├── CMakeLists.txt ├── MPC_LOCAL_PALNNER.rviz ├── README.md ├── config_params └── ros_parameters.yaml ├── env.sh ├── include ├── MPC_Planner.h ├── MPC_ROS_Utils.h ├── ROS_Node.h ├── lib.h └── types.h ├── launch └── node.launch ├── package.xml ├── scripts ├── __pycache__ │ ├── create_solver.cpython-38.pyc │ └── robot_model.cpython-38.pyc ├── acados_solver.json ├── c_generated_code │ ├── Makefile │ ├── acados_sim_solver_robot_model.c │ ├── acados_sim_solver_robot_model.h │ ├── acados_solver.pxd │ ├── acados_solver_robot_model.c │ ├── acados_solver_robot_model.h │ ├── acados_solver_robot_model.o │ ├── libacados_ocp_solver_robot_model.so │ ├── main_robot_model.c │ ├── main_sim_robot_model.c │ ├── robot_model_constraints │ │ └── robot_model_constraints.h │ ├── robot_model_cost │ │ ├── robot_model_cost.h │ │ ├── robot_model_cost_y_0_fun.c │ │ ├── robot_model_cost_y_0_fun.o │ │ ├── robot_model_cost_y_0_fun_jac_ut_xt.c │ │ ├── robot_model_cost_y_0_fun_jac_ut_xt.o │ │ ├── robot_model_cost_y_0_hess.c │ │ ├── robot_model_cost_y_0_hess.o │ │ ├── robot_model_cost_y_e_fun.c │ │ ├── robot_model_cost_y_e_fun.o │ │ ├── robot_model_cost_y_e_fun_jac_ut_xt.c │ │ ├── robot_model_cost_y_e_fun_jac_ut_xt.o │ │ ├── robot_model_cost_y_e_hess.c │ │ ├── robot_model_cost_y_e_hess.o │ │ ├── robot_model_cost_y_fun.c │ │ ├── robot_model_cost_y_fun.o │ │ ├── robot_model_cost_y_fun_jac_ut_xt.c │ │ ├── robot_model_cost_y_fun_jac_ut_xt.o │ │ ├── robot_model_cost_y_hess.c │ │ └── robot_model_cost_y_hess.o │ └── robot_model_model │ │ ├── robot_model_expl_ode_fun.c │ │ ├── robot_model_expl_ode_fun.o │ │ ├── robot_model_expl_vde_adj.c │ │ ├── robot_model_expl_vde_adj.o │ │ ├── robot_model_expl_vde_forw.c │ │ ├── robot_model_expl_vde_forw.o │ │ └── robot_model_model.h ├── create_solver.py ├── robot_model.py └── test_solver.py └── src ├── MPC_Planner.cpp ├── MPC_ROS_Utils.cpp └── main.cpp /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /MPC_LOCAL_PALNNER.rviz: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/MPC_LOCAL_PALNNER.rviz -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/README.md -------------------------------------------------------------------------------- /config_params/ros_parameters.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/config_params/ros_parameters.yaml -------------------------------------------------------------------------------- /env.sh: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/env.sh -------------------------------------------------------------------------------- /include/MPC_Planner.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/include/MPC_Planner.h -------------------------------------------------------------------------------- /include/MPC_ROS_Utils.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/include/MPC_ROS_Utils.h -------------------------------------------------------------------------------- /include/ROS_Node.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/include/ROS_Node.h -------------------------------------------------------------------------------- /include/lib.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/include/lib.h -------------------------------------------------------------------------------- /include/types.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/include/types.h -------------------------------------------------------------------------------- /launch/node.launch: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/launch/node.launch -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/package.xml -------------------------------------------------------------------------------- /scripts/__pycache__/create_solver.cpython-38.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/__pycache__/create_solver.cpython-38.pyc -------------------------------------------------------------------------------- /scripts/__pycache__/robot_model.cpython-38.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/__pycache__/robot_model.cpython-38.pyc -------------------------------------------------------------------------------- /scripts/acados_solver.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/acados_solver.json -------------------------------------------------------------------------------- /scripts/c_generated_code/Makefile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/Makefile -------------------------------------------------------------------------------- /scripts/c_generated_code/acados_sim_solver_robot_model.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/acados_sim_solver_robot_model.c -------------------------------------------------------------------------------- /scripts/c_generated_code/acados_sim_solver_robot_model.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/acados_sim_solver_robot_model.h -------------------------------------------------------------------------------- /scripts/c_generated_code/acados_solver.pxd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/acados_solver.pxd -------------------------------------------------------------------------------- /scripts/c_generated_code/acados_solver_robot_model.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/acados_solver_robot_model.c -------------------------------------------------------------------------------- /scripts/c_generated_code/acados_solver_robot_model.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/acados_solver_robot_model.h -------------------------------------------------------------------------------- /scripts/c_generated_code/acados_solver_robot_model.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/acados_solver_robot_model.o -------------------------------------------------------------------------------- /scripts/c_generated_code/libacados_ocp_solver_robot_model.so: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/libacados_ocp_solver_robot_model.so -------------------------------------------------------------------------------- /scripts/c_generated_code/main_robot_model.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/main_robot_model.c -------------------------------------------------------------------------------- /scripts/c_generated_code/main_sim_robot_model.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/main_sim_robot_model.c -------------------------------------------------------------------------------- /scripts/c_generated_code/robot_model_constraints/robot_model_constraints.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/robot_model_constraints/robot_model_constraints.h -------------------------------------------------------------------------------- /scripts/c_generated_code/robot_model_cost/robot_model_cost.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/robot_model_cost/robot_model_cost.h -------------------------------------------------------------------------------- /scripts/c_generated_code/robot_model_cost/robot_model_cost_y_0_fun.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/robot_model_cost/robot_model_cost_y_0_fun.c -------------------------------------------------------------------------------- /scripts/c_generated_code/robot_model_cost/robot_model_cost_y_0_fun.