├── ublas_wrapper.hpp │ │ │ │ ├── unit_helper.hpp │ │ │ │ └── unwrap_reference.hpp │ │ │ │ └── version.hpp │ │ └── libs │ │ │ └── numeric │ │ │ └── odeint │ │ │ ├── doc │ │ │ ├── Jamfile.v2 │ │ │ ├── acknowledgements.qbk │ │ │ ├── concepts.qbk │ │ │ ├── concepts │ │ │ │ ├── controlled_stepper.qbk │ │ │ │ ├── dense_output_stepper.qbk │ │ │ │ ├── error_stepper.qbk │ │ │ │ ├── implicit_system.qbk │ │ │ │ ├── state_algebra_operations.qbk │ │ │ │ ├── state_wrapper.qbk │ │ │ │ ├── stepper.qbk │ │ │ │ ├── symplectic_system.qbk │ │ │ │ └── system.qbk │ │ │ ├── controlled_stepper_table.qbk │ │ │ ├── details.qbk │ │ │ ├── details_bind_member_functions.qbk │ │ │ ├── details_boost_range.qbk │ │ │ ├── details_boost_ref.qbk │ │ │ ├── details_generation_functions.qbk │ │ │ ├── details_integrate_functions.qbk │ │ │ ├── details_state_types_algebras_operations.qbk │ │ │ ├── details_steppers.qbk │ │ │ ├── examples_table.qbk │ │ │ ├── getting_started.qbk │ │ │ ├── html │ │ │ │ ├── boostbook.css │ │ │ │ ├── images │ │ │ │ │ ├── alert.png │ │ │ │ │ ├── blank.png │ │ │ │ │ ├── callouts │ │ │ │ │ │ ├── 1.png │ │ │ │ │ │ ├── 1.svg │ │ │ │ │ │ ├── 10.png │ │ │ │ │ │ ├── 10.svg │ │ │ │ │ │ ├── 11.png │ │ │ │ │ │ ├── 11.svg │ │ │ │ │ │ ├── 12.png │ │ │ │ │ │ ├── 12.svg │ │ │ │ │ │ ├── 13.png │ │ │ │ │ │ ├── 13.svg │ │ │ │ │ │ ├── 14.png │ │ │ │ │ │ ├── 14.svg │ │ │ │ │ │ ├── 15.png │ │ │ │ │ │ ├── 15.svg │ │ │ │ │ │ ├── 16.svg │ │ │ │ │ │ ├── 17.svg │ │ │ │ │ │ ├── 18.svg │ │ │ │ │ │ ├── 19.svg │ │ │ │ │ │ ├── 2.png │ │ │ │ │ │ ├── 2.svg │ │ │ │ │ │ ├── 20.svg │ │ │ │ │ │ ├── 21.svg │ │ │ │ │ │ ├── 22.svg │ │ │ │ │ │ ├── 23.svg │ │ │ │ │ │ ├── 24.svg │ │ │ │ │ │ ├── 25.svg │ │ │ │ │ │ ├── 26.svg │ │ │ │ │ │ ├── 27.svg │ │ │ │ │ │ ├── 28.svg │ │ │ │ │ │ ├── 29.svg │ │ │ │ │ │ ├── 3.png │ │ │ │ │ │ ├── 3.svg │ │ │ │ │ │ ├── 30.svg │ │ │ │ │ │ ├── 4.png │ │ │ │ │ │ ├── 4.svg │ │ │ │ │ │ ├── 5.png │ │ │ │ │ │ ├── 5.svg │ │ │ │ │ │ ├── 6.png │ │ │ │ │ │ ├── 6.svg │ │ │ │ │ │ ├── 7.png │ │ │ │ │ │ ├── 7.svg │ │ │ │ │ │ ├── 8.png │ │ │ │ │ │ ├── 8.svg │ │ │ │ │ │ ├── 9.png │ │ │ │ │ │ └── 9.svg │ │ │ │ │ ├── caution.png │ │ │ │ │ ├── caution.svg │ │ │ │ │ ├── draft.png │ │ │ │ │ ├── home.png │ │ │ │ │ ├── home.svg │ │ │ │ │ ├── important.png │ │ │ │ │ ├── important.svg │ │ │ │ │ ├── next.png │ │ │ │ │ ├── next.svg │ │ │ │ │ ├── next_disabled.png │ │ │ │ │ ├── note.png │ │ │ │ │ ├── note.svg │ │ │ │ │ ├── prev.png │ │ │ │ │ ├── prev.svg │ │ │ │ │ ├── prev_disabled.png │ │ │ │ │ ├── smiley.png │ │ │ │ │ ├── tip.png │ │ │ │ │ ├── tip.svg │ │ │ │ │ ├── toc-blank.png │ │ │ │ │ ├── toc-minus.png │ │ │ │ │ ├── toc-plus.png │ │ │ │ │ ├── up.png │ │ │ │ │ ├── up.svg │ │ │ │ │ ├── up_disabled.png │ │ │ │ │ ├── warning.png │ │ │ │ │ └── warning.svg │ │ │ │ ├── logo.jpg │ │ │ │ ├── phase_lattice_2d_0000.jpg │ │ │ │ ├── phase_lattice_2d_0100.jpg │ │ │ │ ├── phase_lattice_2d_1000.jpg │ │ │ │ └── solar_system.jpg │ │ │ ├── literature.qbk │ │ │ ├── make_controlled_table.qbk │ │ │ ├── make_dense_output_table.qbk │ │ │ ├── odeint.idx │ │ │ ├── odeint.qbk │ │ │ ├── range_table.qbk │ │ │ ├── stepper_table.qbk │ │ │ ├── tutorial.qbk │ │ │ ├── tutorial_chaotic_system.qbk │ │ │ ├── tutorial_harmonic_oscillator.qbk │ │ │ ├── tutorial_solar_system.qbk │ │ │ ├── tutorial_special_topics.qbk │ │ │ ├── tutorial_stiff_systems.qbk │ │ │ ├── tutorial_thrust_cuda.qbk │ │ │ └── tutorial_vexcl_opencl.qbk │ │ │ ├── examples │ │ │ ├── 2d_lattice │ │ │ │ ├── Jamfile.v2 │ │ │ │ ├── lattice2d.hpp │ │ │ │ ├── nested_range_algebra.hpp │ │ │ │ ├── spreading.cpp │ │ │ │ └── vector_vector_resize.hpp │ │ │ ├── Jamfile.v2 │ │ │ ├── bind_member_functions.cpp │ │ │ ├── bind_member_functions_cpp11.cpp │ │ │ ├── bulirsch_stoer.cpp │ │ │ ├── chaotic_system.cpp │ │ │ ├── elliptic.py │ │ │ ├── elliptic_functions.cpp │ │ │ ├── fpu.cpp │ │ │ ├── generation_functions.cpp │ │ │ ├── gmpxx │ │ │ │ └── lorenz_gmpxx.cpp │ │ │ ├── gram_schmidt.hpp │ │ │ ├── harmonic_oscillator.cpp │ │ │ ├── harmonic_oscillator_units.cpp │ │ │ ├── heun.cpp │ │ │ ├── list_lattice.cpp │ │ │ ├── lorenz_point.cpp │ │ │ ├── mtl │ │ │ │ ├── Jamfile.v2 │ │ │ │ ├── gauss_packet.cpp │ │ │ │ └── implicit_euler_mtl.cpp │ │ │ ├── my_vector.cpp │ │ │ ├── phase_oscillator_ensemble.cpp │ │ │ ├── point_type.hpp │ │ │ ├── quadmath │ │ │ │ ├── Jamfile.v2 │ │ │ │ └── black_hole.cpp │ │ │ ├── resizing_lattice.cpp │ │ │ ├── simple1d.cpp │ │ │ ├── solar_system.agr │ │ │ ├── solar_system.cpp │ │ │ ├── stepper_details.cpp │ │ │ ├── stiff_system.cpp │ │ │ ├── stochastic_euler.cpp │ │ │ ├── stuart_landau.cpp │ │ │ ├── thrust │ │ │ │ ├── Makefile │ │ │ │ ├── lorenz_parameters.cu │ │ │ │ ├── phase_oscillator_chain.cu │ │ │ │ ├── phase_oscillator_ensemble.cu │ │ │ │ └── relaxation.cu │ │ │ ├── two_dimensional_phase_lattice.cpp │ │ │ ├── ublas │ │ │ │ ├── Jamfile.v2 │ │ │ │ └── lorenz_ublas.cpp │ │ │ ├── van_der_pol_stiff.cpp │ │ │ └── vexcl │ │ │ │ ├── Jamfile.v2 │ │ │ │ └── lorenz_ensemble.cpp │ │ │ ├── index.html │ │ │ ├── performance │ │ │ ├── Jamfile.v2 │ │ │ ├── fusion_algebra.hpp │ │ │ ├── fusion_explicit_error_rk.hpp │ │ │ ├── fusion_explicit_rk_new.hpp │ │ │ ├── generic_odeint_rk4_lorenz.cpp │ │ │ ├── gsl_rk4_lorenz.cpp │ │ │ ├── lorenz.hpp │ │ │ ├── lorenz_gsl.hpp │ │ │ ├── nr_rk4_lorenz.cpp │ │ │ ├── nr_rk4_phase_lattice.cpp │ │ │ ├── odeint_rk4_lorenz_array.cpp │ │ │ ├── odeint_rk4_lorenz_range.cpp │ │ │ ├── odeint_rk4_phase_lattice.cpp │ │ │ ├── odeint_rk4_phase_lattice_mkl.cpp │ │ │ ├── performance.py │ │ │ ├── phase_lattice.hpp │ │ │ ├── phase_lattice_mkl.hpp │ │ │ ├── plot_result.py │ │ │ ├── rk4_lorenz.f │ │ │ ├── rk_performance_test_case.hpp │ │ │ ├── rt_algebra.hpp │ │ │ ├── rt_explicit_rk.hpp │ │ │ ├── rt_generic_rk4_lorenz.cpp │ │ │ └── rt_generic_rk4_phase_lattice.cpp │ │ │ ├── test │ │ │ ├── Jamfile.v2 │ │ │ ├── adams_bashforth.cpp │ │ │ ├── adams_bashforth_moulton.cpp │ │ │ ├── adams_moulton.cpp │ │ │ ├── boost_units_helpers.hpp │ │ │ ├── bulirsch_stoer.cpp │ │ │ ├── const_range.hpp │ │ │ ├── default_operations.cpp │ │ │ ├── diagnostic_state_type.hpp │ │ │ ├── dummy_odes.hpp │ │ │ ├── dummy_steppers.hpp │ │ │ ├── euler_stepper.cpp │ │ │ ├── fusion_algebra.cpp │ │ │ ├── generation.cpp │ │ │ ├── generic_error_stepper.cpp │ │ │ ├── generic_stepper.cpp │ │ │ ├── implicit_euler.cpp │ │ │ ├── integrate.cpp │ │ │ ├── integrate_implicit.cpp │ │ │ ├── integrate_times.cpp │ │ │ ├── is_pair.cpp │ │ │ ├── is_resizeable.cpp │ │ │ ├── numeric │ │ │ │ ├── Jamfile.v2 │ │ │ │ ├── rosenbrock.cpp │ │ │ │ ├── runge_kutta.cpp │ │ │ │ └── symplectic.cpp │ │ │ ├── prepare_stepper_testing.hpp │ │ │ ├── range_algebra.cpp │ │ │ ├── resize.cpp │ │ │ ├── resizing.cpp │ │ │ ├── rosenbrock4.cpp │ │ │ ├── runge_kutta_concepts.cpp │ │ │ ├── runge_kutta_controlled_concepts.cpp │ │ │ ├── runge_kutta_error_concepts.cpp │ │ │ ├── same_size.cpp │ │ │ ├── stepper_copying.cpp │ │ │ ├── stepper_with_ranges.cpp │ │ │ ├── stepper_with_units.cpp │ │ │ ├── symplectic_steppers.cpp │ │ │ ├── trivial_state.cpp │ │ │ └── vector_space_1d.hpp │ │ │ └── test_external │ │ │ ├── gmp │ │ │ ├── Jamfile.v2 │ │ │ ├── check_gmp.cpp │ │ │ └── gmp_integrate.cpp │ │ │ ├── gsl │ │ │ ├── Jamfile.v2 │ │ │ └── check_gsl.cpp │ │ │ ├── mkl │ │ │ ├── Jamfile.v2 │ │ │ └── check_mkl.cpp │ │ │ ├── mtl4 │ │ │ ├── Jamfile.v2 │ │ │ └── mtl4_resize.cpp │ │ │ ├── thrust │ │ │ ├── Makefile │ │ │ └── check_thrust.cu │ │ │ └── vexcl │ │ │ ├── Jamfile.v2 │ │ │ └── lorenz.cpp │ └── quadrotor_simulator │ │ └── Quadrotor.h │ ├── launch │ └── simulator.launch │ ├── package.xml │ └── src │ ├── dynamics │ └── Quadrotor.cpp │ ├── quadrotor_simulator_so3.cpp │ └── test_dynamics │ └── test_dynamics.cpp └── visualization_utils ├── CMakeLists.txt ├── include └── visualization_utils │ └── visualization_utils.h ├── package.xml └── src └── visualization_utils.cpp /decision/state_machine/launch/record_bag.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /decision/state_machine/launch/rviz.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /decision/state_machine/launch/server.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /decision/state_machine/src/state_machine_node.cpp: -------------------------------------------------------------------------------- 1 | #include "state_machine/fsm.h" 2 | 3 | #include 4 | 5 | using namespace tgk_planner; 6 | 7 | int main(int argc, char** argv) 8 | { 9 | ros::init(argc, argv, "state_machine_node"); 10 | ros::NodeHandle nh("~"); 11 | 12 | FSM fsm; 13 | fsm.init(nh); 14 | 15 | ros::AsyncSpinner spinner(0); 16 | spinner.start(); 17 | ros::waitForShutdown(); 18 | // ros::spin(); 19 | // return 0; 20 | } -------------------------------------------------------------------------------- /mapping/occ_grid/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(occ_grid) 3 | set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS} -O3 -Wall") 4 | 5 | find_package(catkin REQUIRED COMPONENTS 6 | roscpp 7 | rospy 8 | std_msgs 9 | visualization_msgs 10 | message_filters 11 | poly_traj_utils 12 | cv_bridge 13 | tf2_ros 14 | tf2 15 | ) 16 | 17 | find_package(OpenCV REQUIRED) 18 | find_package(Eigen3 REQUIRED) 19 | find_package(PCL 1.7 REQUIRED) 20 | 21 | catkin_package( 22 | INCLUDE_DIRS include 23 | LIBRARIES occ_grid 24 | CATKIN_DEPENDS roscpp std_msgs 25 | # DEPENDS system_lib 26 | ) 27 | 28 | include_directories( 29 | include 30 | ${catkin_INCLUDE_DIRS} 31 | ${PCL_INCLUDE_DIRS} 32 | ${OpenCV_INCLUDE_DIRS} 33 | ${Eigen3_INCLUDE_DIRS} 34 | ) 35 | 36 | link_directories(${PCL_LIBRARY_DIRS}) 37 | link_directories(${OpenCV_LIBRARIES}) 38 | 39 | 40 | add_library( occ_grid 41 | src/occ_map.cpp 42 | src/raycast.cpp 43 | src/pos_checker.cpp 44 | ) 45 | target_link_libraries( occ_grid 46 | ${catkin_LIBRARIES} 47 | ${PCL_LIBRARIES} 48 | ${OpenCV_LIBRARIES} 49 | ) 50 | -------------------------------------------------------------------------------- /misc/3d_motion_compare.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZJU-FAST-Lab/TGK-Planner/0df567435a31fa2aa491248fd821ddbe4a13f0c6/misc/3d_motion_compare.png -------------------------------------------------------------------------------- /misc/follow.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZJU-FAST-Lab/TGK-Planner/0df567435a31fa2aa491248fd821ddbe4a13f0c6/misc/follow.gif -------------------------------------------------------------------------------- /misc/indoor_single.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZJU-FAST-Lab/TGK-Planner/0df567435a31fa2aa491248fd821ddbe4a13f0c6/misc/indoor_single.gif -------------------------------------------------------------------------------- /misc/rviz_set.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZJU-FAST-Lab/TGK-Planner/0df567435a31fa2aa491248fd821ddbe4a13f0c6/misc/rviz_set.gif -------------------------------------------------------------------------------- /misc/sim_global.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZJU-FAST-Lab/TGK-Planner/0df567435a31fa2aa491248fd821ddbe4a13f0c6/misc/sim_global.gif -------------------------------------------------------------------------------- /misc/sim_local.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZJU-FAST-Lab/TGK-Planner/0df567435a31fa2aa491248fd821ddbe4a13f0c6/misc/sim_local.gif -------------------------------------------------------------------------------- /planning/kino_plan/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(kino_plan) 3 | 4 | add_compile_options(-std=c++11) 5 | set(CMAKE_BUILD_TYPE "Release") 6 | set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g -fPIC") 7 | 8 | find_package(catkin REQUIRED COMPONENTS 9 | roscpp 10 | rospy 11 | std_msgs 12 | occ_grid 13 | poly_traj_utils 14 | visualization_utils 15 | ) 16 | 17 | find_package(Eigen3 REQUIRED) 18 | find_package(PCL 1.7 REQUIRED) 19 | 20 | catkin_package( 21 | INCLUDE_DIRS include 22 | LIBRARIES kino_plan 23 | CATKIN_DEPENDS occ_grid poly_traj_utils 24 | # DEPENDS system_lib 25 | ) 26 | 27 | include_directories( 28 | include 29 | ${catkin_INCLUDE_DIRS} 30 | ${PCL_INCLUDE_DIRS} 31 | ${Eigen3_INCLUDE_DIRS} 32 | ) 33 | 34 | add_library(${PROJECT_NAME} 35 | src/krrtplanner.cpp 36 | src/kdtree.c 37 | src/raycast.cpp 38 | src/bias_sampler.cpp 39 | src/bvp_solver.cpp 40 | ) 41 | 42 | target_link_libraries(${PROJECT_NAME} 43 | ${catkin_LIBRARIES} 44 | ) 45 | -------------------------------------------------------------------------------- /planning/poly_opt/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(poly_opt) 3 | 4 | set(CMAKE_BUILD_TYPE "Release") 5 | set(CMAKE_CXX_FLAGS "-std=c++11") 6 | set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") 7 | 8 | find_package(catkin REQUIRED COMPONENTS 9 | roscpp 10 | rospy 11 | std_msgs 12 | occ_grid 13 | poly_traj_utils 14 | visualization_utils 15 | ) 16 | 17 | find_package(Eigen3 REQUIRED) 18 | find_package(PCL 1.7 REQUIRED) 19 | 20 | catkin_package( 21 | INCLUDE_DIRS include 22 | LIBRARIES poly_opt 23 | CATKIN_DEPENDS occ_grid poly_traj_utils 24 | # DEPENDS system_lib 25 | ) 26 | 27 | include_directories( 28 | include 29 | ${catkin_INCLUDE_DIRS} 30 | ${EIGEN3_INCLUDE_DIRS} 31 | ${PCL_INCLUDE_DIRS} 32 | ) 33 | 34 | add_library( poly_opt 35 | src/traj_optimizer.cpp 36 | ) 37 | target_link_libraries( poly_opt 38 | ${catkin_LIBRARIES} 39 | ) 40 | -------------------------------------------------------------------------------- /planning/poly_traj_utils/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(poly_traj_utils) 3 | 4 | add_compile_options(-std=c++11) 5 | set(CMAKE_BUILD_TYPE "Release") 6 | set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g -fPIC") 7 | 8 | find_package(catkin REQUIRED COMPONENTS 9 | roscpp 10 | rospy 11 | std_msgs 12 | ) 13 | 14 | find_package(Eigen3 REQUIRED) 15 | 16 | catkin_package( 17 | INCLUDE_DIRS include 18 | LIBRARIES poly_traj_utils 19 | # CATKIN_DEPENDS roscpp rospy std_msgs 20 | # DEPENDS system_lib 21 | ) 22 | 23 | include_directories( 24 | include 25 | ${EIGEN3_INCLUDE_DIR} 26 | ) 27 | 28 | add_library(${PROJECT_NAME} 29 | src/poly_traj_utils.cpp 30 | ) 31 | 32 | target_link_libraries( 33 | ${PROJECT_NAME} 34 | ) -------------------------------------------------------------------------------- /planning/poly_traj_utils/src/poly_traj_utils.cpp: -------------------------------------------------------------------------------- 1 | #include "poly_traj_utils/traj_utils.hpp" 2 | 3 | -------------------------------------------------------------------------------- /self_msgs_and_srvs/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(self_msgs_and_srvs) 3 | 4 | set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS} -O3 -Wall") 5 | 6 | find_package(catkin REQUIRED COMPONENTS 7 | message_generation 8 | std_msgs 9 | ) 10 | 11 | 12 | add_service_files( 13 | FILES 14 | GlbObsRcv.srv 15 | ) 16 | 17 | generate_messages( 18 | DEPENDENCIES 19 | std_msgs 20 | ) 21 | 22 | catkin_package( 23 | # INCLUDE_DIRS include 24 | # LIBRARIES self_msgs_and_srvs 25 | CATKIN_DEPENDS message_runtime std_msgs 26 | # DEPENDS system_lib 27 | ) 28 | 29 | include_directories( 30 | ${catkin_INCLUDE_DIRS} 31 | ) 32 | 33 | -------------------------------------------------------------------------------- /self_msgs_and_srvs/srv/GlbObsRcv.srv: -------------------------------------------------------------------------------- 1 | bool req 2 | --- 3 | bool result 4 | -------------------------------------------------------------------------------- /uav_simulator/README.md: -------------------------------------------------------------------------------- 1 | # simulator and related utils 2 | 3 | -------------------------------------------------------------------------------- /uav_simulator/Utils/cmake_utils/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(cmake_utils) 3 | 4 | find_package(catkin REQUIRED COMPONENTS roscpp) 5 | 6 | set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR}/cmake) 7 | 8 | file(GLOB CMAKE_UILTS_FILES cmake/*.cmake) 9 | 10 | catkin_package( 11 | CFG_EXTRAS ${CMAKE_UILTS_FILES} 12 | ) 13 | 14 | -------------------------------------------------------------------------------- /uav_simulator/Utils/cmake_utils/cmake/cmake_modules.cmake: -------------------------------------------------------------------------------- 1 | list(APPEND CMAKE_MODULE_PATH "${cmake_utils_SOURCE_PREFIX}/cmake_modules") 2 | link_directories( ${cmake_utils_SOURCE_PREFIX}/lib/mosek8 ) 3 | -------------------------------------------------------------------------------- /uav_simulator/Utils/cmake_utils/cmake/color.cmake: -------------------------------------------------------------------------------- 1 | string(ASCII 27 Esc) 2 | set(ColourReset "${Esc}[m") 3 | set(ColourBold "${Esc}[1m") 4 | set(Red "${Esc}[31m") 5 | set(Green "${Esc}[32m") 6 | set(Yellow "${Esc}[33m") 7 | set(Blue "${Esc}[34m") 8 | set(Magenta "${Esc}[35m") 9 | set(Cyan "${Esc}[36m") 10 | set(White "${Esc}[37m") 11 | set(BoldRed "${Esc}[1;31m") 12 | set(BoldGreen "${Esc}[1;32m") 13 | set(BoldYellow "${Esc}[1;33m") 14 | set(BoldBlue "${Esc}[1;34m") 15 | set(BoldMagenta "${Esc}[1;35m") 16 | set(BoldCyan "${Esc}[1;36m") 17 | set(BoldWhite "${Esc}[1;37m") 18 | -------------------------------------------------------------------------------- /uav_simulator/Utils/cmake_utils/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | cmake_utils 4 | 0.0.0 5 | 6 | Once you used this package, 7 | then you do not need to copy cmake files among packages 8 | 9 | 10 | William.Wu 11 | 12 | LGPLv3 13 | 14 | catkin 15 | roscpp 16 | cmake_modules 17 | 18 | 19 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b multi_map_server is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/msg/MultiOccupancyGrid.msg: -------------------------------------------------------------------------------- 1 | nav_msgs/OccupancyGrid[] maps 2 | geometry_msgs/Pose[] origins 3 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/msg/MultiSparseMap3D.msg: -------------------------------------------------------------------------------- 1 | SparseMap3D[] maps 2 | geometry_msgs/Pose[] origins 3 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/msg/SparseMap3D.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | nav_msgs/MapMetaData info 3 | VerticalOccupancyGridList[] lists 4 | 5 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/msg/VerticalOccupancyGridList.msg: -------------------------------------------------------------------------------- 1 | float32 x 2 | float32 y 3 | int32[] upper 4 | int32[] lower 5 | int32[] mass 6 | 7 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/msg_gen/generated: -------------------------------------------------------------------------------- 1 | yes -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/msg_gen/lisp/_package.lisp: -------------------------------------------------------------------------------- 1 | (cl:defpackage multi_map_server-msg 2 | (:use ) 3 | (:export 4 | "" 5 | "MULTIOCCUPANCYGRID" 6 | "" 7 | "SPARSEMAP3D" 8 | "" 9 | "MULTISPARSEMAP3D" 10 | "" 11 | "VERTICALOCCUPANCYGRIDLIST" 12 | )) 13 | 14 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/msg_gen/lisp/_package_MultiOccupancyGrid.lisp: -------------------------------------------------------------------------------- 1 | (cl:in-package multi_map_server-msg) 2 | (cl:export '(MAPS-VAL 3 | MAPS 4 | ORIGINS-VAL 5 | ORIGINS 6 | )) -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/msg_gen/lisp/_package_MultiSparseMap3D.lisp: -------------------------------------------------------------------------------- 1 | (cl:in-package multi_map_server-msg) 2 | (cl:export '(MAPS-VAL 3 | MAPS 4 | ORIGINS-VAL 5 | ORIGINS 6 | )) -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/msg_gen/lisp/_package_SparseMap3D.lisp: -------------------------------------------------------------------------------- 1 | (cl:in-package multi_map_server-msg) 2 | (cl:export '(HEADER-VAL 3 | HEADER 4 | INFO-VAL 5 | INFO 6 | LISTS-VAL 7 | LISTS 8 | )) -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/msg_gen/lisp/_package_VerticalOccupancyGridList.lisp: -------------------------------------------------------------------------------- 1 | (cl:in-package multi_map_server-msg) 2 | (cl:export '(X-VAL 3 | X 4 | Y-VAL 5 | Y 6 | UPPER-VAL 7 | UPPER 8 | LOWER-VAL 9 | LOWER 10 | MASS-VAL 11 | MASS 12 | )) -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/msg_gen/lisp/multi_map_server-msg.asd: -------------------------------------------------------------------------------- 1 | 2 | (cl:in-package :asdf) 3 | 4 | (defsystem "multi_map_server-msg" 5 | :depends-on (:roslisp-msg-protocol :roslisp-utils :geometry_msgs-msg 6 | :nav_msgs-msg 7 | :std_msgs-msg 8 | ) 9 | :components ((:file "_package") 10 | (:file "MultiOccupancyGrid" :depends-on ("_package_MultiOccupancyGrid")) 11 | (:file "_package_MultiOccupancyGrid" :depends-on ("_package")) 12 | (:file "SparseMap3D" :depends-on ("_package_SparseMap3D")) 13 | (:file "_package_SparseMap3D" :depends-on ("_package")) 14 | (:file "MultiSparseMap3D" :depends-on ("_package_MultiSparseMap3D")) 15 | (:file "_package_MultiSparseMap3D" :depends-on ("_package")) 16 | (:file "VerticalOccupancyGridList" :depends-on ("_package_VerticalOccupancyGridList")) 17 | (:file "_package_VerticalOccupancyGridList" :depends-on ("_package")) 18 | )) -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/Makefile: -------------------------------------------------------------------------------- 1 | include 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-------------------------------------------------------------------------------- 1 | CMAKE_PROGRESS_1 = 35 2 | 3 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/build/gtest/CMakeFiles/progress.marks: -------------------------------------------------------------------------------- 1 | 0 2 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/include/quadrotor_msgs/decode_msgs.h: -------------------------------------------------------------------------------- 1 | #ifndef __QUADROTOR_MSGS_QUADROTOR_MSGS_H__ 2 | #define __QUADROTOR_MSGS_QUADROTOR_MSGS_H__ 3 | 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | 10 | namespace quadrotor_msgs 11 | { 12 | 13 | bool decodeOutputData(const std::vector &data, 14 | quadrotor_msgs::OutputData &output); 15 | 16 | bool decodeStatusData(const std::vector &data, 17 | quadrotor_msgs::StatusData &status); 18 | 19 | bool decodePPROutputData(const std::vector &data, 20 | quadrotor_msgs::PPROutputData &output); 21 | } 22 | 23 | #endif 24 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/include/quadrotor_msgs/encode_msgs.h: -------------------------------------------------------------------------------- 1 | #ifndef __QUADROTOR_MSGS_QUADROTOR_MSGS_H__ 2 | #define __QUADROTOR_MSGS_QUADROTOR_MSGS_H__ 3 | 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | 10 | namespace quadrotor_msgs 11 | { 12 | 13 | void encodeSO3Command(const quadrotor_msgs::SO3Command &so3_command, 14 | std::vector &output); 15 | void encodeTRPYCommand(const quadrotor_msgs::TRPYCommand &trpy_command, 16 | std::vector &output); 17 | 18 | void encodePPRGains(const quadrotor_msgs::Gains &gains, 19 | std::vector &output); 20 | } 21 | 22 | #endif 23 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/lib/libdecode_msgs.so: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZJU-FAST-Lab/TGK-Planner/0df567435a31fa2aa491248fd821ddbe4a13f0c6/uav_simulator/Utils/multi_map_server/quadrotor_msgs/lib/libdecode_msgs.so -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/lib/libencode_msgs.so: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZJU-FAST-Lab/TGK-Planner/0df567435a31fa2aa491248fd821ddbe4a13f0c6/uav_simulator/Utils/multi_map_server/quadrotor_msgs/lib/libencode_msgs.so -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b quadrotor_msgs 6 | 7 | 10 | 11 | --> 12 | 13 | 14 | */ 15 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/AuxCommand.msg: -------------------------------------------------------------------------------- 1 | float64 current_yaw 2 | float64 kf_correction 3 | float64[2] angle_corrections# Trims for roll, pitch 4 | bool enable_motors 5 | bool use_external_yaw 6 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/Corrections.msg: -------------------------------------------------------------------------------- 1 | float64 kf_correction 2 | float64[2] angle_corrections 3 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/Gains.msg: -------------------------------------------------------------------------------- 1 | float64 Kp 2 | float64 Kd 3 | float64 Kp_yaw 4 | float64 Kd_yaw 5 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/OutputData.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | uint16 loop_rate 3 | float64 voltage 4 | geometry_msgs/Quaternion orientation 5 | geometry_msgs/Vector3 angular_velocity 6 | geometry_msgs/Vector3 linear_acceleration 7 | float64 pressure_dheight 8 | float64 pressure_height 9 | geometry_msgs/Vector3 magnetic_field 10 | uint8[8] radio_channel 11 | #uint8[4] motor_rpm 12 | uint8 seq 13 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/PPROutputData.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | uint16 quad_time 3 | float64 des_thrust 4 | float64 des_roll 5 | float64 des_pitch 6 | float64 des_yaw 7 | float64 est_roll 8 | float64 est_pitch 9 | float64 est_yaw 10 | float64 est_angvel_x 11 | float64 est_angvel_y 12 | float64 est_angvel_z 13 | float64 est_acc_x 14 | float64 est_acc_y 15 | float64 est_acc_z 16 | uint16[4] pwm 17 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/PositionCommand.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | geometry_msgs/Point position 3 | geometry_msgs/Vector3 velocity 4 | geometry_msgs/Vector3 acceleration 5 | float64 yaw 6 | float64 yaw_dot 7 | float64[3] kx 8 | float64[3] kv 9 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/SO3Command.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | geometry_msgs/Vector3 force 3 | geometry_msgs/Quaternion orientation 4 | float64[3] kR 5 | float64[3] kOm 6 | quadrotor_msgs/AuxCommand aux 7 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/Serial.msg: -------------------------------------------------------------------------------- 1 | # Note: These constants need to be kept in sync with the types 2 | # defined in include/quadrotor_msgs/comm_types.h 3 | uint8 SO3_CMD = 115 # 's' in base 10 4 | uint8 TRPY_CMD = 112 # 'p' in base 10 5 | uint8 STATUS_DATA = 99 # 'c' in base 10 6 | uint8 OUTPUT_DATA = 100 # 'd' in base 10 7 | uint8 PPR_OUTPUT_DATA = 116 # 't' in base 10 8 | uint8 PPR_GAINS = 103 # 'g' 9 | 10 | Header header 11 | uint8 channel 12 | uint8 type # One of the types listed above 13 | uint8[] data 14 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/StatusData.