├── .clang-format ├── .gitignore ├── .vscode ├── launch.json ├── settings.json └── tasks.json ├── CMakeLists.txt ├── README.MD ├── doc ├── c++.MD ├── paper │ ├── A Novel Robust Lane Change Trajectory Planning Method for.pdf │ ├── Continuous path smoothing for car-like robots using B-spline curves.pdf │ ├── Continuous path smoothing for car-like robots using B-spline.pdf │ └── Safe and Efficient Trajectory Optimization for.pdf ├── pic │ ├── 1.main函数.png │ ├── 2.demo1.gif │ ├── 3.感知模块.png │ ├── 4.规划模块.png │ ├── 5.规划模块构成.png │ ├── 6.搜索.png │ ├── bspline.png │ ├── demo-obs.gif │ ├── dfs.gif │ ├── eigen位置.png │ ├── kappa.png │ └── max_kappa.png ├── 开发记录.MD ├── 流程图 │ ├── 1.main函数.drawio │ ├── 2.感知模块.drawio │ ├── 规划模块.drawio │ └── 规划模块构成.drawio └── 记录.MD ├── include ├── bspline_curve.h ├── bspline_lattice_planner.h ├── common.h ├── config.h ├── debug_info.h ├── dp_path.h ├── environment.h ├── grid_graph.h ├── localization.h ├── math │ ├── aabox2d.h │ ├── box2d.h │ ├── line_segment2d.h │ ├── math_common.h │ ├── polygon2d.h │ └── vec2d.h ├── matplotlibcpp.h ├── obstacle.h ├── park_data_reader │ └── dataset.h ├── reference_line.h ├── trajectory_scorer.h └── visualization.h ├── lib └── libplanner.a ├── map ├── berlin_2018.csv ├── handling_track.csv ├── map.csv ├── modena_2019.csv └── rounded_rectangle.csv ├── scripts ├── __pycache__ │ └── dataset.cpython-310.pyc ├── dataset.py └── visualizer.py ├── src ├── bspline_curve.cpp ├── bspline_lattice_planner.cpp ├── common.cpp ├── dp_path.cpp ├── environment.cpp ├── grid_graph.cpp ├── localization.cpp ├── math │ ├── aabox2d.cpp │ ├── box2d.cpp │ ├── line_segment2d.cpp │ ├── math_common.cpp │ ├── polygon2d.cpp │ └── vec2d.cpp ├── park_data_reader │ └── dataset.cpp ├── reference_line.cpp ├── trajectory_scorer.cpp └── visualization.cpp └── test ├── main.cpp ├── park_data_test.cpp └── plot_test.cpp /.clang-format: -------------------------------------------------------------------------------- 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