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/robot_model_cost/robot_model_cost_y_0_fun.o -------------------------------------------------------------------------------- /scripts/c_generated_code/robot_model_cost/robot_model_cost_y_0_fun_jac_ut_xt.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/robot_model_cost/robot_model_cost_y_0_fun_jac_ut_xt.c -------------------------------------------------------------------------------- /scripts/c_generated_code/robot_model_cost/robot_model_cost_y_0_fun_jac_ut_xt.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/robot_model_cost/robot_model_cost_y_0_fun_jac_ut_xt.o -------------------------------------------------------------------------------- /scripts/c_generated_code/robot_model_cost/robot_model_cost_y_0_hess.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/robot_model_cost/robot_model_cost_y_0_hess.c -------------------------------------------------------------------------------- /scripts/c_generated_code/robot_model_cost/robot_model_cost_y_0_hess.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/robot_model_cost/robot_model_cost_y_0_hess.o -------------------------------------------------------------------------------- /scripts/c_generated_code/robot_model_cost/robot_model_cost_y_e_fun.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/robot_model_cost/robot_model_cost_y_e_fun.c -------------------------------------------------------------------------------- /scripts/c_generated_code/robot_model_cost/robot_model_cost_y_e_fun.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/robot_model_cost/robot_model_cost_y_e_fun.o -------------------------------------------------------------------------------- /scripts/c_generated_code/robot_model_cost/robot_model_cost_y_e_fun_jac_ut_xt.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/robot_model_cost/robot_model_cost_y_e_fun_jac_ut_xt.c -------------------------------------------------------------------------------- /scripts/c_generated_code/robot_model_cost/robot_model_cost_y_e_fun_jac_ut_xt.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/robot_model_cost/robot_model_cost_y_e_fun_jac_ut_xt.o -------------------------------------------------------------------------------- /scripts/c_generated_code/robot_model_cost/robot_model_cost_y_e_hess.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/robot_model_cost/robot_model_cost_y_e_hess.c -------------------------------------------------------------------------------- /scripts/c_generated_code/robot_model_cost/robot_model_cost_y_e_hess.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/robot_model_cost/robot_model_cost_y_e_hess.o -------------------------------------------------------------------------------- /scripts/c_generated_code/robot_model_cost/robot_model_cost_y_fun.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/robot_model_cost/robot_model_cost_y_fun.c -------------------------------------------------------------------------------- /scripts/c_generated_code/robot_model_cost/robot_model_cost_y_fun.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/robot_model_cost/robot_model_cost_y_fun.o -------------------------------------------------------------------------------- /scripts/c_generated_code/robot_model_cost/robot_model_cost_y_fun_jac_ut_xt.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/robot_model_cost/robot_model_cost_y_fun_jac_ut_xt.c -------------------------------------------------------------------------------- /scripts/c_generated_code/robot_model_cost/robot_model_cost_y_fun_jac_ut_xt.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/robot_model_cost/robot_model_cost_y_fun_jac_ut_xt.o -------------------------------------------------------------------------------- /scripts/c_generated_code/robot_model_cost/robot_model_cost_y_hess.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/robot_model_cost/robot_model_cost_y_hess.c -------------------------------------------------------------------------------- /scripts/c_generated_code/robot_model_cost/robot_model_cost_y_hess.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/robot_model_cost/robot_model_cost_y_hess.o -------------------------------------------------------------------------------- /scripts/c_generated_code/robot_model_model/robot_model_expl_ode_fun.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/robot_model_model/robot_model_expl_ode_fun.c -------------------------------------------------------------------------------- /scripts/c_generated_code/robot_model_model/robot_model_expl_ode_fun.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/robot_model_model/robot_model_expl_ode_fun.o -------------------------------------------------------------------------------- /scripts/c_generated_code/robot_model_model/robot_model_expl_vde_adj.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/robot_model_model/robot_model_expl_vde_adj.c -------------------------------------------------------------------------------- /scripts/c_generated_code/robot_model_model/robot_model_expl_vde_adj.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/robot_model_model/robot_model_expl_vde_adj.o -------------------------------------------------------------------------------- /scripts/c_generated_code/robot_model_model/robot_model_expl_vde_forw.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/robot_model_model/robot_model_expl_vde_forw.c -------------------------------------------------------------------------------- /scripts/c_generated_code/robot_model_model/robot_model_expl_vde_forw.o: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/robot_model_model/robot_model_expl_vde_forw.o -------------------------------------------------------------------------------- /scripts/c_generated_code/robot_model_model/robot_model_model.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/c_generated_code/robot_model_model/robot_model_model.h -------------------------------------------------------------------------------- /scripts/create_solver.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/create_solver.py -------------------------------------------------------------------------------- /scripts/robot_model.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/robot_model.py -------------------------------------------------------------------------------- /scripts/test_solver.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/scripts/test_solver.py -------------------------------------------------------------------------------- /src/MPC_Planner.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/src/MPC_Planner.cpp -------------------------------------------------------------------------------- /src/MPC_ROS_Utils.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/src/MPC_ROS_Utils.cpp -------------------------------------------------------------------------------- /src/main.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/alhaddad-m2/MPC_Local_Planner/HEAD/src/main.cpp --------------------------------------------------------------------------------