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | uint16 loop_rate 3 | float64 voltage 4 | uint8 seq 5 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg/TRPYCommand.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | float32 thrust 3 | float32 roll 4 | float32 pitch 5 | float32 yaw 6 | quadrotor_msgs/AuxCommand aux 7 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/generated: -------------------------------------------------------------------------------- 1 | yes -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package.lisp: -------------------------------------------------------------------------------- 1 | (cl:defpackage quadrotor_msgs-msg 2 | (:use ) 3 | (:export 4 | "" 5 | "SERIAL" 6 | "" 7 | "AUXCOMMAND" 8 | "" 9 | "POSITIONCOMMAND" 10 | "" 11 | "CORRECTIONS" 12 | "" 13 | "STATUSDATA" 14 | "" 15 | "SO3COMMAND" 16 | "" 17 | "PPROUTPUTDATA" 18 | "" 19 | "TRPYCOMMAND" 20 | "" 21 | "OUTPUTDATA" 22 | "" 23 | "GAINS" 24 | )) 25 | 26 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_AuxCommand.lisp: -------------------------------------------------------------------------------- 1 | (cl:in-package quadrotor_msgs-msg) 2 | (cl:export '(CURRENT_YAW-VAL 3 | CURRENT_YAW 4 | KF_CORRECTION-VAL 5 | KF_CORRECTION 6 | ANGLE_CORRECTIONS-VAL 7 | ANGLE_CORRECTIONS 8 | ENABLE_MOTORS-VAL 9 | ENABLE_MOTORS 10 | USE_EXTERNAL_YAW-VAL 11 | USE_EXTERNAL_YAW 12 | )) -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_Corrections.lisp: -------------------------------------------------------------------------------- 1 | (cl:in-package quadrotor_msgs-msg) 2 | (cl:export '(KF_CORRECTION-VAL 3 | KF_CORRECTION 4 | ANGLE_CORRECTIONS-VAL 5 | ANGLE_CORRECTIONS 6 | )) -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_Gains.lisp: -------------------------------------------------------------------------------- 1 | (cl:in-package quadrotor_msgs-msg) 2 | (cl:export '(KP-VAL 3 | KP 4 | KD-VAL 5 | KD 6 | KP_YAW-VAL 7 | KP_YAW 8 | KD_YAW-VAL 9 | KD_YAW 10 | )) -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_OutputData.lisp: -------------------------------------------------------------------------------- 1 | (cl:in-package quadrotor_msgs-msg) 2 | (cl:export '(HEADER-VAL 3 | HEADER 4 | LOOP_RATE-VAL 5 | LOOP_RATE 6 | VOLTAGE-VAL 7 | VOLTAGE 8 | ORIENTATION-VAL 9 | ORIENTATION 10 | ANGULAR_VELOCITY-VAL 11 | ANGULAR_VELOCITY 12 | LINEAR_ACCELERATION-VAL 13 | LINEAR_ACCELERATION 14 | PRESSURE_DHEIGHT-VAL 15 | PRESSURE_DHEIGHT 16 | PRESSURE_HEIGHT-VAL 17 | PRESSURE_HEIGHT 18 | MAGNETIC_FIELD-VAL 19 | MAGNETIC_FIELD 20 | RADIO_CHANNEL-VAL 21 | RADIO_CHANNEL 22 | SEQ-VAL 23 | SEQ 24 | )) -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_PPROutputData.lisp: -------------------------------------------------------------------------------- 1 | (cl:in-package quadrotor_msgs-msg) 2 | (cl:export '(HEADER-VAL 3 | HEADER 4 | QUAD_TIME-VAL 5 | QUAD_TIME 6 | DES_THRUST-VAL 7 | DES_THRUST 8 | DES_ROLL-VAL 9 | DES_ROLL 10 | DES_PITCH-VAL 11 | DES_PITCH 12 | DES_YAW-VAL 13 | DES_YAW 14 | EST_ROLL-VAL 15 | EST_ROLL 16 | EST_PITCH-VAL 17 | EST_PITCH 18 | EST_YAW-VAL 19 | EST_YAW 20 | EST_ANGVEL_X-VAL 21 | EST_ANGVEL_X 22 | EST_ANGVEL_Y-VAL 23 | EST_ANGVEL_Y 24 | EST_ANGVEL_Z-VAL 25 | EST_ANGVEL_Z 26 | EST_ACC_X-VAL 27 | EST_ACC_X 28 | EST_ACC_Y-VAL 29 | EST_ACC_Y 30 | EST_ACC_Z-VAL 31 | EST_ACC_Z 32 | PWM-VAL 33 | PWM 34 | )) -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_PositionCommand.lisp: -------------------------------------------------------------------------------- 1 | (cl:in-package quadrotor_msgs-msg) 2 | (cl:export '(HEADER-VAL 3 | HEADER 4 | POSITION-VAL 5 | POSITION 6 | VELOCITY-VAL 7 | VELOCITY 8 | ACCELERATION-VAL 9 | ACCELERATION 10 | YAW-VAL 11 | YAW 12 | YAW_DOT-VAL 13 | YAW_DOT 14 | KX-VAL 15 | KX 16 | KV-VAL 17 | KV 18 | )) -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_SO3Command.lisp: -------------------------------------------------------------------------------- 1 | (cl:in-package quadrotor_msgs-msg) 2 | (cl:export '(HEADER-VAL 3 | HEADER 4 | FORCE-VAL 5 | FORCE 6 | ORIENTATION-VAL 7 | ORIENTATION 8 | KR-VAL 9 | KR 10 | KOM-VAL 11 | KOM 12 | AUX-VAL 13 | AUX 14 | )) -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_Serial.lisp: -------------------------------------------------------------------------------- 1 | (cl:in-package quadrotor_msgs-msg) 2 | (cl:export '(HEADER-VAL 3 | HEADER 4 | CHANNEL-VAL 5 | CHANNEL 6 | TYPE-VAL 7 | TYPE 8 | DATA-VAL 9 | DATA 10 | )) -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_StatusData.lisp: -------------------------------------------------------------------------------- 1 | (cl:in-package quadrotor_msgs-msg) 2 | (cl:export '(HEADER-VAL 3 | HEADER 4 | LOOP_RATE-VAL 5 | LOOP_RATE 6 | VOLTAGE-VAL 7 | VOLTAGE 8 | SEQ-VAL 9 | SEQ 10 | )) -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/msg_gen/lisp/_package_TRPYCommand.lisp: -------------------------------------------------------------------------------- 1 | (cl:in-package quadrotor_msgs-msg) 2 | (cl:export '(HEADER-VAL 3 | HEADER 4 | THRUST-VAL 5 | THRUST 6 | ROLL-VAL 7 | ROLL 8 | PITCH-VAL 9 | PITCH 10 | YAW-VAL 11 | YAW 12 | AUX-VAL 13 | AUX 14 | )) -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/package.xml: -------------------------------------------------------------------------------- 1 | 2 | quadrotor_msgs 3 | 0.0.0 4 | quadrotor_msgs 5 | Kartik Mohta 6 | http://ros.org/wiki/quadrotor_msgs 7 | BSD 8 | catkin 9 | geometry_msgs 10 | nav_msgs 11 | message_generation 12 | geometry_msgs 13 | nav_msgs 14 | message_runtime 15 | 16 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZJU-FAST-Lab/TGK-Planner/0df567435a31fa2aa491248fd821ddbe4a13f0c6/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/__init__.py -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/__init__.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZJU-FAST-Lab/TGK-Planner/0df567435a31fa2aa491248fd821ddbe4a13f0c6/uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/__init__.pyc -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/quadrotor_msgs/src/quadrotor_msgs/msg/__init__.py: -------------------------------------------------------------------------------- 1 | from ._Gains import * 2 | from ._SO3Command import * 3 | from ._TRPYCommand import * 4 | from ._PositionCommand import * 5 | from ._PPROutputData import * 6 | from ._OutputData import * 7 | from ._Corrections import * 8 | from ._Serial import * 9 | from ._AuxCommand import * 10 | from ._StatusData import * 11 | -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/src/multi_map_server/__init__.py: -------------------------------------------------------------------------------- 1 | #autogenerated by ROS python message generators -------------------------------------------------------------------------------- /uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/__init__.py: -------------------------------------------------------------------------------- 1 | from ._SparseMap3D import * 2 | from ._MultiOccupancyGrid import * 3 | from ._MultiSparseMap3D import * 4 | from ._VerticalOccupancyGridList import * 5 | -------------------------------------------------------------------------------- /uav_simulator/Utils/pose_utils/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(pose_utils) 3 | 4 | find_package(catkin REQUIRED COMPONENTS 5 | #armadillo 6 | roscpp 7 | ) 8 | 9 | catkin_package( 10 | INCLUDE_DIRS include 11 | LIBRARIES pose_utils 12 | # CATKIN_DEPENDS geometry_msgs nav_msgs 13 | # DEPENDS system_lib 14 | ) 15 | 16 | find_package(Armadillo REQUIRED) 17 | 18 | include_directories( 19 | ${catkin_INCLUDE_DIRS} 20 | ${ARMADILLO_INCLUDE_DIRS} 21 | include 22 | ) 23 | 24 | add_library(pose_utils 25 | ${ARMADILLO_LIBRARIES} 26 | src/pose_utils.cpp) 27 | -------------------------------------------------------------------------------- /uav_simulator/Utils/pose_utils/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /uav_simulator/Utils/pose_utils/package.xml: -------------------------------------------------------------------------------- 1 | 2 | pose_utils 3 | 0.0.0 4 | pose_utils 5 | Shaojie Shen 6 | BSD 7 | catkin 8 | roscpp 9 | roscpp 10 | 11 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /uav_simulator/Utils/rviz_plugins/package.xml: -------------------------------------------------------------------------------- 1 | 2 | rviz_plugins 3 | 4 | 5 | Additional plugins for rviz 6 | 7 | 8 | 0.1.0 9 | Shaojie Shen 10 | william.wu 11 | LGPLv3 12 | http://ros.org/wiki/rviz_plugins 13 | 14 | catkin 15 | 16 | rviz 17 | roscpp 18 | multi_map_server 19 | qtbase5-dev 20 | message_runtime 21 | quadrotor_msgs 22 | 23 | rviz 24 | multi_map_server 25 | message_runtime 26 | roscpp 27 | libqt5-core 28 | libqt5-gui 29 | libqt5-widgets 30 | 31 | 32 | 33 | 34 | 35 | -------------------------------------------------------------------------------- /uav_simulator/Utils/uav_utils/scripts/send_odom.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | import rospy 4 | import numpy as np 5 | import tf 6 | from tf import transformations as tfs 7 | from nav_msgs.msg import Odometry 8 | 9 | if __name__ == "__main__": 10 | rospy.init_node("odom_sender") 11 | 12 | msg = Odometry() 13 | 14 | msg.header.stamp = rospy.Time.now()-rospy.Duration(0.2) 15 | msg.header.frame_id = "world" 16 | 17 | q = tfs.quaternion_from_euler(0,0,0,"rzyx") 18 | 19 | msg.pose.pose.position.x = 0 20 | msg.pose.pose.position.y = 0 21 | msg.pose.pose.position.z = 0 22 | msg.twist.twist.linear.x = 0 23 | msg.twist.twist.linear.y = 0 24 | msg.twist.twist.linear.z = 0 25 | msg.pose.pose.orientation.x = q[0] 26 | msg.pose.pose.orientation.y = q[1] 27 | msg.pose.pose.orientation.z = q[2] 28 | msg.pose.pose.orientation.w = q[3] 29 | 30 | print(msg) 31 | 32 | pub = rospy.Publisher("odom", Odometry, queue_size=10) 33 | 34 | counter = 0 35 | r = rospy.Rate(1) 36 | 37 | while not rospy.is_shutdown(): 38 | counter += 1 39 | msg.header.stamp = rospy.Time.now()-rospy.Duration(0.2) 40 | pub.publish(msg) 41 | rospy.loginfo("Send %3d msg(s)."%counter) 42 | r.sleep() 43 | -------------------------------------------------------------------------------- /uav_simulator/Utils/uav_utils/scripts/topic_statistics.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | import argparse as ap 4 | import argcomplete 5 | 6 | def main(**args): 7 | pass 8 | 9 | if __name__ == '__main__': 10 | parser = ap.ArgumentParser() 11 | parser.add_argument('positional', choices=['spam', 'eggs']) 12 | parser.add_argument('--optional', choices=['foo1', 'foo2', 'bar']) 13 | argcomplete.autocomplete(parser) 14 | args = parser.parse_args() 15 | main(**vars(args)) -------------------------------------------------------------------------------- /uav_simulator/Utils/waypoint_generator/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(waypoint_generator) 3 | 4 | set(CMAKE_VERBOSE_MAKEFILE "true") 5 | include(CheckCXXCompilerFlag) 6 | CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) 7 | CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) 8 | if(COMPILER_SUPPORTS_CXX11) 9 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") 10 | elseif(COMPILER_SUPPORTS_CXX0X) 11 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") 12 | else() 13 | message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.") 