├── LICENSE ├── README.md ├── safe_corridor_generator ├── CMakeLists.txt ├── README.md ├── config │ └── params.yaml ├── decompose_nodelet.xml ├── include │ └── safe_corridor_generator │ │ ├── decompose_node.h │ │ ├── decompose_wrapper.h │ │ ├── jps_manager.h │ │ └── safe_corridor_generator.h ├── launch │ ├── rviz.launch │ └── test.launch ├── package.xml ├── rviz │ ├── test.rviz │ ├── uav1.rviz │ └── uav2.rviz ├── scripts │ └── pub_path.py └── src │ ├── decompose_node.cpp │ ├── decompose_wrapper.cpp │ ├── jps_manager.cpp │ └── safe_corridor_generator.cpp └── thirdparty ├── DecompROS ├── .gitmodules ├── DecompUtil │ ├── .gitignore │ ├── CMakeLists.txt │ ├── Doxyfile │ ├── LICENSE │ ├── README.md │ ├── data │ │ ├── example1.png │ │ ├── example2.png │ │ ├── example3.png │ │ ├── example4.png │ │ └── obstacles.txt │ ├── decomp_utilConfig.cmake │ ├── decomp_utilConfigVersion.cmake │ ├── docs │ │ ├── annotated.html │ │ ├── arrowdown.png │ │ ├── arrowright.png │ │ ├── bc_s.png │ │ ├── bdwn.png │ │ ├── classDecompBase-members.html │ │ ├── classDecompBase.html │ │ ├── classDecompBase.png │ │ ├── classEllipsoidDecomp-members.html │ │ ├── classEllipsoidDecomp.html │ │ ├── classEllipsoidDecomp.png │ │ ├── classIterativeDecomp-members.html │ │ ├── classIterativeDecomp.html │ │ ├── classIterativeDecomp.png │ │ ├── classLineSegment-members.html │ │ ├── classLineSegment.html │ │ ├── classLineSegment.png │ │ ├── classSeedDecomp-members.html │ │ ├── classSeedDecomp.html │ │ ├── classSeedDecomp.png │ │ ├── classes.html │ │ ├── closed.png │ │ ├── data__type_8h.html │ │ ├── data__type_8h_source.html │ │ ├── data__utils_8h.html │ │ ├── data__utils_8h_source.html │ │ ├── decomp__base_8h.html │ │ ├── decomp__base_8h_source.html │ │ ├── dir_0156596343f07f423e58f27e9acfceb9.html │ │ ├── dir_0ea7c0ecff050f14fbfcb8a22f95278f.html │ │ ├── dir_13e138d54eb8818da29c3992edef070a.html │ │ ├── dir_2c1ec4cfaf5ed43ec260b4f91f837847.html │ │ ├── dir_4fef79e7177ba769987a8da36c892c5f.html │ │ ├── dir_63772b626f2709090f0bdca0f40827b4.html │ │ ├── dir_75993fee8576b97e3d9a8476c1772d17.html │ │ ├── dir_a41afb44cd77021f04ef0298981be91e.html │ │ ├── dir_a573004c1aa1ac4f8bc48460229ea7de.html │ │ ├── dir_d44c64559bbebec7f509842c48db8b23.html │ │ ├── doc.png │ │ ├── doxygen.css │ │ ├── doxygen.png │ │ ├── dynsections.js │ │ ├── ellipsoid_8h.html │ │ ├── ellipsoid_8h_source.html │ │ ├── ellipsoid__decomp_8h.html │ │ ├── ellipsoid__decomp_8h_source.html │ │ ├── files.html │ │ ├── folderclosed.png │ │ ├── folderopen.png │ │ ├── form_0.png │ │ ├── form_1.png │ │ ├── form_2.png │ │ ├── formula.repository │ │ ├── functions.html │ │ ├── functions_func.html │ │ ├── functions_vars.html │ │ ├── geometric__utils_8h.html │ │ ├── geometric__utils_8h_source.html │ │ ├── globals.html │ │ ├── globals_defs.html │ │ ├── globals_func.html │ │ ├── globals_type.html │ │ ├── globals_vars.html │ │ ├── hierarchy.html │ │ ├── index.html │ │ ├── iterative__decomp_8h.html │ │ ├── iterative__decomp_8h_source.html │ │ ├── jquery.js │ │ ├── line__segment_8h.html │ │ ├── line__segment_8h_source.html │ │ ├── nav_f.png │ │ ├── nav_g.png │ │ ├── nav_h.png │ │ ├── open.png │ │ ├── polyhedron_8h_source.html │ │ ├── search │ │ │ ├── all_0.html │ │ │ ├── all_0.js │ │ │ ├── all_1.html │ │ │ ├── all_1.js │ │ │ ├── all_10.html │ │ │ ├── all_10.js │ │ │ ├── all_2.html │ │ │ ├── all_2.js │ │ │ ├── all_3.html │ │ │ ├── all_3.js │ │ │ ├── all_4.html │ │ │ ├── all_4.js │ │ │ ├── all_5.html │ │ │ ├── all_5.js │ │ │ ├── all_6.html │ │ │ ├── all_6.js │ │ │ ├── all_7.html │ │ │ ├── all_7.js │ │ │ ├── all_8.html │ │ │ ├── all_8.js │ │ │ ├── all_9.html │ │ │ ├── all_9.js │ │ │ ├── all_a.html │ │ │ ├── all_a.js │ │ │ ├── all_b.html │ │ │ ├── all_b.js │ │ │ ├── all_c.html │ │ │ ├── all_c.js │ │ │ ├── all_d.html │ │ │ ├── all_d.js │ │ │ ├── all_e.html │ │ │ ├── all_e.js │ │ │ ├── all_f.html │ │ │ ├── all_f.js │ │ │ ├── classes_0.html │ │ │ ├── classes_0.js │ │ │ ├── classes_1.html │ │ │ ├── classes_1.js │ │ │ ├── classes_2.html │ │ │ ├── classes_2.js │ │ │ ├── classes_3.html │ │ │ ├── classes_3.js │ │ │ ├── classes_4.html │ │ │ ├── classes_4.js │ │ │ ├── classes_5.html │ │ │ ├── classes_5.js │ │ │ ├── classes_6.html │ │ │ ├── classes_6.js │ │ │ ├── close.png │ │ │ ├── defines_0.html │ │ │ ├── defines_0.js │ │ │ ├── defines_1.html │ │ │ ├── defines_1.js │ │ │ ├── files_0.html │ │ │ ├── files_0.js │ │ │ ├── files_1.html │ │ │ ├── files_1.js │ │ │ ├── files_2.html │ │ │ ├── files_2.js │ │ │ ├── files_3.html │ │ │ ├── files_3.js │ │ │ ├── files_4.html │ │ │ ├── files_4.js │ │ │ ├── files_5.html │ │ │ ├── files_5.js │ │ │ ├── functions_0.html │ │ │ ├── functions_0.js │ │ │ ├── functions_1.html │ │ │ ├── functions_1.js │ │ │ ├── functions_2.html │ │ │ ├── functions_2.js │ │ │ ├── functions_3.html │ │ │ ├── functions_3.js │ │ │ ├── functions_4.html │ │ │ ├── functions_4.js │ │ │ ├── functions_5.html │ │ │ ├── functions_5.js │ │ │ ├── functions_6.html │ │ │ ├── functions_6.js │ │ │ ├── functions_7.html │ │ │ ├── functions_7.js │ │ │ ├── functions_8.html │ │ │ ├── functions_8.js │ │ │ ├── functions_9.html │ │ │ ├── functions_9.js │ │ │ ├── functions_a.html │ │ │ ├── functions_a.js │ │ │ ├── functions_b.html │ │ │ ├── functions_b.js │ │ │ ├── functions_c.html │ │ │ ├── functions_c.js │ │ │ ├── mag_sel.png │ │ │ ├── nomatches.html │ │ │ ├── pages_0.html │ │ │ ├── pages_0.js │ │ │ ├── search.css │ │ │ ├── search.js │ │ │ ├── search_l.png │ │ │ ├── search_m.png │ │ │ ├── search_r.png │ │ │ ├── searchdata.js │ │ │ ├── typedefs_0.html │ │ │ ├── typedefs_0.js │ │ │ ├── typedefs_1.html │ │ │ ├── typedefs_1.js │ │ │ ├── typedefs_2.html │ │ │ ├── typedefs_2.js │ │ │ ├── typedefs_3.html │ │ │ ├── typedefs_3.js │ │ │ ├── typedefs_4.html │ │ │ ├── typedefs_4.js │ │ │ ├── variables_0.html │ │ │ ├── variables_0.js │ │ │ ├── variables_1.html │ │ │ ├── variables_1.js │ │ │ ├── variables_2.html │ │ │ ├── variables_2.js │ │ │ ├── variables_3.html │ │ │ ├── variables_3.js │ │ │ ├── variables_4.html │ │ │ ├── variables_4.js │ │ │ ├── variables_5.html │ │ │ └── variables_5.js │ │ ├── seed__decomp_8h.html │ │ ├── seed__decomp_8h_source.html │ │ ├── splitbar.png │ │ ├── structEllipsoid-members.html │ │ ├── structEllipsoid.html │ │ ├── structHyperplane-members.html │ │ ├── structHyperplane.html │ │ ├── structLinearConstraint-members.html │ │ ├── structLinearConstraint.html │ │ ├── structPolyhedron-members.html │ │ ├── structPolyhedron.html │ │ ├── sync_off.png │ │ ├── sync_on.png │ │ ├── tab_a.png │ │ ├── tab_b.png │ │ ├── tab_h.png │ │ ├── tab_s.png │ │ ├── tabs.css │ │ └── txt__reader_8hpp_source.html │ ├── include │ │ ├── decomp_basis │ │ │ ├── data_type.h │ │ │ └── data_utils.h │ │ ├── decomp_geometry │ │ │ ├── ellipsoid.h │ │ │ ├── geometric_utils.h │ │ │ └── polyhedron.h │ │ └── decomp_util │ │ │ ├── decomp_base.h │ │ │ ├── ellipsoid_decomp.h │ │ │ ├── iterative_decomp.h │ │ │ ├── line_segment.h │ │ │ └── seed_decomp.h │ ├── package.xml │ ├── test │ │ ├── test_ellipsoid_decomp.cpp │ │ ├── test_iterative_decomp.cpp │ │ ├── test_line_segment.cpp │ │ ├── test_seed_decomp.cpp │ │ └── txt_reader.hpp │ └── wercker.yml ├── LICENSE ├── README.md ├── decomp_ros_msgs │ ├── CMakeLists.txt │ ├── msg │ │ ├── Ellipsoid.msg │ │ ├── EllipsoidArray.msg │ │ ├── Polyhedron.msg │ │ └── PolyhedronArray.msg │ └── package.xml ├── decomp_ros_utils │ ├── CMakeLists.txt │ ├── icons │ │ └── classes │ │ │ ├── EllipsoidArray.png │ │ │ └── PolyhedronArray.png │ ├── include │ │ └── decomp_ros_utils │ │ │ └── data_ros_utils.h │ ├── package.xml │ ├── plugin_description.xml │ └── src │ │ ├── bound_visual.cpp │ │ ├── bound_visual.h │ │ ├── ellipsoid_array_display.cpp │ │ ├── ellipsoid_array_display.h │ │ ├── ellipsoid_array_visual.cpp │ │ ├── ellipsoid_array_visual.h │ │ ├── mesh_visual.cpp │ │ ├── mesh_visual.h │ │ ├── polyhedron_array_display.cpp │ │ ├── polyhedron_array_display.h │ │ ├── vector_visual.cpp │ │ └── vector_visual.h └── wercker.yml └── jps3d ├── .gitignore ├── CMakeLists.txt ├── Doxyfile ├── LICENSE ├── README.md ├── data ├── corridor.png ├── corridor.yaml ├── example_dmp.png ├── simple.png ├── simple.yaml └── simple3d.yaml ├── docs ├── annotated.html ├── arrowdown.png ├── arrowright.png ├── bc_s.png ├── bdwn.png ├── classDMP_1_1GraphSearch-members.html ├── classDMP_1_1GraphSearch.html ├── classDMPlanner-members.html ├── classDMPlanner.html ├── classDMPlanner.png ├── classIterativeDMPlanner-members.html ├── classIterativeDMPlanner.html ├── classIterativeDMPlanner.png ├── classJPSPlanner-members.html ├── classJPSPlanner.html ├── classJPS_1_1GraphSearch-members.html ├── classJPS_1_1GraphSearch.html ├── classJPS_1_1MapUtil-members.html ├── classJPS_1_1MapUtil.html ├── classJPS_1_1Timer-members.html ├── classJPS_1_1Timer.html ├── classMapReader-members.html ├── classMapReader.html ├── classes.html ├── closed.png ├── corridor.png ├── data__type_8h.html ├── data__type_8h_source.html ├── data__utils_8h.html ├── data__utils_8h_source.html ├── dir_13e138d54eb8818da29c3992edef070a.html ├── dir_16f9237c2eb6ee71ebe7bb5d56514662.html ├── dir_2c1ec4cfaf5ed43ec260b4f91f837847.html ├── dir_35cd4ee7ff6c8bd90084e84f08e68c51.html ├── dir_3fa5b8fa885cd79655872b42aca83d9a.html ├── dir_4fef79e7177ba769987a8da36c892c5f.html ├── dir_5280bb524ed5294135fd93e0b12dbd44.html ├── dir_63772b626f2709090f0bdca0f40827b4.html ├── dir_6810188cd2ea088282d3e2870d3170c6.html ├── dir_68267d1309a1af8e8297ef4c3efbcdba.html ├── dir_78791bf993c4f7547ae15e7c34d4eefe.html ├── dir_7f7e439ba0927089503219129b4cf038.html ├── dir_a41afb44cd77021f04ef0298981be91e.html ├── dir_a573004c1aa1ac4f8bc48460229ea7de.html ├── dir_cf779efadf30e9c7d82da7dbe2eb33f7.html ├── dir_d44c64559bbebec7f509842c48db8b23.html ├── dir_e3f696d4d044a5899bff98f450f72b77.html ├── dir_f3f15cb6a903102cfaa3bed9fef4749a.html ├── distance__map__planner_2graph__search_8h_source.html ├── distance__map__planner_8h.html ├── distance__map__planner_8h_source.html ├── doc.png ├── doxygen.css ├── doxygen.png ├── dynsections.js ├── example_dmp.png ├── files.html ├── folderclosed.png ├── folderopen.png ├── form_0.png ├── form_1.png ├── form_2.png ├── formula.repository ├── functions.html ├── functions_func.html ├── functions_vars.html ├── globals.html ├── globals_defs.html ├── globals_func.html ├── globals_type.html ├── hierarchy.html ├── index.html ├── jps__planner_2graph__search_8h_source.html ├── jps__planner_8h.html ├── jps__planner_8h_source.html ├── jquery.js ├── map__util_8h.html ├── map__util_8h_source.html ├── menu.js ├── menudata.js ├── nav_f.png ├── nav_g.png ├── nav_h.png ├── open.png ├── read__map_8hpp_source.html ├── search │ ├── all_0.html │ ├── all_0.js │ ├── all_1.html │ ├── all_1.js │ ├── all_10.html │ ├── all_10.js │ ├── all_11.html │ ├── all_11.js │ ├── all_2.html │ ├── all_2.js │ ├── all_3.html │ ├── all_3.js │ ├── all_4.html │ ├── all_4.js │ ├── all_5.html │ ├── all_5.js │ ├── all_6.html │ ├── all_6.js │ ├── all_7.html │ ├── all_7.js │ ├── all_8.html │ ├── all_8.js │ ├── all_9.html │ ├── all_9.js │ ├── all_a.html │ ├── all_a.js │ ├── all_b.html │ ├── all_b.js │ ├── all_c.html │ ├── all_c.js │ ├── all_d.html │ ├── all_d.js │ ├── all_e.html │ ├── all_e.js │ ├── all_f.html │ ├── all_f.js │ ├── classes_0.html │ ├── classes_0.js │ ├── classes_1.html │ ├── classes_1.js │ ├── classes_2.html │ ├── classes_2.js │ ├── classes_3.html │ ├── classes_3.js │ ├── classes_4.html │ ├── classes_4.js │ ├── classes_5.html │ ├── classes_5.js │ ├── classes_6.html │ ├── classes_6.js │ ├── classes_7.html │ ├── classes_7.js │ ├── close.png │ ├── defines_0.html │ ├── defines_0.js │ ├── defines_1.html │ ├── defines_1.js │ ├── files_0.html │ ├── files_0.js │ ├── files_1.html │ ├── files_1.js │ ├── files_2.html │ ├── files_2.js │ ├── functions_0.html │ ├── functions_0.js │ ├── functions_1.html │ ├── functions_1.js │ ├── functions_2.html │ ├── functions_2.js │ ├── functions_3.html │ ├── functions_3.js │ ├── functions_4.html │ ├── functions_4.js │ ├── functions_5.html │ ├── functions_5.js │ ├── functions_6.html │ ├── functions_6.js │ ├── functions_7.html │ ├── functions_7.js │ ├── functions_8.html │ ├── functions_8.js │ ├── functions_9.html │ ├── functions_9.js │ ├── functions_a.html │ ├── functions_a.js │ ├── functions_b.html │ ├── functions_b.js │ ├── functions_c.html │ ├── functions_c.js │ ├── mag_sel.png │ ├── nomatches.html │ ├── pages_0.html │ ├── pages_0.js │ ├── search.css │ ├── search.js │ ├── search_l.png │ ├── search_m.png │ ├── search_r.png │ ├── searchdata.js │ ├── typedefs_0.html │ ├── typedefs_0.js │ ├── typedefs_1.html │ ├── typedefs_1.js │ ├── typedefs_2.html │ ├── typedefs_2.js │ ├── typedefs_3.html │ ├── typedefs_3.js │ ├── typedefs_4.html │ ├── typedefs_4.js │ ├── typedefs_5.html │ ├── typedefs_5.js │ ├── typedefs_6.html │ ├── typedefs_6.js │ ├── variables_0.html │ ├── variables_0.js │ ├── variables_1.html │ ├── variables_1.js │ ├── variables_2.html │ ├── variables_2.js │ ├── variables_3.html │ ├── variables_3.js │ ├── variables_4.html │ ├── variables_4.js │ ├── variables_5.html │ ├── variables_5.js │ ├── variables_6.html │ ├── variables_6.js │ ├── variables_7.html │ ├── variables_7.js │ ├── variables_8.html │ ├── variables_8.js │ ├── variables_9.html │ ├── variables_9.js │ ├── variables_a.html │ ├── variables_a.js │ ├── variables_b.html │ ├── variables_b.js │ ├── variables_c.html │ └── variables_c.js ├── splitbar.png ├── structDMP_1_1State-members.html ├── structDMP_1_1State.html ├── structDMP_1_1compare__state-members.html ├── structDMP_1_1compare__state.html ├── structJPS_1_1JPS2DNeib-members.html ├── structJPS_1_1JPS2DNeib.html ├── structJPS_1_1JPS3DNeib-members.html ├── structJPS_1_1JPS3DNeib.html ├── structJPS_1_1State-members.html ├── structJPS_1_1State.html ├── structJPS_1_1compare__state-members.html ├── structJPS_1_1compare__state.html ├── sync_off.png ├── sync_on.png ├── tab_a.png ├── tab_b.png ├── tab_h.png ├── tab_s.png ├── tabs.css └── timer_8hpp_source.html ├── include ├── jps_basis │ ├── data_type.h │ └── data_utils.h ├── jps_collision │ └── map_util.h └── jps_planner │ ├── distance_map_planner │ ├── distance_map_planner.h │ └── graph_search.h │ └── jps_planner │ ├── graph_search.h │ └── jps_planner.h ├── jps3dConfig.cmake ├── jps3dConfigVersion.cmake ├── package.xml ├── src ├── distance_map_planner │ ├── distance_map_planner.cpp │ └── graph_search.cpp └── jps_planner │ ├── graph_search.cpp │ └── jps_planner.cpp ├── test ├── create_map.cpp ├── read_map.hpp ├── test_distance_map_planner_2d.cpp ├── test_planner_2d.cpp ├── test_planner_3d.cpp └── timer.hpp └── wercker.yml /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alfalcmar/safe_corridor_generator/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 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