├── .gitignore ├── README.md ├── doc └── SystemOverView.jpg ├── fast_navigation ├── CMakeLists.txt ├── include │ └── fast_navigation │ │ ├── UDPbridge.hpp │ │ ├── navigation.hpp │ │ └── readwritecsv.hpp ├── launch │ └── swift_planner.launch ├── package.xml ├── src │ ├── fake_robot.cpp │ ├── pub_goalpose.cpp │ └── swift_planner.cpp └── test │ └── planning_test.cpp ├── grid_path_searcher ├── CMakeLists.txt ├── README.md ├── include │ ├── State.h │ └── backward.hpp ├── launch │ ├── mapworld.launch │ ├── rviz_config │ │ ├── planner_test.rviz │ │ └── slam.rviz │ └── slamonline.launch ├── map │ ├── corridor.png │ ├── denseobs.png │ ├── fake_corridor.png │ ├── map.png │ ├── maze.png │ └── sparseobs.png ├── package.xml └── src │ ├── image_map_generator.cpp │ └── random_complex_generator.cpp ├── lazykinoprm ├── CMakeLists.txt ├── include │ └── lazykinoprm │ │ ├── Astar.h │ │ ├── GridNode.h │ │ ├── LazyKinoPRM.h │ │ ├── LazyPRM.h │ │ ├── Polynomial.h │ │ ├── SampleOBVP.h │ │ └── State.h ├── package.xml └── src │ ├── Astar.cpp │ ├── GridNode.cpp │ ├── LazyPRM.cpp │ ├── Polynomial.cpp │ ├── SampleOBVP.cpp │ └── lazykinoPRM.cpp ├── nontrajopt ├── CMakeLists.txt ├── include │ └── nontrajopt │ │ ├── Eigencsv.hpp │ │ ├── edfmap.hpp │ │ ├── lbfgs_raw.hpp │ │ ├── nontrajopt.h │ │ ├── nontrajopt.hpp │ │ ├── segment.hpp │ │ └── vis_utils.hpp ├── package.xml ├── src │ └── nontrajopt.cc └── test │ ├── MPCExample.cpp │ ├── nlopt_test.cpp │ └── nontraj_test.cpp ├── rviz_plugins ├── CMakeLists.txt ├── Makefile ├── config │ └── rviz_config.rviz ├── package.xml ├── plugin_description.xml └── src │ ├── aerialmap_display.cpp │ ├── aerialmap_display.h │ ├── goal_tool.cpp │ ├── goal_tool.h │ ├── multi_probmap_display.cpp │ ├── multi_probmap_display.h │ ├── pose_tool.cpp │ ├── pose_tool.h │ ├── probmap_display.cpp │ └── probmap_display.h └── waypoint_generator ├── CMakeLists.txt ├── package.xml └── src ├── sample_waypoints.h └── waypoint_generator.cpp /.gitignore: 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