14 | endif() 15 | 16 | set(ADDITIONAL_CXX_FLAG "-Wall -O3 -march=native") 17 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${ADDITIONAL_CXX_FLAG}") 18 | 19 | find_package(catkin REQUIRED COMPONENTS 20 | roscpp 21 | tf 22 | nav_msgs 23 | ) 24 | catkin_package() 25 | 26 | include_directories(include) 27 | include_directories( 28 | ${catkin_INCLUDE_DIRS} 29 | ) 30 | 31 | add_executable(waypoint_generator src/waypoint_generator.cpp) 32 | 33 | target_link_libraries(waypoint_generator 34 | ${catkin_LIBRARIES} 35 | ) 36 | -------------------------------------------------------------------------------- /uav_simulator/Utils/waypoint_generator/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 0.0.0 3 | waypoint_generator 4 | 5 | 6 | waypoint_generator 7 | 8 | 9 | Shaojie Shen 10 | BSD 11 | http://ros.org/wiki/waypoint_generator 12 | 13 | catkin 14 | 15 | roscpp 16 | tf 17 | nav_msgs 18 | 19 | roscpp 20 | tf 21 | nav_msgs 22 | 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /uav_simulator/cascade_control/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(cascade_controller) 3 | 4 | add_compile_options(-std=c++11 -fPIC) 5 | 6 | find_package(catkin REQUIRED COMPONENTS 7 | roscpp 8 | std_msgs 9 | quadrotor_msgs 10 | geometry_msgs 11 | nav_msgs 12 | sensor_msgs 13 | nodelet 14 | uav_utils 15 | dynamic_reconfigure 16 | cmake_utils 17 | ) 18 | 19 | find_package(Eigen3 REQUIRED) 20 | include_directories(${EIGEN3_INCLUDE_DIR}) 21 | 22 | 23 | generate_dynamic_reconfigure_options( 24 | cfg/params.cfg 25 | ) 26 | 27 | catkin_package( 28 | INCLUDE_DIRS include 29 | # LIBRARIES cascade_controller 30 | CATKIN_DEPENDS roscpp std_msgs quadrotor_msgs geometry_msgs nav_msgs uav_utils 31 | # DEPENDS Eigen3 DJIOSDK Kalman 32 | ) 33 | 34 | include_directories( 35 | include 36 | test 37 | ${catkin_INCLUDE_DIRS} 38 | ${EIGEN3_INCLUDE_DIR} 39 | ) 40 | 41 | file(GLOB ${PROJECT_NAME}_SRCS src/*.cpp) 42 | 43 | add_library(${PROJECT_NAME} 44 | ${${PROJECT_NAME}_SRCS} 45 | ) 46 | 47 | add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_gencfg) 48 | 49 | target_link_libraries(${PROJECT_NAME} 50 | ${catkin_LIBRARIES} 51 | ) -------------------------------------------------------------------------------- /uav_simulator/cascade_control/cfg/params.cfg: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | PACKAGE = "cascade_controller" 3 | 4 | from dynamic_reconfigure.parameter_generator_catkin import * 5 | 6 | gen = ParameterGenerator() 7 | 8 | gen.add("K_pxy", double_t, 0, "K_pxy", 3.3, 1, 5) 9 | gen.add("K_pz", double_t, 0, "K_pz", 3.5, 1, 5) 10 | gen.add("K_vxy", double_t, 0, "K_vxy", 2.5, 1, 5) 11 | gen.add("K_vz", double_t, 0, "K_vz", 2.8, 1, 5) 12 | 13 | exit(gen.generate(PACKAGE, "cascade_controller", "params")) 14 | -------------------------------------------------------------------------------- /uav_simulator/cascade_control/include/accelerationcontrol.hpp: -------------------------------------------------------------------------------- 1 | #ifndef ACCELERATION_HPP 2 | #define ACCELERATION_HPP 3 | 4 | #include "translation_control.hpp" 5 | 6 | namespace mocka 7 | { 8 | 9 | class AccelerationController : public TranslationController 10 | { 11 | 12 | public: 13 | AccelerationController(); 14 | }; 15 | 16 | } // namespace mocka 17 | 18 | #endif // ACCELERATION_HPP 19 | -------------------------------------------------------------------------------- /uav_simulator/cascade_control/include/attitude_control.hpp: -------------------------------------------------------------------------------- 1 | #ifndef ATTI_HPP 2 | #define ATTI_HPP 3 | 4 | #include 5 | 6 | #include "controller.hpp" 7 | #include "pid.hpp" 8 | 9 | namespace mocka 10 | { 11 | 12 | class AttitudeController 13 | : public Controller 14 | { 15 | //! @todo implement 16 | 17 | public: 18 | AttitudeController(); 19 | 20 | protected: 21 | virtual Output update(); 22 | virtual void updateInput(); 23 | virtual void updateFeeds(); 24 | 25 | Eigen::Vector3d getViewPoint(); 26 | }; 27 | 28 | } // namespace mocka 29 | 30 | #endif // ATTI_HPP 31 | -------------------------------------------------------------------------------- /uav_simulator/cascade_control/include/control_states.hpp: -------------------------------------------------------------------------------- 1 | #ifndef CONTROL_STATES_HPP 2 | #define CONTROL_STATES_HPP 3 | 4 | #include 5 | #include 6 | 7 | namespace mocka 8 | { 9 | 10 | class SE3; 11 | class SO3; 12 | 13 | class SE3 14 | { 15 | public: 16 | SE3(); 17 | 18 | public: 19 | Eigen::Vector3d acceleration; 20 | Eigen::Vector3d viewPoint; 21 | 22 | public: 23 | SO3 toSO3(const Eigen::Vector3d& viewAxis, 24 | const Eigen::Vector3d& thrustAxis) const; 25 | }; 26 | 27 | class SO3 28 | { 29 | public: 30 | SO3(); 31 | 32 | public: 33 | Eigen::Quaternion quaternion; 34 | double thrust; 35 | 36 | public: 37 | SE3 toSE3(const Eigen::Vector3d& viewAxis, 38 | const Eigen::Vector3d& thrustAxis) const; 39 | 40 | public: 41 | //! @note GCC feature 42 | static constexpr double g = 9.81; 43 | }; 44 | 45 | } // namespace mocka 46 | 47 | #endif // CONTROL_STATES_HPP 48 | -------------------------------------------------------------------------------- /uav_simulator/cascade_control/include/estimator.hpp: -------------------------------------------------------------------------------- 1 | #ifndef ESTIMATOR_HPP 2 | #define ESTIMATOR_HPP 3 | 4 | namespace mocka 5 | { 6 | 7 | template 8 | class Estimator 9 | { 10 | public: 11 | typedef Input In; 12 | typedef Output Out; 13 | 14 | public: 15 | Estimator(); 16 | virtual ~Estimator(); 17 | 18 | public: 19 | virtual Out update(const In& in) = 0; 20 | virtual void reset(const Out& outInit, const In& inInit) 21 | { 22 | in = inInit; 23 | out = outInit; 24 | initialized = true; 25 | } 26 | //! @todo add EKF fusion 27 | // virtual void feedback(const Out& outMeasuerment) = 0; 28 | 29 | public: 30 | bool isInitialized() const 31 | { 32 | return initialized; 33 | } 34 | 35 | void setInvaild() 36 | { 37 | initialized = false; 38 | } 39 | 40 | protected: 41 | bool initialized; 42 | Out out; 43 | In in; 44 | }; 45 | 46 | template 47 | Estimator::Estimator() 48 | : initialized(false) 49 | , out() 50 | , in() 51 | { 52 | } 53 | 54 | template 55 | Estimator::~Estimator() 56 | { 57 | } 58 | 59 | } // namespace mocka 60 | 61 | #endif // ESTIMATOR_HPP 62 | -------------------------------------------------------------------------------- /uav_simulator/cascade_control/include/intergrationestimator.hpp: -------------------------------------------------------------------------------- 1 | #ifndef INTERGRATIONESTIMATOR_HPP 2 | #define INTERGRATIONESTIMATOR_HPP 3 | 4 | #include 5 | #include 6 | 7 | #include "estimator.hpp" 8 | 9 | namespace mocka 10 | { 11 | 12 | class IntergrationEstimator : public Estimator 13 | { 14 | public: 15 | typedef Estimator EstimatorBase; 16 | using EstimatorBase::In; 17 | using EstimatorBase::Out; 18 | 19 | typedef std::chrono::time_point TimePoint; 20 | 21 | public: 22 | IntergrationEstimator(); 23 | 24 | public: 25 | virtual Out update(const In& in); 26 | 27 | private: 28 | TimePoint now; 29 | }; 30 | 31 | } // namespace mocka 32 | 33 | #endif // INTERGRATIONESTIMATOR_HPP 34 | -------------------------------------------------------------------------------- /uav_simulator/cascade_control/include/palstance_control.hpp: -------------------------------------------------------------------------------- 1 | #ifndef AEL_HPP 2 | #define AEL_HPP 3 | 4 | #include 5 | 6 | #include "controller.hpp" 7 | #include "pid.hpp" 8 | 9 | namespace mocka 10 | { 11 | 12 | class PalstanceController 13 | : public Controller 14 | { 15 | public: 16 | typedef enum { 17 | STRUCTURE_UNKNOWN, 18 | STRUCTURE_X4, // DJI default structure 19 | STRUCTURE_C4, // SO3 controller structure 20 | 21 | } MechanicalStructure; 22 | 23 | public: 24 | PalstanceController(); 25 | 26 | protected: 27 | virtual Output update(); 28 | virtual void updateInput(); 29 | virtual void updateFeeds(); 30 | 31 | private: 32 | PID yaw; 33 | PID roll; 34 | PID pitch; 35 | 36 | MechanicalStructure structure; 37 | }; 38 | 39 | } // namespace mocka 40 | 41 | #endif // AEL_HPP 42 | -------------------------------------------------------------------------------- /uav_simulator/cascade_control/include/position.hpp: -------------------------------------------------------------------------------- 1 | #ifndef POSITION_HPP 2 | #define POSITION_HPP 3 | 4 | #include "translation_control.hpp" 5 | 6 | namespace mocka 7 | { 8 | 9 | class PositionController : public TranslationController 10 | { 11 | public: 12 | PositionController(); 13 | }; 14 | 15 | } // namespace mocka 16 | #endif // POSITION_HPP 17 | -------------------------------------------------------------------------------- /uav_simulator/cascade_control/include/pretreatmentor.hpp: -------------------------------------------------------------------------------- 1 | #ifndef PRETREATMENTOR_HPP 2 | #define PRETREATMENTOR_HPP 3 | 4 | namespace mocka 5 | { 6 | 7 | template 8 | class Pretreatmentor 9 | { 10 | public: 11 | typedef Input_ Input; 12 | typedef Output_ Output; 13 | 14 | public: 15 | Pretreatmentor(); 16 | virtual ~Pretreatmentor(); 17 | 18 | public: 19 | virtual Output update(Input input) = 0; 20 | }; 21 | 22 | template 23 | Pretreatmentor::Pretreatmentor() 24 | { 25 | } 26 | 27 | template 28 | Pretreatmentor::~Pretreatmentor() 29 | { 30 | } 31 | 32 | } // namespace mocka 33 | 34 | #endif // PRETREATMENTOR_HPP 35 | -------------------------------------------------------------------------------- /uav_simulator/cascade_control/include/so3control.hpp: -------------------------------------------------------------------------------- 1 | #ifndef SO3_HPP 2 | #define SO3_HPP 3 | 4 | #include 5 | #include 6 | 7 | #include "control_states.hpp" 8 | #include "controller.hpp" 9 | 10 | namespace mocka 11 | { 12 | 13 | class SO3Controller : public Controller 14 | { 15 | public: 16 | SO3Controller(); 17 | virtual ~SO3Controller(); 18 | 19 | public: 20 | //! @note getters 21 | Eigen::Vector3d getView() const; 22 | Eigen::Vector3d getThrust() const; 23 | 24 | public: 25 | //! @note setters 26 | void setThrust(Eigen::Vector3d value); 27 | void setView(Eigen::Vector3d value); 28 | 29 | protected: 30 | virtual Output update(); 31 | virtual void updateInput(); 32 | virtual void updateFeeds(); 33 | 34 | private: 35 | Eigen::Vector3d view; 36 | Eigen::Vector3d thrust; 37 | }; 38 | } // namespace mocka 39 | 40 | #endif // SO3_HPP 41 | -------------------------------------------------------------------------------- /uav_simulator/cascade_control/include/thrust.hpp: -------------------------------------------------------------------------------- 1 | #ifndef THRUST_HPP 2 | #define THRUST_HPP 3 | 4 | #include "pid.hpp" 5 | #include "pretreatmentor.hpp" 6 | 7 | namespace mocka 8 | { 9 | 10 | class ThrustController : public PID 11 | { 12 | typedef Pretreatmentor ObserverBase; 13 | class Observer : public ObserverBase 14 | { 15 | public: 16 | Observer(); 17 | virtual ~Observer(); 18 | 19 | public: 20 | virtual Pretreatmentor::Output update(Pretreatmentor::Input input); 21 | }; 22 | 23 | public: 24 | ThrustController(); 25 | ~ThrustController(); 26 | 27 | private: 28 | ObserverBase* stateObserver; 29 | }; 30 | 31 | } // namespace mocka 32 | #endif // THRUST_HPP 33 | -------------------------------------------------------------------------------- /uav_simulator/cascade_control/include/translationfeedforwardmixer.hpp: -------------------------------------------------------------------------------- 1 | #ifndef TRANSLATIONFEEDFORWARDMIXER_HPP 2 | #define TRANSLATIONFEEDFORWARDMIXER_HPP 3 | 4 | #include 5 | #include 6 | 7 | namespace mocka 8 | { 9 | 10 | // class TranslationMixer : public Mixer 11 | //{ 12 | // public: 13 | // TranslationMixer(); 14 | //}; 15 | 16 | } // namespace mocka 17 | 18 | #endif // TRANSLATIONFEEDFORWARDMIXER_HPP 19 | -------------------------------------------------------------------------------- /uav_simulator/cascade_control/include/velocity.hpp: -------------------------------------------------------------------------------- 1 | #ifndef VELOCITY_HPP 2 | #define VELOCITY_HPP 3 | 4 | #include "mixer.hpp" 5 | #include "translation_control.hpp" 6 | 7 | namespace mocka 8 | { 9 | 10 | class VelocityController : public TranslationController 11 | { 12 | public: 13 | VelocityController(); 14 | 15 | // protected: 16 | // virtual Output update(); 17 | }; 18 | } // namespace mocka 19 | #endif // VELOCITY_HPP 20 | -------------------------------------------------------------------------------- /uav_simulator/cascade_control/nodelet_plugins.xml: -------------------------------------------------------------------------------- 1 | 2 | 5 | 6 | controller nodelet 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /uav_simulator/cascade_control/src/accelerationcontrol.cpp: -------------------------------------------------------------------------------- 1 | #include "accelerationcontrol.hpp" 2 | 3 | using namespace mocka; 4 | 5 | AccelerationController::AccelerationController() 6 | { 7 | } 8 | -------------------------------------------------------------------------------- /uav_simulator/cascade_control/src/attitude_control.cpp: -------------------------------------------------------------------------------- 1 | #include "attitude_control.hpp" 2 | 3 | using namespace mocka; 4 | 5 | AttitudeController::AttitudeController() 6 | { 7 | } 8 | 9 | AttitudeController::Output 10 | AttitudeController::update() 11 | { 12 | } 13 | 14 | void 15 | AttitudeController::updateInput() 16 | { 17 | } 18 | 19 | void 20 | AttitudeController::updateFeeds() 21 | { 22 | } 23 | 24 | Eigen::Vector3d 25 | AttitudeController::getViewPoint() 26 | { 27 | } 28 | -------------------------------------------------------------------------------- /uav_simulator/cascade_control/src/controller.cpp: -------------------------------------------------------------------------------- 1 | #include "controller.hpp" 2 | -------------------------------------------------------------------------------- /uav_simulator/cascade_control/src/estimator.cpp: -------------------------------------------------------------------------------- 1 | #include "estimator.hpp" 2 | 3 | using namespace mocka; 4 | -------------------------------------------------------------------------------- /uav_simulator/cascade_control/src/intergrationestimator.cpp: -------------------------------------------------------------------------------- 1 | #include "intergrationestimator.hpp" 2 | 3 | using namespace mocka; 4 | 5 | IntergrationEstimator::IntergrationEstimator() 6 | { 7 | } 8 | 9 | IntergrationEstimator::EstimatorBase::Out 10 | IntergrationEstimator::update( 11 | const IntergrationEstimator::EstimatorBase::In& in) 12 | { 13 | auto tmp = std::chrono::steady_clock::now(); 14 | 15 | std::chrono::duration dt = tmp - now; 16 | now = tmp; 17 | if (isInitialized()) 18 | { 19 | out += std::chrono::duration_cast(dt).count() / 20 | 1000.0 * in; 21 | return out; 22 | } 23 | return std::numeric_limits::quiet_NaN(); 24 | } 25 | -------------------------------------------------------------------------------- /uav_simulator/cascade_control/src/mixer.cpp: -------------------------------------------------------------------------------- 1 | #include "mixer.hpp" 2 | 3 | namespace mocka 4 | { 5 | //! @note translation mixer 6 | template <> 7 | Eigen::Vector3d 8 | Mixer::mix(const Eigen::Vector3d input, 9 | const Eigen::Vector3d feedforward) 10 | { 11 | Eigen::Vector3d ans = input; 12 | if (input.norm() < threshold.norm()) 13 | { 14 | saturated = true; 15 | } 16 | else 17 | { 18 | saturated = false; 19 | } 20 | ans = input + feedforward; 21 | return ans; 22 | } 23 | 24 | // Eigen::Vector3d 25 | // VelocityMixer::mix(const Eigen::Vector3d input, 26 | // const Eigen::Vector3d feedforward) 27 | //{ 28 | // Eigen::Vector3d ans; 29 | 30 | // ans.x() = input.x() / (input.x() + feedforward.x()) * input.x() + 31 | // feedforward.x() / (input.x() + feedforward.x()) * feedforward.x(); 32 | 33 | // ans.y() = input.y() / (input.y() + feedforward.y()) * input.y() + 34 | // feedforward.y() / (input.y() + feedforward.y()) * feedforward.y(); 35 | 36 | // ans.z() = input.z() / (input.z() + feedforward.z()) * input.z() + 37 | // feedforward.z() / (input.z() + feedforward.z()) * feedforward.z(); 38 | 39 | // return ans; 40 | //} 41 | 42 | } // namespace mocka 43 | -------------------------------------------------------------------------------- /uav_simulator/cascade_control/src/palstance_control.cpp: -------------------------------------------------------------------------------- 1 | #include "palstance_control.hpp" 2 | 3 | using namespace mocka; 4 | 5 | PalstanceController::PalstanceController() 6 | { 7 | } 8 | 9 | void 10 | PalstanceController::updateInput() 11 | { 12 | } 13 | 14 | void 15 | PalstanceController::updateFeeds() 16 | { 17 | } 18 | 19 | PalstanceController::Output 20 | mocka::PalstanceController::update() 21 | { 22 | } 23 | -------------------------------------------------------------------------------- /uav_simulator/cascade_control/src/position.cpp: -------------------------------------------------------------------------------- 1 | #include "position.hpp" 2 | 3 | using namespace mocka; 4 | 5 | PositionController::PositionController() 6 | { 7 | } 8 | -------------------------------------------------------------------------------- /uav_simulator/cascade_control/src/pretreatmentor.cpp: -------------------------------------------------------------------------------- 1 | #include "pretreatmentor.hpp" 2 | 3 | using namespace mocka; 4 | -------------------------------------------------------------------------------- /uav_simulator/cascade_control/src/thrust.cpp: -------------------------------------------------------------------------------- 1 | #include "thrust.hpp" 2 | 3 | using namespace mocka; 4 | 5 | ThrustController::ThrustController() 6 | : stateObserver(new ThrustController::Observer()) 7 | { 8 | } 9 | 10 | ThrustController::~ThrustController() 11 | { 12 | delete stateObserver; 13 | } 14 | 15 | ThrustController::Observer::Observer() 16 | { 17 | } 18 | 19 | ThrustController::Observer::~Observer() 20 | { 21 | } 22 | 23 | ThrustController::ObserverBase::Output 24 | ThrustController::Observer::update(ObserverBase::Input input) 25 | { 26 | //! @todo implement 27 | return input; 28 | } 29 | -------------------------------------------------------------------------------- /uav_simulator/cascade_control/src/translationfeedforwardmixer.cpp: -------------------------------------------------------------------------------- 1 | #include "translationfeedforwardmixer.hpp" 2 | 3 | // TranslationFeedforwardMixer::TranslationFeedforwardMixer() 4 | //{ 5 | 6 | //} 7 | -------------------------------------------------------------------------------- /uav_simulator/cascade_control/src/velocity.cpp: -------------------------------------------------------------------------------- 1 | #include "velocity.hpp" 2 | 3 | using namespace mocka; 4 | 5 | VelocityController::VelocityController() 6 | { 7 | } 8 | -------------------------------------------------------------------------------- /uav_simulator/depth_sensor_simulator/.vscode/settings.json: -------------------------------------------------------------------------------- 1 | { 2 | "files.associations": { 3 | "*.cuh": "cpp" 4 | } 5 | } -------------------------------------------------------------------------------- /uav_simulator/depth_sensor_simulator/cfg/depth_sensor_simulator.cfg: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | PACKAGE = "depth_sensor_simulator" 3 | 4 | from dynamic_reconfigure.parameter_generator_catkin import * 5 | 6 | gen = ParameterGenerator() 7 | 8 | gen.add("tx", double_t, 0, "tx", 0.0, -1000.0, 1000.0) 9 | gen.add("ty", double_t, 0, "ty", 0.0, -1000.0, 1000.0) 10 | gen.add("tz", double_t, 0, "tz", 0.0, -1000.0, 1000.0) 11 | gen.add("axis_x", double_t, 0, "axis_x", 0.0, -360.0, 360.0) 12 | gen.add("axis_y", double_t, 0, "axis_y", 0.0, -360.0, 360.0) 13 | gen.add("axis_z", double_t, 0, "axis_z", 0.0, -360.0, 360.0) 14 | 15 | exit(gen.generate(PACKAGE, "depth_sensor_simulator", "depth_sensor_simulator")) 16 | -------------------------------------------------------------------------------- /uav_simulator/depth_sensor_simulator/params/camera.yaml: -------------------------------------------------------------------------------- 1 | cam_width: 640 2 | cam_height: 480 3 | cam_fx: 385.754 4 | cam_fy: 385.754 5 | cam_cx: 257.296 6 | cam_cy: 236.743 7 | # cam_width: 752 8 | # cam_height: 480 9 | # cam_fx: 258.654 10 | # cam_fy: 257.296 11 | # cam_cx: 367.215 12 | # cam_cy: 248.375 13 | -------------------------------------------------------------------------------- /uav_simulator/depth_sensor_simulator/src/csv_convert.py: -------------------------------------------------------------------------------- 1 | import csv 2 | file_location = '/home/wang/bag/banchmark/EuRoC/ViconRoom101/state_groundtruth_estimate0/data.csv' 3 | with open('/home/wang/bag/banchmark/EuRoC/ViconRoom101/state_groundtruth_estimate0/data.txt', 'w') as txt_f: 4 | with open(file_location) as f: 5 | f_csv = csv.reader(f) 6 | headers = next(f_csv) 7 | for row in f_csv: 8 | txt_f.write('%lf\n'% (float(row[0]) / 1000000000.0) ) 9 | txt_f.write('%lf\n'% (float(row[1])) ) 10 | txt_f.write('%lf\n'% (float(row[2])) ) 11 | txt_f.write('%lf\n'% (float(row[3])) ) 12 | txt_f.write('%lf\n'% (float(row[4])) ) 13 | txt_f.write('%lf\n'% (float(row[5])) ) 14 | txt_f.write('%lf\n'% (float(row[6])) ) 15 | txt_f.write('%lf\n'% (float(row[7])) ) -------------------------------------------------------------------------------- /uav_simulator/depth_sensor_simulator/src/depth_render.cuh: -------------------------------------------------------------------------------- 1 | #ifndef DEPTH_RENDER_CUH 2 | #define DEPTH_RENDER_CUH 3 | 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | #include 10 | //#include 11 | 12 | #include "device_image.cuh" 13 | #include "cuda_exception.cuh" 14 | #include "helper_math.h" 15 | 16 | using namespace std; 17 | //using namespace Eigen; 18 | 19 | struct Parameter 20 | { 21 | int point_number; 22 | float fx, fy, cx, cy; 23 | int width, height; 24 | float r[3][3]; 25 | float t[3]; 26 | }; 27 | 28 | class DepthRender 29 | { 30 | public: 31 | DepthRender(); 32 | void set_para(float _fx, float _fy, float _cx, float _cy, int _width, int _height); 33 | ~DepthRender(); 34 | void set_data(vector &cloud_data); 35 | //void render_pose( Matrix3d &rotation, Vector3d &translation, int *host_ptr); 36 | //void render_pose( Matrix4d &transformation, int *host_ptr); 37 | void render_pose( double * transformation, int *host_ptr); 38 | 39 | private: 40 | int cloud_size; 41 | 42 | //data 43 | float3 *host_cloud_ptr; 44 | float3 *dev_cloud_ptr; 45 | bool has_devptr; 46 | 47 | //camera 48 | Parameter parameter; 49 | Parameter* parameter_devptr; 50 | }; 51 | 52 | #endif -------------------------------------------------------------------------------- /uav_simulator/depth_sensor_simulator/src/empty.cpp: -------------------------------------------------------------------------------- 1 | #include "empty.h" -------------------------------------------------------------------------------- /uav_simulator/depth_sensor_simulator/src/empty.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZJU-FAST-Lab/TGK-Planner/0df567435a31fa2aa491248fd821ddbe4a13f0c6/uav_simulator/depth_sensor_simulator/src/empty.h -------------------------------------------------------------------------------- /uav_simulator/map_generator/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(map_generator) 3 | 4 | set(CMAKE_BUILD_TYPE "Release") 5 | set(CMAKE_CXX_FLAGS "-std=c++11") 6 | set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") 7 | 8 | find_package(catkin REQUIRED COMPONENTS 9 | roscpp 10 | rospy 11 | std_msgs 12 | geometry_msgs 13 | pcl_conversions 14 | self_msgs_and_srvs 15 | ) 16 | find_package(PCL REQUIRED) 17 | find_package(Eigen3 REQUIRED) 18 | 19 | catkin_package() 20 | 21 | include_directories( 22 | # include 23 | ${catkin_INCLUDE_DIRS} 24 | ${EIGEN3_INCLUDE_DIR} 25 | ${PCL_INCLUDE_DIRS} 26 | ) 27 | 28 | add_executable (random_forest src/random_forest_sensing.cpp ) 29 | target_link_libraries(random_forest 30 | ${catkin_LIBRARIES} 31 | ${PCL_LIBRARIES}) 32 | 33 | add_dependencies(random_forest 34 | ${catkin_EXPORTED_TARGETS} 35 | ) 36 | -------------------------------------------------------------------------------- /uav_simulator/odom_visualization/Makefile: -------------------------------------------------------------------------------- 1 | include $(shell rospack find mk)/cmake.mk -------------------------------------------------------------------------------- /uav_simulator/odom_visualization/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b odom_visualization is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /uav_simulator/odom_visualization/meshes/hummingbird.mesh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZJU-FAST-Lab/TGK-Planner/0df567435a31fa2aa491248fd821ddbe4a13f0c6/uav_simulator/odom_visualization/meshes/hummingbird.mesh -------------------------------------------------------------------------------- /uav_simulator/odom_visualization/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 0.0.0 3 | odom_visualization 4 | 5 | 6 | odom_visualization 7 | 8 | 9 | Shaojie Shen 10 | BSD 11 | http://ros.org/wiki/odom_visualization 12 | 13 | catkin 14 | 15 | roscpp 16 | sensor_msgs 17 | nav_msgs 18 | visualization_msgs 19 | tf 20 | pose_utils 21 | 22 | roscpp 23 | sensor_msgs 24 | nav_msgs 25 | visualization_msgs 26 | tf 27 | pose_utils 28 | 29 | 30 | 31 | 32 | -------------------------------------------------------------------------------- /uav_simulator/quadrotor_msgs/include/quadrotor_msgs/decode_msgs.h: -------------------------------------------------------------------------------- 1 | #ifndef __QUADROTOR_MSGS_QUADROTOR_MSGS_H__ 2 | #define __QUADROTOR_MSGS_QUADROTOR_MSGS_H__ 3 | 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | 10 | namespace quadrotor_msgs 11 | { 12 | 13 | bool decodeOutputData(const std::vector &data, 14 | quadrotor_msgs::OutputData &output); 15 | 16 | bool decodeStatusData(const std::vector &data, 17 | quadrotor_msgs::StatusData &status); 18 | 19 | bool decodePPROutputData(const std::vector &data, 20 | quadrotor_msgs::PPROutputData &output); 21 | } 22 | 23 | #endif 24 | -------------------------------------------------------------------------------- /uav_simulator/quadrotor_msgs/include/quadrotor_msgs/encode_msgs.h: -------------------------------------------------------------------------------- 1 | #ifndef __QUADROTOR_MSGS_QUADROTOR_MSGS_H__ 2 | #define __QUADROTOR_MSGS_QUADROTOR_MSGS_H__ 3 | 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | 10 | namespace quadrotor_msgs 11 | { 12 | 13 | void encodeSO3Command(const quadrotor_msgs::SO3Command &so3_command, 14 | std::vector &output); 15 | void encodeTRPYCommand(const quadrotor_msgs::TRPYCommand &trpy_command, 16 | std::vector &output); 17 | 18 | void encodePPRGains(const quadrotor_msgs::Gains &gains, 19 | std::vector &output); 20 | } 21 | 22 | #endif 23 | -------------------------------------------------------------------------------- /uav_simulator/quadrotor_msgs/msg/AuxCommand.msg: -------------------------------------------------------------------------------- 1 | float64 current_yaw 2 | float64 kf_correction 3 | float64[2] angle_corrections# Trims for roll, pitch 4 | bool enable_motors 5 | bool use_external_yaw 6 | -------------------------------------------------------------------------------- /uav_simulator/quadrotor_msgs/msg/Corrections.msg: -------------------------------------------------------------------------------- 1 | float64 kf_correction 2 | float64[2] angle_corrections 3 | -------------------------------------------------------------------------------- /uav_simulator/quadrotor_msgs/msg/Gains.msg: -------------------------------------------------------------------------------- 1 | float64 Kp 2 | float64 Kd 3 | float64 Kp_yaw 4 | float64 Kd_yaw 5 | -------------------------------------------------------------------------------- /uav_simulator/quadrotor_msgs/msg/LQRTrajectory.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | 3 | # the trajectory id, starts from "1". 4 | uint32 trajectory_id 5 | 6 | # the action command for trajectory server. 7 | uint32 ACTION_ADD = 1 8 | uint32 ACTION_ABORT = 2 9 | uint32 ACTION_WARN_START = 3 10 | uint32 ACTION_WARN_FINAL = 4 11 | uint32 ACTION_WARN_IMPOSSIBLE = 5 12 | uint32 action 13 | 14 | # the weight coefficient of the control effort 15 | float64 r 16 | 17 | # the yaw command 18 | float64 start_yaw 19 | float64 final_yaw 20 | 21 | # the initial and final state 22 | float64[6] s0 23 | float64[3] ut 24 | 25 | float64[6] sf 26 | 27 | # the optimal arrival time 28 | float64 t_f 29 | 30 | string debug_info 31 | -------------------------------------------------------------------------------- /uav_simulator/quadrotor_msgs/msg/Odometry.msg: -------------------------------------------------------------------------------- 1 | uint8 STATUS_ODOM_VALID=0 2 | uint8 STATUS_ODOM_INVALID=1 3 | uint8 STATUS_ODOM_LOOPCLOSURE=2 4 | 5 | nav_msgs/Odometry curodom 6 | nav_msgs/Odometry kfodom 7 | uint32 kfid 8 | uint8 status 9 | -------------------------------------------------------------------------------- /uav_simulator/quadrotor_msgs/msg/OutputData.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | uint16 loop_rate 3 | float64 voltage 4 | geometry_msgs/Quaternion orientation 5 | geometry_msgs/Vector3 angular_velocity 6 | geometry_msgs/Vector3 linear_acceleration 7 | float64 pressure_dheight 8 | float64 pressure_height 9 | geometry_msgs/Vector3 magnetic_field 10 | uint8[8] radio_channel 11 | #uint8[4] motor_rpm 12 | uint8 seq 13 | -------------------------------------------------------------------------------- /uav_simulator/quadrotor_msgs/msg/PPROutputData.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | uint16 quad_time 3 | float64 des_thrust 4 | float64 des_roll 5 | float64 des_pitch 6 | float64 des_yaw 7 | float64 est_roll 8 | float64 est_pitch 9 | float64 est_yaw 10 | float64 est_angvel_x 11 | float64 est_angvel_y 12 | float64 est_angvel_z 13 | float64 est_acc_x 14 | float64 est_acc_y 15 | float64 est_acc_z 16 | uint16[4] pwm 17 | -------------------------------------------------------------------------------- /uav_simulator/quadrotor_msgs/msg/PolynomialTrajectory.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | 3 | # the trajectory id, starts from "1". 4 | uint32 trajectory_id 5 | 6 | # the action command for trajectory server. 7 | uint32 ACTION_ADD = 1 8 | uint32 ACTION_ABORT = 2 9 | uint32 ACTION_WARN_START = 3 10 | uint32 ACTION_WARN_FINAL = 4 11 | uint32 ACTION_WARN_IMPOSSIBLE = 5 12 | uint32 action 13 | 14 | # the order of trajectory. 15 | uint32 num_order 16 | uint32 num_segment 17 | 18 | # the polynomial coecfficients of the trajectory. 19 | float64 start_yaw 20 | float64 final_yaw 21 | float64[] coef_x 22 | float64[] coef_y 23 | float64[] coef_z 24 | float64[] time 25 | float64 mag_coeff 26 | uint32[] order 27 | 28 | string debug_info 29 | -------------------------------------------------------------------------------- /uav_simulator/quadrotor_msgs/msg/PositionCommand.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | geometry_msgs/Point position 3 | geometry_msgs/Vector3 velocity 4 | geometry_msgs/Vector3 acceleration 5 | float64 yaw 6 | float64 yaw_dot 7 | float64[3] kx 8 | float64[3] kv 9 | 10 | uint32 trajectory_id 11 | 12 | uint8 TRAJECTORY_STATUS_EMPTY = 0 13 | uint8 TRAJECTORY_STATUS_READY = 1 14 | uint8 TRAJECTORY_STATUS_COMPLETED = 3 15 | uint8 TRAJECTROY_STATUS_ABORT = 4 16 | uint8 TRAJECTORY_STATUS_ILLEGAL_START = 5 17 | uint8 TRAJECTORY_STATUS_ILLEGAL_FINAL = 6 18 | uint8 TRAJECTORY_STATUS_IMPOSSIBLE = 7 19 | 20 | # Its ID number will start from 1, allowing you comparing it with 0. 21 | uint8 trajectory_flag 22 | -------------------------------------------------------------------------------- /uav_simulator/quadrotor_msgs/msg/SO3Command.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | geometry_msgs/Vector3 force 3 | geometry_msgs/Quaternion orientation 4 | float64[3] kR 5 | float64[3] kOm 6 | quadrotor_msgs/AuxCommand aux 7 | -------------------------------------------------------------------------------- /uav_simulator/quadrotor_msgs/msg/Serial.msg: -------------------------------------------------------------------------------- 1 | # Note: These constants need to be kept in sync with the types 2 | # defined in include/quadrotor_msgs/comm_types.h 3 | uint8 SO3_CMD = 115 # 's' in base 10 4 | uint8 TRPY_CMD = 112 # 'p' in base 10 5 | uint8 STATUS_DATA = 99 # 'c' in base 10 6 | uint8 OUTPUT_DATA = 100 # 'd' in base 10 7 | uint8 PPR_OUTPUT_DATA = 116 # 't' in base 10 8 | uint8 PPR_GAINS = 103 # 'g' 9 | 10 | Header header 11 | uint8 channel 12 | uint8 type # One of the types listed above 13 | uint8[] data 14 | -------------------------------------------------------------------------------- /uav_simulator/quadrotor_msgs/msg/StatusData.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | uint16 loop_rate 3 | float64 voltage 4 | uint8 seq 5 | -------------------------------------------------------------------------------- /uav_simulator/quadrotor_msgs/msg/TRPYCommand.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | float32 thrust 3 | float32 roll 4 | float32 pitch 5 | float32 yaw 6 | quadrotor_msgs/AuxCommand aux 7 | -------------------------------------------------------------------------------- /uav_simulator/quadrotor_msgs/package.xml: -------------------------------------------------------------------------------- 1 | 2 | quadrotor_msgs 3 | 0.0.0 4 | quadrotor_msgs 5 | Kartik Mohta 6 | http://ros.org/wiki/quadrotor_msgs 7 | BSD 8 | catkin 9 | geometry_msgs 10 | nav_msgs 11 | message_generation 12 | geometry_msgs 13 | nav_msgs 14 | message_runtime 15 | 16 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /uav_simulator/quadrotor_msgs/src/quadrotor_msgs/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZJU-FAST-Lab/TGK-Planner/0df567435a31fa2aa491248fd821ddbe4a13f0c6/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/__init__.py -------------------------------------------------------------------------------- /uav_simulator/quadrotor_msgs/src/quadrotor_msgs/__init__.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZJU-FAST-Lab/TGK-Planner/0df567435a31fa2aa491248fd821ddbe4a13f0c6/uav_simulator/quadrotor_msgs/src/quadrotor_msgs/__init__.pyc -------------------------------------------------------------------------------- /uav_simulator/quadrotor_msgs/src/quadrotor_msgs/msg/__init__.py: -------------------------------------------------------------------------------- 1 | from ._Gains import * 2 | from ._SO3Command import * 3 | from ._TRPYCommand import * 4 | from ._PositionCommand import * 5 | from ._PPROutputData import * 6 | from ._OutputData import * 7 | from ._Corrections import * 8 | from ._Serial import * 9 | from ._AuxCommand import * 10 | from ._StatusData import * 11 | -------------------------------------------------------------------------------- /uav_simulator/so3_control/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(so3_control) 3 | 4 | find_package(catkin REQUIRED COMPONENTS 5 | roscpp 6 | nav_msgs 7 | quadrotor_msgs 8 | tf 9 | nodelet 10 | cmake_utils 11 | ) 12 | 13 | catkin_package( 14 | # INCLUDE_DIRS include 15 | # LIBRARIES irobot_msgs 16 | # CATKIN_DEPENDS geometry_msgs nav_msgs 17 | # DEPENDS system_lib 18 | ) 19 | 20 | 21 | find_package(Eigen3 REQUIRED) 22 | 23 | include_directories(include) 24 | include_directories( 25 | ${catkin_INCLUDE_DIRS} 26 | ${EIGEN3_INCLUDE_DIR} 27 | ) 28 | 29 | add_library(SO3Control src/SO3Control.cpp) 30 | target_link_libraries(SO3Control 31 | ${catkin_LIBRARIES} 32 | ) 33 | 34 | 35 | add_library(so3_control_nodelet src/so3_control_nodelet.cpp) 36 | 37 | target_link_libraries(so3_control_nodelet 38 | ${catkin_LIBRARIES} 39 | SO3Control 40 | ) 41 | -------------------------------------------------------------------------------- /uav_simulator/so3_control/config/corrections_hummingbird.yaml: -------------------------------------------------------------------------------- 1 | corrections: 2 | z: 0.0 3 | r: 0.0 4 | p: 0.0 5 | -------------------------------------------------------------------------------- /uav_simulator/so3_control/config/corrections_pelican.yaml: -------------------------------------------------------------------------------- 1 | corrections: 2 | z: 0.0 3 | r: 0.0 4 | p: 0.0 5 | -------------------------------------------------------------------------------- /uav_simulator/so3_control/config/gains.yaml: -------------------------------------------------------------------------------- 1 | # Gains for Laser-based Pelican 2 | gains: 3 | pos: {x: 5.0, y: 5.0, z: 15.0} 4 | vel: {x: 5.0, y: 5.0, z: 5.0} 5 | rot: {x: 3.5, y: 3.5, z: 1.0} 6 | ang: {x: 0.4, y: 0.4, z: 0.1} 7 | -------------------------------------------------------------------------------- /uav_simulator/so3_control/config/gains_hummingbird.yaml: -------------------------------------------------------------------------------- 1 | # Vision Gain for Hummingbird 2 | gains: 3 | pos: {x: 2.0, y: 2.0, z: 3.5} 4 | vel: {x: 1.8, y: 1.8, z: 2.0} 5 | rot: {x: 1.0, y: 1.0, z: 0.3} 6 | ang: {x: 0.07, y: 0.07, z: 0.02} 7 | -------------------------------------------------------------------------------- /uav_simulator/so3_control/config/gains_pelican.yaml: -------------------------------------------------------------------------------- 1 | # Gains for Laser-based Pelican 2 | gains: 3 | pos: {x: 5.0, y: 5.0, z: 15.0} 4 | vel: {x: 5.0, y: 5.0, z: 5.0} 5 | rot: {x: 3.5, y: 3.5, z: 1.0} 6 | ang: {x: 0.4, y: 0.4, z: 0.1} 7 | -------------------------------------------------------------------------------- /uav_simulator/so3_control/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b so3_control 6 | 7 | 10 | 11 | --> 12 | 13 | 14 | */ 15 | -------------------------------------------------------------------------------- /uav_simulator/so3_control/nodelet_plugin.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | so3_control 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /uav_simulator/so3_control/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 0.0.0 3 | so3_control 4 | 5 | 6 | so3_control 7 | 8 | 9 | Kartik Mohta 10 | BSD 11 | http://ros.org/wiki/so3_control 12 | 13 | 14 | catkin 15 | 16 | roscpp 17 | nav_msgs 18 | quadrotor_msgs 19 | tf 20 | nodelet 21 | cmake_utils 22 | 23 | roscpp 24 | nav_msgs 25 | quadrotor_msgs 26 | tf 27 | nodelet 28 | cmake_utils 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | -------------------------------------------------------------------------------- /uav_simulator/so3_disturbance_generator/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(so3_disturbance_generator) 3 | 4 | ## Find catkin macros and libraries 5 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 6 | ## is used, also find other catkin packages 7 | find_package(catkin REQUIRED COMPONENTS 8 | roscpp 9 | std_msgs 10 | sensor_msgs 11 | nav_msgs 12 | visualization_msgs 13 | tf 14 | pose_utils 15 | dynamic_reconfigure 16 | ) 17 | 18 | catkin_package() 19 | 20 | ########### 21 | ## Build ## 22 | ########### 23 | find_package(Armadillo REQUIRED) 24 | include_directories(${ARMADILLO_INCLUDE_DIRS}) 25 | 26 | 27 | ## Specify additional locations of header files 28 | ## Your package locations should be listed before other locations 29 | include_directories(include) 30 | include_directories( 31 | ${catkin_INCLUDE_DIRS} 32 | ) 33 | 34 | add_executable(so3_disturbance_generator src/so3_disturbance_generator.cpp) 35 | #add_dependencies(so3_disturbance_generator ${PROJECT_NAME}_gencfg) 36 | 37 | target_link_libraries(so3_disturbance_generator 38 | ${catkin_LIBRARIES} 39 | ${ARMADILLO_LIBRARIES} 40 | pose_utils 41 | ) 42 | 43 | -------------------------------------------------------------------------------- /uav_simulator/so3_disturbance_generator/cfg/disturbance_ui.cfgc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZJU-FAST-Lab/TGK-Planner/0df567435a31fa2aa491248fd821ddbe4a13f0c6/uav_simulator/so3_disturbance_generator/cfg/disturbance_ui.cfgc -------------------------------------------------------------------------------- /uav_simulator/so3_disturbance_generator/mainpage.dox: -------------------------------------------------------------------------------- 1 | /** 2 | \mainpage 3 | \htmlinclude manifest.html 4 | 5 | \b so3_disturbance_generator is ... 6 | 7 | 10 | 11 | 12 | \section codeapi Code API 13 | 14 | 24 | 25 | 26 | */ 27 | -------------------------------------------------------------------------------- /uav_simulator/so3_disturbance_generator/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 0.0.0 3 | so3_disturbance_generator 4 | 5 | 6 | so3_disturbance_generator 7 | 8 | 9 | 10 | Shaojie Shen 11 | BSD 12 | http://ros.org/wiki/so3_disturbance_generator 13 | 14 | catkin 15 | 16 | roscpp 17 | std_msgs 18 | nav_msgs 19 | sensor_msgs 20 | visualization_msgs 21 | pose_utils 22 | dynamic_reconfigure 23 | 24 | roscpp 25 | std_msgs 26 | nav_msgs 27 | sensor_msgs 28 | visualization_msgs 29 | pose_utils 30 | dynamic_reconfigure 31 | 32 | 33 | 34 | 35 | -------------------------------------------------------------------------------- /uav_simulator/so3_disturbance_generator/src/so3_disturbance_generator/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZJU-FAST-Lab/TGK-Planner/0df567435a31fa2aa491248fd821ddbe4a13f0c6/uav_simulator/so3_disturbance_generator/src/so3_disturbance_generator/__init__.py -------------------------------------------------------------------------------- /uav_simulator/so3_disturbance_generator/src/so3_disturbance_generator/cfg/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ZJU-FAST-Lab/TGK-Planner/0df567435a31fa2aa491248fd821ddbe4a13f0c6/uav_simulator/so3_disturbance_generator/src/so3_disturbance_generator/cfg/__init__.py -------------------------------------------------------------------------------- /uav_simulator/so3_quadrotor_simulator/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(so3_quadrotor_simulator) 3 | 4 | add_compile_options(-std=c++11) 5 | 6 | find_package(catkin REQUIRED COMPONENTS 7 | roscpp 8 | quadrotor_msgs 9 | uav_utils 10 | cmake_utils 11 | ) 12 | 13 | ########### 14 | ## Build ## 15 | ########### 16 | 17 | find_package(Eigen3 REQUIRED) 18 | 19 | include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include/ode) 20 | ## 21 | find_package(Armadillo REQUIRED) 22 | include_directories(${ARMADILLO_INCLUDE_DIRS}) 23 | 24 | catkin_package( 25 | INCLUDE_DIRS include 26 | # LIBRARIES irobot_msgs 27 | CATKIN_DEPENDS roscpp quadrotor_msgs uav_utils 28 | # DEPENDS Eigen3 system_lib 29 | ) 30 | 31 | include_directories(include) 32 | include_directories( 33 | ${catkin_INCLUDE_DIRS} 34 | ${EIGEN3_INCLUDE_DIRS} 35 | ) 36 | 37 | add_library(quadrotor_dynamics src/dynamics/Quadrotor.cpp) 38 | target_link_libraries(quadrotor_dynamics 39 | ${catkin_LIBRARIES} 40 | ) 41 | 42 | add_executable(quadrotor_simulator_so3 43 | src/quadrotor_simulator_so3.cpp) 44 | 45 | target_link_libraries(quadrotor_simulator_so3 46 | ${catkin_LIBRARIES} 47 | quadrotor_dynamics 48 | ) 49 | -------------------------------------------------------------------------------- /uav_simulator/so3_quadrotor_simulator/include/ode/CHANGELOG: -------------------------------------------------------------------------------- 1 | odeint 2.1 2 | 3 | * versioning system 4 | * generation functions 5 | * bugfixing 6 | 7 | odeint 2.2 (still running) 8 | 9 | * removing same_size and resize from state_wrapper into separate functions 10 | -------------------------------------------------------------------------------- /uav_simulator/so3_quadrotor_simulator/include/ode/README: -------------------------------------------------------------------------------- 1 | odeint is a highly flexible library for solving ordinary differential equations. 2 | -------------------------------------------------------------------------------- /uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/null_observer.hpp: -------------------------------------------------------------------------------- 1 | /* 2 | [auto_generated] 3 | boost/numeric/odeint/integrate/null_observer.hpp 4 | 5 | [begin_description] 6 | null_observer 7 | [end_description] 8 | 9 | Copyright 2009-2011 Karsten Ahnert 10 | Copyright 2009-2011 Mario Mulansky 11 | 12 | Distributed under the Boost Software License, Version 1.0. 13 | (See accompanying file LICENSE_1_0.txt or 14 | copy at http://www.boost.org/LICENSE_1_0.txt) 15 | */ 16 | 17 | 18 | #ifndef BOOST_NUMERIC_ODEINT_INTEGRATE_NULL_OBSERVER_HPP_INCLUDED 19 | #define BOOST_NUMERIC_ODEINT_INTEGRATE_NULL_OBSERVER_HPP_INCLUDED 20 | 21 | namespace boost { 22 | namespace numeric { 23 | namespace odeint { 24 | 25 | struct null_observer 26 | { 27 | template< class State , class Time > 28 | void operator()( const State& /* x */ , Time /* t */ ) const 29 | { 30 | 31 | } 32 | }; 33 | 34 | } // namespace odeint 35 | } // namespace numeric 36 | } // namespace boost 37 | 38 | #endif // BOOST_NUMERIC_ODEINT_INTEGRATE_NULL_OBSERVER_HPP_INCLUDED 39 | -------------------------------------------------------------------------------- /uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/is_pair.hpp: -------------------------------------------------------------------------------- 1 | /* 2 | [auto_generated] 3 | boost/numeric/odeint/util/is_pair.hpp 4 | 5 | [begin_description] 6 | Metafunction to determine if a type is a std::pair<>. 7 | [end_description] 8 | 9 | Copyright 2009-2011 Karsten Ahnert 10 | Copyright 2009-2011 Mario Mulansky 11 | 12 | Distributed under the Boost Software License, Version 1.0. 13 | (See accompanying file LICENSE_1_0.txt or 14 | copy at http://www.boost.org/LICENSE_1_0.txt) 15 | */ 16 | 17 | 18 | #ifndef BOOST_NUMERIC_ODEINT_UTIL_IS_PAIR_HPP_INCLUDED 19 | #define BOOST_NUMERIC_ODEINT_UTIL_IS_PAIR_HPP_INCLUDED 20 | 21 | 22 | #include 23 | #include 24 | 25 | 26 | namespace boost { 27 | namespace numeric { 28 | namespace odeint { 29 | 30 | template< class T > 31 | struct is_pair : public boost::mpl::false_ 32 | { 33 | }; 34 | 35 | template< class T1 , class T2 > 36 | struct is_pair< std::pair< T1 , T2 > > : public boost::mpl::true_ 37 | { 38 | }; 39 | 40 | } // namespace odeint 41 | } // namespace numeric 42 | } // namespace boost 43 | 44 | 45 | #endif // BOOST_NUMERIC_ODEINT_UTIL_IS_PAIR_HPP_INCLUDED 46 | -------------------------------------------------------------------------------- /uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts.qbk: -------------------------------------------------------------------------------- 1 | [/============================================================================ 2 | Boost.odeint 3 | 4 | Copyright (c) 2009-2012 Karsten Ahnert 5 | Copyright (c) 2009-2012 Mario Mulansky 6 | 7 | Use, modification and distribution is subject to the Boost Software License, 8 | Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at 9 | http://www.boost.org/LICENSE_1_0.txt) 10 | =============================================================================/] 11 | 12 | 13 | [section:concepts Concepts] 14 | [# odeint.concepts] 15 | 16 | [include concepts/system.qbk] 17 | [include concepts/symplectic_system.qbk] 18 | [include concepts/implicit_system.qbk] 19 | [include concepts/stepper.qbk] 20 | [include concepts/error_stepper.qbk] 21 | [include concepts/controlled_stepper.qbk] 22 | [include concepts/dense_output_stepper.qbk] 23 | [include concepts/state_algebra_operations.qbk] 24 | [include concepts/state_wrapper.qbk] 25 | 26 | [endsect] -------------------------------------------------------------------------------- /uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/details.qbk: -------------------------------------------------------------------------------- 1 | [/============================================================================ 2 | Boost.odeint 3 | 4 | Copyright (c) 2009-2012 Karsten Ahnert 5 | Copyright (c) 2009-2012 Mario Mulansky 6 | 7 | Use, modification and distribution is subject to the Boost Software License, 8 | Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at 9 | http://www.boost.org/LICENSE_1_0.txt) 10 | =============================================================================/] 11 | 12 | [section odeint in detail] 13 | 14 | [include details_steppers.qbk] 15 | 16 | [include details_generation_functions.qbk] 17 | 18 | [include details_integrate_functions.qbk] 19 | 20 | [include details_state_types_algebras_operations.qbk] 21 | 22 | [include details_boost_ref.qbk] 23 | 24 | [include details_boost_range.qbk] 25 | 26 | [include details_bind_member_functions.qbk] 27 | 28 | [endsect] 29 | -------------------------------------------------------------------------------- /uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/html/images/alert.png: -------------------------------------------------------------------------------- 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(See accompanying file LICENSE_1_0.txt or copy at 9 | http://www.boost.org/LICENSE_1_0.txt) 10 | =============================================================================/] 11 | 12 | 13 | 14 | [table Generation functions make_controlled( abs_error , rel_error , stepper ) 15 | [[Stepper] [Result of make_controlled] [Remarks]] 16 | [[`runge_kutta_cash_karp54`] [`controlled_runge_kutta< runge_kutta_cash_karp54 , default_error_checker<...> >`] [['a[sub x]=1], ['a[sub dxdt]=1]]] 17 | [[`runge_kutta_fehlberg78`] [`controlled_runge_kutta< runge_kutta_fehlberg78 , default_error_checker<...> >`] [['a[sub x]=1], ['a[sub dxdt]=1]]] 18 | [[`runge_kutta_dopri5`] [`controlled_runge_kutta< runge_kutta_dopri5 , default_error_checker<...> >`] [['a [sub x]=1], ['a[sub dxdt]=1]]] 19 | [[`rosenbrock4`] [`rosenbrock4_controlled< rosenbrock4 >`] [-]] 20 | ] 21 | -------------------------------------------------------------------------------- /uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/make_dense_output_table.qbk: -------------------------------------------------------------------------------- 1 | [/============================================================================ 2 | Boost.odeint 3 | 4 | Copyright (c) 2009-2012 Karsten Ahnert 5 | Copyright (c) 2009-2012 Mario Mulansky 6 | 7 | Use, modification and distribution is subject to the Boost Software License, 8 | Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at 9 | http://www.boost.org/LICENSE_1_0.txt) 10 | =============================================================================/] 11 | 12 | 13 | 14 | [table Generation functions make_dense_output( abs_error , rel_error , stepper ) 15 | [[Stepper] [Result of make_dense_output] [Remarks]] 16 | [[`runge_kutta_dopri5`] [`dense_output_runge_kutta< controlled_runge_kutta< runge_kutta_dopri5 , default_error_checker<...> > >`] [['a [sub x]=1], ['a[sub dxdt]=1]]] 17 | [[`rosenbrock4`] [`rosenbrock4_dense_output< rosenbrock4_controller< rosenbrock4 > >`] [-]] 18 | ] 19 | 20 | -------------------------------------------------------------------------------- /uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial.qbk: -------------------------------------------------------------------------------- 1 | [/============================================================================ 2 | Boost.odeint 3 | 4 | Copyright (c) 2009-2012 Karsten Ahnert 5 | Copyright (c) 2009-2012 Mario Mulansky 6 | 7 | Use, modification and distribution is subject to the Boost Software License, 8 | Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at 9 | http://www.boost.org/LICENSE_1_0.txt) 10 | =============================================================================/] 11 | 12 | 13 | [section Tutorial] 14 | 15 | 16 | [include tutorial_harmonic_oscillator.qbk] 17 | 18 | [include tutorial_solar_system.qbk] 19 | 20 | [include tutorial_chaotic_system.qbk] 21 | 22 | [include tutorial_stiff_systems.qbk] 23 | 24 | [include tutorial_special_topics.qbk] 25 | 26 | [include tutorial_thrust_cuda.qbk] 27 | 28 | [include tutorial_vexcl_opencl.qbk] 29 | 30 | 31 | [section All examples] 32 | 33 | The following table gives an overview over all examples. 34 | 35 | [include examples_table.qbk] 36 | 37 | [endsect] 38 | 39 | 40 | 41 | 42 | 43 | 44 | [endsect] 45 | -------------------------------------------------------------------------------- /uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/Jamfile.v2: -------------------------------------------------------------------------------- 1 | # Copyright 2011 Karsten Ahnert and Mario Mulansky. 2 | # Distributed under the Boost Software License, Version 1.0. (See 3 | # accompanying file LICENSE_1_0.txt or copy at 4 | # http://www.boost.org/LICENSE_1_0.txt) 5 | 6 | project 7 | : requirements 8 | ../../../../.. 9 | BOOST_ALL_NO_LIB=1 10 | ; 11 | 12 | exe spreading : spreading.cpp ; -------------------------------------------------------------------------------- /uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/elliptic.py: -------------------------------------------------------------------------------- 1 | """ 2 | Copyright 2009-2012 Karsten Ahnert 3 | Copyright 2009-2012 Mario Mulansky 4 | 5 | Stochastic euler stepper example and Ornstein-Uhlenbeck process 6 | 7 | Distributed under the Boost Software License, Version 1.0. 8 | (See accompanying file LICENSE_1_0.txt or 9 | copy at http://www.boost.org/LICENSE_1_0.txt) 10 | """ 11 | 12 | 13 | from pylab import * 14 | from scipy import special 15 | 16 | data1 = loadtxt("elliptic1.dat") 17 | data2 = loadtxt("elliptic2.dat") 18 | data3 = loadtxt("elliptic3.dat") 19 | 20 | sn1,cn1,dn1,phi1 = special.ellipj( data1[:,0] , 0.51 ) 21 | sn2,cn2,dn2,phi2 = special.ellipj( data2[:,0] , 0.51 ) 22 | sn3,cn3,dn3,phi3 = special.ellipj( data3[:,0] , 0.51 ) 23 | 24 | semilogy( data1[:,0] , abs(data1[:,1]-sn1) ) 25 | semilogy( data2[:,0] , abs(data2[:,1]-sn2) , 'ro' ) 26 | semilogy( data3[:,0] , abs(data3[:,1]-sn3) , '--' ) 27 | 28 | show() 29 | 30 | 31 | 32 | -------------------------------------------------------------------------------- /uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/mtl/Jamfile.v2: -------------------------------------------------------------------------------- 1 | # Copyright 2009 Karsten Ahnert and Mario Mulansky. 2 | # Distributed under the Boost Software License, Version 1.0. (See 3 | # accompanying file LICENSE_1_0.txt or copy at 4 | # http://www.boost.org/LICENSE_1_0.txt) 5 | 6 | MTL4_INCLUDE = /home/karsten/boost/MTL-4.0.8862-Linux/usr/include ; 7 | 8 | project 9 | : requirements 10 | ../../../../.. 11 | $(MTL4_INCLUDE) 12 | BOOST_ALL_NO_LIB=1 13 | ; 14 | 15 | exe gauss_packet : gauss_packet.cpp ; 16 | exe implicit_euler_mtl : implicit_euler_mtl.cpp ; -------------------------------------------------------------------------------- /uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/quadmath/Jamfile.v2: -------------------------------------------------------------------------------- 1 | # Copyright 2009 Karsten Ahnert and Mario Mulansky. 2 | # Distributed under the Boost Software License, Version 1.0. (See 3 | # accompanying file LICENSE_1_0.txt or copy at 4 | # http://www.boost.org/LICENSE_1_0.txt) 5 | 6 | 7 | project 8 | : requirements 9 | ../../../.. 10 | BOOST_ALL_NO_LIB=1 11 | : 12 | ; 13 | 14 | lib quadmath : : quadmath shared ; 15 | 16 | exe black_hole : black_hole.cpp quadmath : -std=c++0x ; -------------------------------------------------------------------------------- /uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/ublas/Jamfile.v2: -------------------------------------------------------------------------------- 1 | # Copyright 2009 Karsten Ahnert and Mario Mulansky. 2 | # Distributed under the Boost Software License, Version 1.0. (See 3 | # accompanying file LICENSE_1_0.txt or copy at 4 | # http://www.boost.org/LICENSE_1_0.txt) 5 | 6 | 7 | project 8 | : requirements 9 | ../../../../.. 10 | BOOST_ALL_NO_LIB=1 11 | ; 12 | 13 | exe lorenz_ublas : lorenz_ublas.cpp ; 14 | -------------------------------------------------------------------------------- /uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/vexcl/Jamfile.v2: -------------------------------------------------------------------------------- 1 | # Copyright 2009-2012 Karsten Ahnert 2 | # Copyright 2009-2012 Mario Mulansky 3 | # 4 | # Distributed under the Boost Software License, Version 1.0. 5 | # (See accompanying file LICENSE_1_0.txt or 6 | # copy at http://www.boost.org/LICENSE_1_0.txt) 7 | 8 | 9 | import boost ; 10 | import os ; 11 | 12 | boost.use-project ; 13 | 14 | 15 | # change these lines to fit you configuration 16 | local HOME = [ os.environ HOME ] ; 17 | VEXCL_INCLUDE = $(HOME)/boost/vexcl ; 18 | CUDA_INCLUDE = /usr/local/cuda/include ; 19 | 20 | 21 | lib opencl : : OpenCL ; 22 | 23 | project : requirements 24 | /boost//headers 25 | ../../../../.. 26 | $(VEXCL_INCLUDE) 27 | $(CUDA_INCLUDE) 28 | gcc:-std=c++0x 29 | ; 30 | 31 | exe lorenz_ensemble : lorenz_ensemble.cpp opencl ; -------------------------------------------------------------------------------- /uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/index.html: -------------------------------------------------------------------------------- 1 | 6 | 7 | 8 | 9 | 10 | 11 | Automatic redirection failed, please go to 12 | doc/html/index.html 13 |
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© Copyright Beman Dawes, 2001

15 |

Distributed under the Boost Software 16 | License, Version 1.0. (See accompanying file LICENSE_1_0.txt or copy at 17 | www.boost.org/LICENSE_1_0.txt)

18 | 19 | 20 | -------------------------------------------------------------------------------- /uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/lorenz_gsl.hpp: -------------------------------------------------------------------------------- 1 | /* 2 | * lorenz_gsl.hpp 3 | * 4 | * Copyright 2009-2012 Karsten Ahnert 5 | * Copyright 2009-2012 Mario Mulansky 6 | * 7 | * Distributed under the Boost Software License, Version 1.0. 8 | * (See accompanying file LICENSE_1_0.txt or 9 | * copy at http://www.boost.org/LICENSE_1_0.txt) 10 | */ 11 | 12 | 13 | #ifndef LORENZ_GSL_HPP_ 14 | #define LORENZ_GSL_HPP_ 15 | 16 | #include 17 | 18 | int lorenz_gsl( const double t , const double y[] , double f[] , void *params) 19 | { 20 | const double sigma = 10.0; 21 | const double R = 28.0; 22 | const double b = 8.0 / 3.0; 23 | 24 | f[0] = sigma * ( y[1] - y[0] ); 25 | f[1] = R * y[0] - y[1] - y[0] * y[2]; 26 | f[2] = y[0]*y[1] - b * y[2]; 27 | return GSL_SUCCESS; 28 | } 29 | 30 | #endif 31 | -------------------------------------------------------------------------------- /uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/phase_lattice.hpp: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright 2009-2012 Karsten Ahnert 3 | * Copyright 2009-2012 Mario Mulansky 4 | * 5 | * Distributed under the Boost Software License, Version 1.0. 6 | * (See accompanying file LICENSE_1_0.txt or 7 | * copy at http://www.boost.org/LICENSE_1_0.txt) 8 | */ 9 | 10 | #include 11 | 12 | #include 13 | 14 | template< size_t N > 15 | struct phase_lattice 16 | { 17 | typedef double value_type; 18 | typedef boost::array< value_type , N > state_type; 19 | 20 | value_type m_epsilon; 21 | state_type m_omega; 22 | 23 | phase_lattice() : m_epsilon( 6.0/(N*N) ) // should be < 8/N^2 to see phase locking 24 | { 25 | for( size_t i=1 ; i 12 | 13 | using namespace std; 14 | 15 | struct rt_algebra 16 | { 17 | template< typename T , size_t dim > 18 | inline static void foreach( boost::array< T , dim > & x_tmp , 19 | const boost::array< T , dim > &x , 20 | //const vector< double > &a , 21 | const double* a , 22 | const boost::array< T , dim > *k_vector , 23 | const double dt , const size_t s ) 24 | { 25 | for( size_t i=0 ; i/boost/test//boost_unit_test_framework 15 | BOOST_ALL_NO_LIB=1 16 | ../../../.. 17 | static 18 | clang:-Wno-unused-variable 19 | 20 | # -D_SCL_SECURE_NO_WARNINGS 21 | ; 22 | 23 | test-suite "odeint" 24 | : 25 | [ run runge_kutta.cpp ] 26 | [ run symplectic.cpp ] 27 | [ run rosenbrock.cpp ] 28 | : valgrind 29 | ; 30 | -------------------------------------------------------------------------------- /uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gmp/Jamfile.v2: -------------------------------------------------------------------------------- 1 | # (C) Copyright 2010 : Karsten Ahnert, Mario Mulansky 2 | # Distributed under the Boost Software License, Version 1.0. 3 | # (See accompanying file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) 4 | 5 | # bring in rules for testing 6 | 7 | import testing ; 8 | use-project boost : $(BOOST_ROOT) ; 9 | 10 | project gmp 11 | : requirements 12 | /boost/test//boost_unit_test_framework 13 | ../../../../.. 14 | ; 15 | 16 | 17 | lib libgmp : : gmp shared ; 18 | lib libgmpxx : : gmpxx shared ; 19 | 20 | test-suite "gmp" 21 | : 22 | [ run check_gmp.cpp libgmpxx libgmp : : : shared:BOOST_TEST_DYN_LINK=1 ] 23 | [ run gmp_integrate.cpp libgmpxx libgmp : : : shared:BOOST_TEST_DYN_LINK=1 ] 24 | ; 25 | 26 | 27 | -------------------------------------------------------------------------------- /uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gsl/Jamfile.v2: -------------------------------------------------------------------------------- 1 | # (C) Copyright 2010 : Karsten Ahnert, Mario Mulansky 2 | # Distributed under the Boost Software License, Version 1.0. 3 | # (See accompanying file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) 4 | 5 | # bring in rules for testing 6 | 7 | import testing ; 8 | use-project boost : $(BOOST_ROOT) ; 9 | 10 | project 11 | : requirements 12 | /boost/test//boost_unit_test_framework 13 | ../../../../.. 14 | ; 15 | 16 | 17 | lib libgsl : : gsl shared ; 18 | lib libgslcblas : : gslcblas shared ; 19 | 20 | test-suite "gsl" 21 | : 22 | [ run check_gsl.cpp libgslcblas libgsl 23 | : 24 | : 25 | : shared:BOOST_TEST_DYN_LINK=1 26 | ] 27 | ; 28 | 29 | -------------------------------------------------------------------------------- /uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mkl/Jamfile.v2: -------------------------------------------------------------------------------- 1 | # (C) Copyright 2010 : Karsten Ahnert, Mario Mulansky 2 | # Distributed under the Boost Software License, Version 1.0. 3 | # (See accompanying file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) 4 | 5 | # bring in rules for testing 6 | 7 | import testing ; 8 | use-project boost : $(BOOST_ROOT) ; 9 | 10 | project 11 | : requirements 12 | /boost/test//boost_unit_test_framework 13 | ../../../../.. 14 | ; 15 | 16 | 17 | lib libmkl : : mkl_intel_lp64 shared ; 18 | lib libmkl_core : : mkl_core shared ; 19 | lib libmkl_intel_thread : : mkl_intel_thread ; 20 | lib libiomp5 : : iomp5 ; 21 | lib libpthread : : pthread ; 22 | 23 | test-suite "mkl" 24 | : 25 | [ run check_mkl.cpp libpthread libiomp5 libmkl_core libmkl_intel_thread libmkl 26 | : 27 | : 28 | : shared:BOOST_TEST_DYN_LINK=1 29 | ] 30 | ; 31 | -------------------------------------------------------------------------------- /uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mtl4/Jamfile.v2: -------------------------------------------------------------------------------- 1 | # Copyright 2009 Karsten Ahnert and Mario Mulansky. 2 | # Distributed under the Boost Software License, Version 1.0. (See 3 | # accompanying file LICENSE_1_0.txt or copy at 4 | # http://www.boost.org/LICENSE_1_0.txt) 5 | 6 | import testing ; 7 | import boost ; 8 | 9 | boost.use-project ; 10 | 11 | MTL4_INCLUDE = /home/karsten/boost/MTL-4.0.8862-Linux/usr/include ; 12 | 13 | project 14 | : requirements 15 | /boost/test//boost_unit_test_framework 16 | ../../../../.. 17 | $(MTL4_INCLUDE) 18 | BOOST_ALL_NO_LIB=1 19 | static 20 | : 21 | : default-build release 22 | ; 23 | 24 | test-suite "odeint-mtl4" 25 | : 26 | [ run mtl4_resize.cpp ] 27 | : valgrind 28 | ; 29 | -------------------------------------------------------------------------------- /uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/thrust/Makefile: -------------------------------------------------------------------------------- 1 | # Copyright 2009-2012 Karsten Ahnert 2 | # Copyright 2009-2012 Mario Mulansky 3 | # 4 | # Distributed under the Boost Software License, Version 1.0. 5 | # (See accompanying file LICENSE_1_0.txt or 6 | # copy at http://www.boost.org/LICENSE_1_0.txt) 7 | 8 | 9 | 10 | CUDA_ROOT = /usr/local/cuda 11 | 12 | CC = gcc-4.4 13 | CXX = gcc-4.4 14 | NVCC = $(CUDA_ROOT)/bin/nvcc 15 | 16 | INCLUDES += -I$(BOOST_ROOT) -I$(THRUST_ROOT) -I$(CUDA_ROOT)/include -I../../../../.. 17 | 18 | NVCCFLAGS = -O3 $(INCLUDES) --compiler-bindir=/usr/bin/g++-4.4 19 | 20 | LDLIBS = -lcudart 21 | LDFLAGS = -L$(CUDA_ROOT)/lib64 22 | 23 | %.co : %.cu 24 | $(NVCC) $(NVCCFLAGS) -o $@ -c $< 25 | 26 | 27 | all : check_thrust 28 | 29 | 30 | check_thrust : check_thrust.co 31 | $(CC) -o check_thrust $(LDFLAGS) $(LDLIBS) check_thrust.co 32 | check_thrust.co : check_thrust.cu 33 | 34 | clean : 35 | -rm *~ *.o *.co check_thrust 36 | 37 | -------------------------------------------------------------------------------- /uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/vexcl/Jamfile.v2: -------------------------------------------------------------------------------- 1 | # (C) Copyright 2010 : Karsten Ahnert, Mario Mulansky 2 | # Distributed under the Boost Software License, Version 1.0. 3 | # (See accompanying file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) 4 | 5 | # bring in rules for testing 6 | 7 | 8 | import testing ; 9 | 10 | use-project boost : $(BOOST_ROOT) ; 11 | VEXCL_INCLUDE = /home/karsten/boost/vexcl ; 12 | CUDA_INCLUDE = /usr/local/cuda/include ; 13 | 14 | 15 | project 16 | : requirements 17 | /boost/test//boost_unit_test_framework 18 | BOOST_ALL_NO_LIB=1 19 | ../../../../.. 20 | $(VEXCL_INCLUDE) 21 | $(CUDA_INCLUDE) 22 | -std=c++0x 23 | ; 24 | 25 | lib OpenCL : : OpenCL shared ; 26 | 27 | test-suite "odeint" 28 | : 29 | [ run lorenz.cpp OpenCL ] 30 | : valgrind 31 | : 32 | : shared:BOOST_TEST_DYN_LINK=1 33 | ; -------------------------------------------------------------------------------- /uav_simulator/so3_quadrotor_simulator/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 0.0.0 3 | so3_quadrotor_simulator 4 | 5 | 6 | quadrotor_simulator 7 | 8 | 9 | 10 | Kartik Mohta 11 | BSD 12 | http://ros.org/wiki/quadrotor_simulator 13 | 14 | catkin 15 | 16 | roscpp 17 | quadrotor_msgs 18 | uav_utils 19 | cmake_utils 20 | 21 | roscpp 22 | quadrotor_msgs 23 | uav_utils 24 | cmake_utils 25 | 26 | 27 | 28 | 29 | -------------------------------------------------------------------------------- /visualization_utils/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(visualization_utils) 3 | 4 | set(CMAKE_BUILD_TYPE "Release") 5 | set(CMAKE_CXX_FLAGS "-std=c++11") 6 | set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") 7 | 8 | find_package(catkin REQUIRED COMPONENTS 9 | roscpp 10 | rospy 11 | std_msgs 12 | visualization_msgs 13 | ) 14 | 15 | find_package(Eigen3 REQUIRED) 16 | 17 | catkin_package( 18 | INCLUDE_DIRS include 19 | LIBRARIES visualization_utils 20 | # CATKIN_DEPENDS roscpp rospy std_msgs visualization_msgs 21 | # DEPENDS system_lib 22 | ) 23 | 24 | include_directories( 25 | include 26 | ${catkin_INCLUDE_DIRS} 27 | ${EIGEN3_INCLUDE_DIR} 28 | ) 29 | 30 | ## Declare a C++ library 31 | add_library(${PROJECT_NAME} 32 | src/visualization_utils.cpp 33 | ) 34 | 35 | target_link_libraries(${PROJECT_NAME} 36 | ${catkin_LIBRARIES} 37 | ) 38 | 39 | --------------------------------------------------------------------------------