├── LICENSE ├── README.md ├── docs ├── .buildinfo ├── .nojekyll ├── Doxyfile ├── Makefile ├── _build │ ├── doctrees │ │ ├── converter.doctree │ │ ├── documentation.doctree │ │ ├── environment.pickle │ │ ├── goal_publisher.doctree │ │ ├── index.doctree │ │ ├── map.doctree │ │ ├── motion_validator.doctree │ │ ├── params.doctree │ │ ├── path_follower.doctree │ │ ├── plan_to_goal_client.doctree │ │ ├── planner.doctree │ │ ├── planner_ros.doctree │ │ ├── real_world.doctree │ │ ├── sampler.doctree │ │ ├── scripts.doctree │ │ ├── sequence_diagram.doctree │ │ ├── sequnce_diagram.doctree │ │ ├── simulation_environment.doctree │ │ ├── slope_constrained_planner copy.doctree │ │ ├── slope_constrained_planner.doctree │ │ ├── slope_constrained_planner_ros.doctree │ │ ├── software_architecture.doctree │ │ ├── source_files.doctree │ │ ├── src_files.doctree │ │ ├── usage.doctree │ │ ├── utils.doctree │ │ ├── utils_ros.doctree │ │ └── working_hypothesis.doctree │ └── html │ │ ├── .buildinfo │ │ ├── .nojekyll │ │ ├── _images │ │ ├── high_slope.jpg │ │ ├── inspection.png │ │ ├── inspection2.png │ │ ├── low_slope.png │ │ ├── rice_logo.jpg │ │ ├── sequence.png │ │ ├── sequence2.png │ │ ├── sofar.png │ │ └── sofar2.png │ │ ├── _modules │ │ ├── index.html │ │ └── slope_constrained_planner_ros │ │ │ └── scripts │ │ │ ├── goal_publisher.html │ │ │ ├── path_follower.html │ │ │ └── plan_to_goal_client.html │ │ ├── _sources │ │ ├── converter.rst.txt │ │ ├── goal_publisher.rst.txt │ │ ├── index.rst.txt │ │ ├── map.rst.txt │ │ ├── motion_validator.rst.txt │ │ ├── params.rst.txt │ │ ├── path_follower.rst.txt │ │ ├── plan_to_goal_client.rst.txt │ │ ├── planner.rst.txt │ │ ├── planner_ros.rst.txt │ │ ├── real_world.rst.txt │ │ ├── sampler.rst.txt │ │ ├── sequence_diagram.rst.txt │ │ ├── simulation_environment.rst.txt │ │ ├── slope_constrained_planner.rst.txt │ │ ├── slope_constrained_planner_ros.rst.txt │ │ ├── software_architecture.rst.txt │ │ ├── source_files.rst.txt │ │ ├── usage.rst.txt │ │ ├── utils.rst.txt │ │ ├── utils_ros.rst.txt │ │ └── working_hypothesis.rst.txt │ │ ├── _static │ │ ├── _sphinx_javascript_frameworks_compat.js │ │ ├── basic.css │ │ ├── css │ │ │ ├── badge_only.css │ │ │ ├── fonts │ │ │ │ ├── Roboto-Slab-Bold.woff │ │ │ │ ├── Roboto-Slab-Bold.woff2 │ │ │ │ ├── Roboto-Slab-Regular.woff │ │ │ │ ├── Roboto-Slab-Regular.woff2 │ │ │ │ ├── fontawesome-webfont.eot │ │ │ │ ├── fontawesome-webfont.svg │ │ │ │ ├── fontawesome-webfont.ttf │ │ │ │ ├── fontawesome-webfont.woff │ │ │ │ ├── fontawesome-webfont.woff2 │ │ │ │ ├── lato-bold-italic.woff │ │ │ │ ├── lato-bold-italic.woff2 │ │ │ │ ├── lato-bold.woff │ │ │ │ ├── lato-bold.woff2 │ │ │ │ ├── lato-normal-italic.woff │ │ │ │ ├── lato-normal-italic.woff2 │ │ │ │ ├── lato-normal.woff │ │ │ │ └── lato-normal.woff2 │ │ │ └── theme.css │ │ ├── doctools.js │ │ ├── documentation_options.js │ │ ├── file.png │ │ ├── graphviz.css │ │ ├── jquery.js │ │ ├── js │ │ │ ├── badge_only.js │ │ │ ├── html5shiv-printshiv.min.js │ │ │ ├── html5shiv.min.js │ │ │ └── theme.js │ │ ├── language_data.js │ │ ├── minus.png │ │ ├── plus.png │ │ ├── pygments.css │ │ ├── searchtools.js │ │ └── sphinx_highlight.js │ │ ├── converter.html │ │ ├── genindex.html │ │ ├── goal_publisher.html │ │ ├── index.html │ │ ├── map.html │ │ ├── motion_validator.html │ │ ├── objects.inv │ │ ├── params.html │ │ ├── path_follower.html │ │ ├── plan_to_goal_client.html │ │ ├── planner.html │ │ ├── planner_ros.html │ │ ├── py-modindex.html │ │ ├── real_world.html │ │ ├── sampler.html │ │ ├── search.html │ │ ├── searchindex.js │ │ ├── sequence_diagram.html │ │ ├── simulation_environment.html │ │ ├── slope_constrained_planner.html │ │ ├── slope_constrained_planner_ros.html │ │ ├── software_architecture.html │ │ ├── source_files.html │ │ ├── usage.html │ │ ├── utils.html │ │ ├── utils_ros.html │ │ └── working_hypothesis.html ├── _images │ ├── high_slope.jpg │ ├── inspection.png │ ├── inspection2.png │ ├── low_slope.png │ ├── rice_logo.jpg │ ├── sequence.png │ ├── sequence2.png │ ├── sofar.png │ └── sofar2.png ├── _modules │ ├── index.html │ └── slope_constrained_planner_ros │ │ └── scripts │ │ ├── goal_publisher.html │ │ ├── path_follower.html │ │ └── plan_to_goal_client.html ├── _sources │ ├── converter.rst.txt │ ├── documentation.rst.txt │ ├── goal_publisher.rst.txt │ ├── index.rst.txt │ ├── map.rst.txt │ ├── motion_validator.rst.txt │ ├── params.rst.txt │ ├── path_follower.rst.txt │ ├── plan_to_goal_client.rst.txt │ ├── planner.rst.txt │ ├── planner_ros.rst.txt │ ├── real_world.rst.txt │ ├── sampler.rst.txt │ ├── scripts.rst.txt │ ├── sequence_diagram.rst.txt │ ├── sequnce_diagram.rst.txt │ ├── simulation_environment.rst.txt │ ├── slope_constrained_planner copy.rst.txt │ ├── slope_constrained_planner.rst.txt │ ├── slope_constrained_planner_ros.rst.txt │ ├── software_architecture.rst.txt │ ├── source_files.rst.txt │ ├── src_files.rst.txt │ ├── usage.rst.txt │ ├── utils.rst.txt │ ├── utils_ros.rst.txt │ └── working_hypothesis.rst.txt ├── _static │ ├── _sphinx_javascript_frameworks_compat.js │ ├── basic.css │ ├── css │ │ ├── badge_only.css │ │ ├── fonts │ │ │ ├── Roboto-Slab-Bold.woff │ │ │ ├── Roboto-Slab-Bold.woff2 │ │ │ ├── Roboto-Slab-Regular.woff │ │ │ ├── Roboto-Slab-Regular.woff2 │ │ │ ├── fontawesome-webfont.eot │ │ │ ├── fontawesome-webfont.svg │ │ │ ├── fontawesome-webfont.ttf │ │ │ ├── fontawesome-webfont.woff │ │ │ ├── fontawesome-webfont.woff2 │ │ │ ├── lato-bold-italic.woff │ │ │ ├── lato-bold-italic.woff2 │ │ │ ├── lato-bold.woff │ │ │ ├── lato-bold.woff2 │ │ │ ├── lato-normal-italic.woff │ │ │ ├── lato-normal-italic.woff2 │ │ │ ├── lato-normal.woff │ │ │ └── lato-normal.woff2 │ │ └── theme.css │ ├── doctools.js │ ├── documentation_options.js │ ├── file.png │ ├── graphviz.css │ ├── jquery.js │ ├── js │ │ ├── badge_only.js │ │ ├── html5shiv-printshiv.min.js │ │ ├── html5shiv.min.js │ │ └── theme.js │ ├── language_data.js │ ├── minus.png │ ├── plus.png │ ├── pygments.css │ ├── searchtools.js │ └── sphinx_highlight.js ├── conf.py ├── converter.html ├── converter.rst ├── diagrams │ ├── high_slope.jpg │ ├── inspection.png │ ├── inspection2.png │ ├── low_slope.png │ ├── rice_logo.jpg │ ├── sequence.png │ ├── sequence2.png │ ├── sofar.png │ └── sofar2.png ├── documentation.html ├── doxy_build │ ├── html │ │ ├── annotated.html │ │ ├── bc_s.png │ │ ├── bdwn.png │ │ ├── chain_8h.html │ │ ├── chain_8h_source.html │ │ ├── class_sampler_allocator.html │ │ ├── classes.html │ │ ├── classgoal__publisher_1_1_goal_publisher-members.html │ │ ├── classgoal__publisher_1_1_goal_publisher.html │ │ ├── classgoal__publisher_1_1_path_follower-members.html │ │ ├── classgoal__publisher_1_1_path_follower.html │ │ ├── classpath__follower_1_1_path_follower-members.html │ │ ├── classpath__follower_1_1_path_follower.html │ │ ├── classplan__to__goal__client_1_1_path_to_goal_client-members.html │ │ ├── classplan__to__goal__client_1_1_path_to_goal_client.html │ │ ├── classslope__constrained__planner_1_1_chain-members.html │ │ ├── classslope__constrained__planner_1_1_chain.html │ │ ├── classslope__constrained__planner_1_1_converter-members.html │ │ ├── classslope__constrained__planner_1_1_converter.html │ │ ├── classslope__constrained__planner_1_1_map-members.html │ │ ├── classslope__constrained__planner_1_1_map.html │ │ ├── classslope__constrained__planner_1_1_planner-members.html │ │ ├── classslope__constrained__planner_1_1_planner.html │ │ ├── classslope__constrained__planner_1_1_planner__inherit__graph.map │ │ ├── classslope__constrained__planner_1_1_planner__inherit__graph.md5 │ │ ├── classslope__constrained__planner_1_1_planner__inherit__graph.png │ │ ├── classslope__constrained__planner_1_1_planner_ros-members.html │ │ ├── classslope__constrained__planner_1_1_planner_ros.html │ │ ├── classslope__constrained__planner_1_1_planner_ros__inherit__graph.map │ │ ├── classslope__constrained__planner_1_1_planner_ros__inherit__graph.md5 │ │ ├── classslope__constrained__planner_1_1_planner_ros__inherit__graph.png │ │ ├── classslope__constrained__planner_1_1_s_e3_from_s_e2_sampler-members.html │ │ ├── classslope__constrained__planner_1_1_s_e3_from_s_e2_sampler.html │ │ ├── classslope__constrained__planner_1_1_s_e3_from_s_e2_sampler__inherit__graph.map │ │ ├── classslope__constrained__planner_1_1_s_e3_from_s_e2_sampler__inherit__graph.md5 │ │ ├── classslope__constrained__planner_1_1_s_e3_from_s_e2_sampler__inherit__graph.png │ │ ├── classslope__constrained__planner_1_1_s_e3_from_s_e2_sampler_allocator-members.html │ │ ├── classslope__constrained__planner_1_1_s_e3_from_s_e2_sampler_allocator.html │ │ ├── classslope__constrained__planner_1_1_sampler-members.html │ │ ├── classslope__constrained__planner_1_1_sampler.html │ │ ├── classslope__constrained__planner_1_1_sampler__inherit__graph.map │ │ ├── classslope__constrained__planner_1_1_sampler__inherit__graph.md5 │ │ ├── classslope__constrained__planner_1_1_sampler__inherit__graph.png │ │ ├── classslope__constrained__planner_1_1_sampler_allocator-members.html │ │ ├── classslope__constrained__planner_1_1_sampler_allocator.html │ │ ├── classslope__constrained__planner_1_1_slope_constrained_motion_validator-members.html │ │ ├── classslope__constrained__planner_1_1_slope_constrained_motion_validator.html │ │ ├── classslope__constrained__planner_1_1_slope_constrained_motion_validator__inherit__graph.map │ │ ├── classslope__constrained__planner_1_1_slope_constrained_motion_validator__inherit__graph.md5 │ │ ├── classslope__constrained__planner_1_1_slope_constrained_motion_validator__inherit__graph.png │ │ ├── classtilt__robot_1_1_tilt_robot-members.html │ │ ├── classtilt__robot_1_1_tilt_robot.html │ │ ├── closed.png │ │ ├── converter_8cpp.html │ │ ├── converter_8h.html │ │ ├── converter_8h_source.html │ │ ├── dir_000006_000001.html │ │ ├── dir_000007_000001.html │ │ ├── dir_000008_000004.html │ │ ├── dir_000009_000004.html │ │ ├── dir_000009_000006.html │ │ ├── dir_000010_000004.html │ │ ├── dir_000011_000007.html │ │ ├── dir_000012_000009.html │ │ ├── dir_000018_000004.html │ │ ├── dir_000019_000004.html │ │ ├── dir_000020_000016.html │ │ ├── dir_000021_000018.html │ │ ├── dir_000023_000000.html │ │ ├── dir_000024_000000.html │ │ ├── dir_000025_000021.html │ │ ├── dir_000026_000003.html │ │ ├── dir_000026_000023.html │ │ ├── dir_000027_000003.html │ │ ├── dir_000027_000004.html │ │ ├── dir_000028_000004.html │ │ ├── dir_000028_000024.html │ │ ├── dir_000029_000025.html │ │ ├── dir_000029_000026.html │ │ ├── dir_000030_000027.html │ │ ├── dir_04775f4bda67fcd0bc18136cf31014f0.html │ │ ├── dir_05c29904920a2b13484682b5b9a45e86.html │ │ ├── dir_10e3355a74c4fd31b8a6f368f30088bf.html │ │ ├── dir_10e3355a74c4fd31b8a6f368f30088bf_dep.map │ │ ├── dir_10e3355a74c4fd31b8a6f368f30088bf_dep.md5 │ │ ├── dir_10e3355a74c4fd31b8a6f368f30088bf_dep.png │ │ ├── dir_148b09cf3bb485e909cae2c4ff4ca653.html │ │ ├── dir_19935487125d47717e3c96a58b1816f6.html │ │ ├── dir_32fc0dff1f51fa56b4e26a4e23577f7d.html │ │ ├── dir_3503303df2f0f20ee6a28df9180419af.html │ │ ├── dir_357e4c92009509054417ccec60fb57ba.html │ │ ├── dir_49798f1994686eec48eafcd7eadde5ad.html │ │ ├── dir_4fea30eb3feb6fe1eac1b73ac6ccbd44.html │ │ ├── dir_571df894fe027c179c227e59949016d3.html │ │ ├── dir_585d6f41c8c6e69e0f84b478a34e55d0.html │ │ ├── dir_589955ea9569848a359a72d389da33fe.html │ │ ├── dir_599f0f4f506fb09723db129b2839fa22.html │ │ ├── dir_6183b18d7358f8795ea9b52cd1249e61.html │ │ ├── dir_6183b18d7358f8795ea9b52cd1249e61_dep.map │ │ ├── dir_6183b18d7358f8795ea9b52cd1249e61_dep.md5 │ │ ├── dir_6183b18d7358f8795ea9b52cd1249e61_dep.png │ │ ├── dir_64e15716f05980cd2226e229857e43b7.html │ │ ├── dir_6e9afdf912b0f2adb5097797633a2df8.html │ │ ├── dir_71cc39c78395c54e2df0e50e1decebb0.html │ │ ├── dir_8a742f26d61398459d6484b7be2f1afb.html │ │ ├── dir_a450c395ad6ccb10d03024f9c7bf1c7b.html │ │ ├── dir_aedb5a8621525d257e0d6bc2c6cffdd3.html │ │ ├── dir_b447deccbc6d46736aaf81e451f21acd.html │ │ ├── dir_b447deccbc6d46736aaf81e451f21acd_dep.map │ │ ├── dir_b447deccbc6d46736aaf81e451f21acd_dep.md5 │ │ ├── dir_b447deccbc6d46736aaf81e451f21acd_dep.png │ │ ├── dir_b4b8df43773714cebda7b4472c5732d1.html │ │ ├── dir_c24fb541f4f0f4313b28b53c04e1264a.html │ │ ├── dir_c7b60ccd271644ff454940460939276b.html │ │ ├── dir_c7b60ccd271644ff454940460939276b_dep.map │ │ ├── dir_c7b60ccd271644ff454940460939276b_dep.md5 │ │ ├── dir_c7b60ccd271644ff454940460939276b_dep.png │ │ ├── dir_cb321c6338ef70a01c8f46becb662be2.html │ │ ├── dir_cb321c6338ef70a01c8f46becb662be2_dep.map │ │ ├── dir_cb321c6338ef70a01c8f46becb662be2_dep.md5 │ │ ├── dir_cb321c6338ef70a01c8f46becb662be2_dep.png │ │ ├── dir_dde837544b4e37a4fd34006cde65fa6f.html │ │ ├── dir_dde837544b4e37a4fd34006cde65fa6f_dep.map │ │ ├── dir_dde837544b4e37a4fd34006cde65fa6f_dep.md5 │ │ ├── dir_dde837544b4e37a4fd34006cde65fa6f_dep.png │ │ ├── dir_dee4e70fa49b7ebb1516b9fcfbf2dfb9.html │ │ ├── dir_dfa6ba9dab56a56eca3b1bd573cad856.html │ │ ├── dir_e600806cd17d8cda20766ff1a9925832.html │ │ ├── dir_eb463c0a888ca27a4b3eb06af4f90701.html │ │ ├── dir_fb31ffd3aada385fecc3e0ea29bf1f94.html │ │ ├── doc.png │ │ ├── doxygen.css │ │ ├── doxygen.png │ │ ├── dynsections.js │ │ ├── files.html │ │ ├── folderclosed.png │ │ ├── folderopen.png │ │ ├── functions.html │ │ ├── functions_func.html │ │ ├── functions_vars.html │ │ ├── globals.html │ │ ├── globals_func.html │ │ ├── graph_legend.html │ │ ├── graph_legend.md5 │ │ ├── graph_legend.png │ │ ├── hierarchy.html │ │ ├── include_2slope__constrained__planner_2utils_8h.html │ │ ├── include_2slope__constrained__planner_2utils_8h_source.html │ │ ├── index.html │ │ ├── jquery.js │ │ ├── map_8cpp.html │ │ ├── map_8h.html │ │ ├── map_8h_source.html │ │ ├── md__home_ali_ros_ws_src_slope_constrained_planner__r_e_a_d_m_e.html │ │ ├── menu.js │ │ ├── menudata.js │ │ ├── motion__validator_8cpp.html │ │ ├── motion__validator_8h.html │ │ ├── motion__validator_8h_source.html │ │ ├── namespacegoal__publisher.html │ │ ├── namespacemembers.html │ │ ├── namespacemembers_func.html │ │ ├── namespacepath__follower.html │ │ ├── namespaceplan__to__goal__client.html │ │ ├── namespaces.html │ │ ├── namespacetilt__robot.html │ │ ├── nav_f.png │ │ ├── nav_g.png │ │ ├── nav_h.png │ │ ├── open.png │ │ ├── pages.html │ │ ├── params_8h.html │ │ ├── params_8h_source.html │ │ ├── planner_8cpp.html │ │ ├── planner_8h.html │ │ ├── planner_8h_source.html │ │ ├── planner__ros_8cpp.html │ │ ├── planner__ros_8h.html │ │ ├── planner__ros_8h_source.html │ │ ├── planner__ros__node_8cpp.html │ │ ├── planner__status_8h.html │ │ ├── planner__status_8h_source.html │ │ ├── ros_2include_2slope__constrained__planner__ros_2utils_8h.html │ │ ├── ros_2include_2slope__constrained__planner__ros_2utils_8h_source.html │ │ ├── ros_2src_2utils_8cpp.html │ │ ├── sampler_8cpp.html │ │ ├── sampler_8h.html │ │ ├── sampler_8h_source.html │ │ ├── search │ │ │ ├── all_0.html │ │ │ ├── all_0.js │ │ │ ├── all_1.html │ │ │ ├── all_1.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 │ │ │ ├── close.png │ │ │ ├── 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 │ │ │ ├── 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 │ │ │ ├── functions_d.html │ │ │ ├── functions_d.js │ │ │ ├── mag_sel.png │ │ │ ├── namespaces_0.html │ │ │ ├── namespaces_0.js │ │ │ ├── namespaces_1.html │ │ │ ├── namespaces_1.js │ │ │ ├── namespaces_2.html │ │ │ ├── namespaces_2.js │ │ │ ├── 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 │ │ │ ├── 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 │ │ ├── splitbar.png │ │ ├── src_2utils_8cpp.html │ │ ├── structslope__constrained__planner_1_1_params-members.html │ │ ├── structslope__constrained__planner_1_1_params.html │ │ ├── sync_off.png │ │ ├── sync_on.png │ │ ├── tab_a.png │ │ ├── tab_b.png │ │ ├── tab_h.png │ │ ├── tab_s.png │ │ └── tabs.css │ ├── latex │ │ ├── Makefile │ │ ├── annotated.tex │ │ ├── chain_8h.tex │ │ ├── class_sampler_allocator.tex │ │ ├── classgoal__publisher_1_1_goal_publisher.tex │ │ ├── classgoal__publisher_1_1_path_follower.tex │ │ ├── classpath__follower_1_1_path_follower.tex │ │ ├── classplan__to__goal__client_1_1_path_to_goal_client.tex │ │ ├── classslope__constrained__planner_1_1_chain.tex │ │ ├── classslope__constrained__planner_1_1_converter.tex │ │ ├── classslope__constrained__planner_1_1_map.tex │ │ ├── classslope__constrained__planner_1_1_planner.tex │ │ ├── classslope__constrained__planner_1_1_planner__inherit__graph.md5 │ │ ├── classslope__constrained__planner_1_1_planner__inherit__graph.pdf │ │ ├── classslope__constrained__planner_1_1_planner_ros.tex │ │ ├── classslope__constrained__planner_1_1_planner_ros__inherit__graph.md5 │ │ ├── classslope__constrained__planner_1_1_planner_ros__inherit__graph.pdf │ │ ├── classslope__constrained__planner_1_1_s_e3_from_s_e2_sampler.tex │ │ ├── classslope__constrained__planner_1_1_s_e3_from_s_e2_sampler__inherit__graph.md5 │ │ ├── classslope__constrained__planner_1_1_s_e3_from_s_e2_sampler__inherit__graph.pdf │ │ ├── classslope__constrained__planner_1_1_s_e3_from_s_e2_sampler_allocator.tex │ │ ├── classslope__constrained__planner_1_1_sampler.tex │ │ ├── classslope__constrained__planner_1_1_sampler__inherit__graph.md5 │ │ ├── classslope__constrained__planner_1_1_sampler__inherit__graph.pdf │ │ ├── classslope__constrained__planner_1_1_sampler_allocator.tex │ │ ├── classslope__constrained__planner_1_1_slope_constrained_motion_validator.tex │ │ ├── classslope__constrained__planner_1_1_slope_constrained_motion_validator__inherit__graph.md5 │ │ ├── classslope__constrained__planner_1_1_slope_constrained_motion_validator__inherit__graph.pdf │ │ ├── classtilt__robot_1_1_tilt_robot.tex │ │ ├── converter_8cpp.tex │ │ ├── converter_8h.tex │ │ ├── doxygen.sty │ │ ├── files.tex │ │ ├── hierarchy.tex │ │ ├── include_2slope__constrained__planner_2utils_8h.tex │ │ ├── longtable_doxygen.sty │ │ ├── map_8cpp.tex │ │ ├── map_8h.tex │ │ ├── md__home_ali_ros_ws_src_slope_constrained_planner__r_e_a_d_m_e.tex │ │ ├── motion__validator_8cpp.tex │ │ ├── motion__validator_8h.tex │ │ ├── namespacegoal__publisher.tex │ │ ├── namespacepath__follower.tex │ │ ├── namespaceplan__to__goal__client.tex │ │ ├── namespaces.tex │ │ ├── namespacetilt__robot.tex │ │ ├── params_8h.tex │ │ ├── planner_8cpp.tex │ │ ├── planner_8h.tex │ │ ├── planner__ros_8cpp.tex │ │ ├── planner__ros_8h.tex │ │ ├── planner__ros__node_8cpp.tex │ │ ├── planner__status_8h.tex │ │ ├── refman.tex │ │ ├── ros_2include_2slope__constrained__planner__ros_2utils_8h.tex │ │ ├── ros_2src_2utils_8cpp.tex │ │ ├── sampler_8cpp.tex │ │ ├── sampler_8h.tex │ │ ├── src_2utils_8cpp.tex │ │ ├── structslope__constrained__planner_1_1_params.tex │ │ └── tabu_doxygen.sty │ └── xml │ │ ├── __build_2html_2__sources_2converter_8rst_8txt.xml │ │ ├── __build_2html_2__sources_2documentation_8rst_8txt.xml │ │ ├── __build_2html_2__sources_2goal__publisher_8rst_8txt.xml │ │ ├── __build_2html_2__sources_2index_8rst_8txt.xml │ │ ├── __build_2html_2__sources_2map_8rst_8txt.xml │ │ ├── __build_2html_2__sources_2motion__validator_8rst_8txt.xml │ │ ├── __build_2html_2__sources_2params_8rst_8txt.xml │ │ ├── __build_2html_2__sources_2path__follower_8rst_8txt.xml │ │ ├── __build_2html_2__sources_2plan__to__goal__client_8rst_8txt.xml │ │ ├── __build_2html_2__sources_2planner_8rst_8txt.xml │ │ ├── __build_2html_2__sources_2planner__ros_8rst_8txt.xml │ │ ├── __build_2html_2__sources_2real__world_8rst_8txt.xml │ │ ├── __build_2html_2__sources_2sampler_8rst_8txt.xml │ │ ├── __build_2html_2__sources_2scripts_8rst_8txt.xml │ │ ├── __build_2html_2__sources_2sequence__diagram_8rst_8txt.xml │ │ ├── __build_2html_2__sources_2sequnce__diagram_8rst_8txt.xml │ │ ├── __build_2html_2__sources_2simulation__environment_8rst_8txt.xml │ │ ├── __build_2html_2__sources_2slope__constrained__planner_01copy_8rst_8txt.xml │ │ ├── __build_2html_2__sources_2slope__constrained__planner_8rst_8txt.xml │ │ ├── __build_2html_2__sources_2slope__constrained__planner__ros_8rst_8txt.xml │ │ ├── __build_2html_2__sources_2software__architecture_8rst_8txt.xml │ │ ├── __build_2html_2__sources_2source__files_8rst_8txt.xml │ │ ├── __build_2html_2__sources_2src__files_8rst_8txt.xml │ │ ├── __build_2html_2__sources_2usage_8rst_8txt.xml │ │ ├── __build_2html_2__sources_2utils_8rst_8txt.xml │ │ ├── __build_2html_2__sources_2utils__ros_8rst_8txt.xml │ │ ├── __build_2html_2__sources_2working__hypothesis_8rst_8txt.xml │ │ ├── __sources_2converter_8rst_8txt.xml │ │ ├── __sources_2documentation_8rst_8txt.xml │ │ ├── __sources_2goal__publisher_8rst_8txt.xml │ │ ├── __sources_2index_8rst_8txt.xml │ │ ├── __sources_2map_8rst_8txt.xml │ │ ├── __sources_2motion__validator_8rst_8txt.xml │ │ ├── __sources_2params_8rst_8txt.xml │ │ ├── __sources_2path__follower_8rst_8txt.xml │ │ ├── __sources_2plan__to__goal__client_8rst_8txt.xml │ │ ├── __sources_2planner_8rst_8txt.xml │ │ ├── __sources_2planner__ros_8rst_8txt.xml │ │ ├── __sources_2real__world_8rst_8txt.xml │ │ ├── __sources_2sampler_8rst_8txt.xml │ │ ├── __sources_2scripts_8rst_8txt.xml │ │ ├── __sources_2sequence__diagram_8rst_8txt.xml │ │ ├── __sources_2sequnce__diagram_8rst_8txt.xml │ │ ├── __sources_2simulation__environment_8rst_8txt.xml │ │ ├── __sources_2slope__constrained__planner_01copy_8rst_8txt.xml │ │ ├── __sources_2slope__constrained__planner_8rst_8txt.xml │ │ ├── __sources_2slope__constrained__planner__ros_8rst_8txt.xml │ │ ├── __sources_2software__architecture_8rst_8txt.xml │ │ ├── __sources_2source__files_8rst_8txt.xml │ │ ├── __sources_2src__files_8rst_8txt.xml │ │ ├── __sources_2usage_8rst_8txt.xml │ │ ├── __sources_2utils_8rst_8txt.xml │ │ ├── __sources_2utils__ros_8rst_8txt.xml │ │ ├── __sources_2working__hypothesis_8rst_8txt.xml │ │ ├── _c_make_c_compiler_id_8c.xml │ │ ├── _c_make_c_x_x_compiler_id_8cpp.xml │ │ ├── _c_make_cache_8txt.xml │ │ ├── _c_make_lists_8txt.xml │ │ ├── _r_e_a_d_m_e_8md.xml │ │ ├── _target_directories_8txt.xml │ │ ├── atomic__configure_2__setup__util_8py.xml │ │ ├── build_2_c_make_cache_8txt.xml │ │ ├── build_2_c_make_files_23_826_83_2_compiler_id_c_2_c_make_c_compiler_id_8c.xml │ │ ├── build_2_c_make_files_23_826_83_2_compiler_id_c_x_x_2_c_make_c_x_x_compiler_id_8cpp.xml │ │ ├── build_2_c_make_files_2_target_directories_8txt.xml │ │ ├── build_2atomic__configure_2__setup__util_8py.xml │ │ ├── build_2catkin__generated_2generate__cached__setup_8py.xml │ │ ├── build_2catkin__generated_2installspace_2__setup__util_8py.xml │ │ ├── build_2catkin__generated_2pkg_8develspace_8context_8pc_8py.xml │ │ ├── build_2catkin__generated_2pkg_8installspace_8context_8pc_8py.xml │ │ ├── build_2devel_2__setup__util_8py.xml │ │ ├── catkin__generated_2installspace_2__setup__util_8py.xml │ │ ├── chain_8h.xml │ │ ├── class_sampler_allocator.xml │ │ ├── classgoal__publisher_1_1_goal_publisher.xml │ │ ├── classgoal__publisher_1_1_path_follower.xml │ │ ├── classpath__follower_1_1_path_follower.xml │ │ ├── classplan__to__goal__client_1_1_path_to_goal_client.xml │ │ ├── classslope__constrained__planner_1_1_chain.xml │ │ ├── classslope__constrained__planner_1_1_converter.xml │ │ ├── classslope__constrained__planner_1_1_map.xml │ │ ├── classslope__constrained__planner_1_1_planner.xml │ │ ├── classslope__constrained__planner_1_1_planner_ros.xml │ │ ├── classslope__constrained__planner_1_1_s_e3_from_s_e2_sampler.xml │ │ ├── classslope__constrained__planner_1_1_s_e3_from_s_e2_sampler_allocator.xml │ │ ├── classslope__constrained__planner_1_1_sampler.xml │ │ ├── classslope__constrained__planner_1_1_sampler_allocator.xml │ │ ├── classslope__constrained__planner_1_1_slope_constrained_motion_validator.xml │ │ ├── classtilt__robot_1_1_tilt_robot.xml │ │ ├── combine.xslt │ │ ├── compound.xsd │ │ ├── conf_8py.xml │ │ ├── converter_8cpp.xml │ │ ├── converter_8h.xml │ │ ├── converter_8rst_8txt.xml │ │ ├── devel_2__setup__util_8py.xml │ │ ├── dir_04775f4bda67fcd0bc18136cf31014f0.xml │ │ ├── dir_05c29904920a2b13484682b5b9a45e86.xml │ │ ├── dir_10e3355a74c4fd31b8a6f368f30088bf.xml │ │ ├── dir_148b09cf3bb485e909cae2c4ff4ca653.xml │ │ ├── dir_19935487125d47717e3c96a58b1816f6.xml │ │ ├── dir_32fc0dff1f51fa56b4e26a4e23577f7d.xml │ │ ├── dir_3503303df2f0f20ee6a28df9180419af.xml │ │ ├── dir_357e4c92009509054417ccec60fb57ba.xml │ │ ├── dir_49798f1994686eec48eafcd7eadde5ad.xml │ │ ├── dir_4fea30eb3feb6fe1eac1b73ac6ccbd44.xml │ │ ├── dir_571df894fe027c179c227e59949016d3.xml │ │ ├── dir_585d6f41c8c6e69e0f84b478a34e55d0.xml │ │ ├── dir_589955ea9569848a359a72d389da33fe.xml │ │ ├── dir_599f0f4f506fb09723db129b2839fa22.xml │ │ ├── dir_6183b18d7358f8795ea9b52cd1249e61.xml │ │ ├── dir_64e15716f05980cd2226e229857e43b7.xml │ │ ├── dir_6e9afdf912b0f2adb5097797633a2df8.xml │ │ ├── dir_71cc39c78395c54e2df0e50e1decebb0.xml │ │ ├── dir_8a742f26d61398459d6484b7be2f1afb.xml │ │ ├── dir_a450c395ad6ccb10d03024f9c7bf1c7b.xml │ │ ├── dir_aedb5a8621525d257e0d6bc2c6cffdd3.xml │ │ ├── dir_b447deccbc6d46736aaf81e451f21acd.xml │ │ ├── dir_b4b8df43773714cebda7b4472c5732d1.xml │ │ ├── dir_c24fb541f4f0f4313b28b53c04e1264a.xml │ │ ├── dir_c7b60ccd271644ff454940460939276b.xml │ │ ├── dir_cb321c6338ef70a01c8f46becb662be2.xml │ │ ├── dir_dde837544b4e37a4fd34006cde65fa6f.xml │ │ ├── dir_dee4e70fa49b7ebb1516b9fcfbf2dfb9.xml │ │ ├── dir_dfa6ba9dab56a56eca3b1bd573cad856.xml │ │ ├── dir_e600806cd17d8cda20766ff1a9925832.xml │ │ ├── dir_eb463c0a888ca27a4b3eb06af4f90701.xml │ │ ├── dir_fb31ffd3aada385fecc3e0ea29bf1f94.xml │ │ ├── documentation_8rst_8txt.xml │ │ ├── generate__cached__setup_8py.xml │ │ ├── goal__publisher_8py.xml │ │ ├── gotopoint_8py.xml │ │ ├── include_2slope__constrained__planner_2utils_8h.xml │ │ ├── index.xml │ │ ├── index.xsd │ │ ├── index_8rst_8txt.xml │ │ ├── map_8cpp.xml │ │ ├── map_8h.xml │ │ ├── map_8rst_8txt.xml │ │ ├── md__home_ali_ros_ws_src_slope_constrained_planner__r_e_a_d_m_e.xml │ │ ├── motion__validator_8cpp.xml │ │ ├── motion__validator_8h.xml │ │ ├── motion__validator_8rst_8txt.xml │ │ ├── msgs_2_c_make_lists_8txt.xml │ │ ├── namespace__setup__util.xml │ │ ├── namespaceconf.xml │ │ ├── namespacegenerate__cached__setup.xml │ │ ├── namespacegoal__publisher.xml │ │ ├── namespacegotopoint.xml │ │ ├── namespacepath__follower.xml │ │ ├── namespacepkg.xml │ │ ├── namespaceplan__to__goal__client.xml │ │ ├── namespaceslope__constrained__planner.xml │ │ ├── namespacestd_1_1placeholders.xml │ │ ├── namespacetilt__robot.xml │ │ ├── params_8cpp.xml │ │ ├── params_8h.xml │ │ ├── params_8rst_8txt.xml │ │ ├── path__follower_8py.xml │ │ ├── path__follower_8rst_8txt.xml │ │ ├── pkg_8develspace_8context_8pc_8py.xml │ │ ├── pkg_8installspace_8context_8pc_8py.xml │ │ ├── plan__to__goal__client_8py.xml │ │ ├── plan__to__goal__client_8rst_8txt.xml │ │ ├── planner_8cpp.xml │ │ ├── planner_8h.xml │ │ ├── planner_8rst_8txt.xml │ │ ├── planner__ros_8cpp.xml │ │ ├── planner__ros_8h.xml │ │ ├── planner__ros_8rst_8txt.xml │ │ ├── planner__ros__node_8cpp.xml │ │ ├── planner__status_8h.xml │ │ ├── ros_2_c_make_lists_8txt.xml │ │ ├── ros_2build_2_c_make_cache_8txt.xml │ │ ├── ros_2build_2_c_make_files_23_826_83_2_compiler_id_c_2_c_make_c_compiler_id_8c.xml │ │ ├── ros_2build_2_c_make_files_23_826_83_2_compiler_id_c_x_x_2_c_make_c_x_x_compiler_id_8cpp.xml │ │ ├── ros_2build_2_c_make_files_2_target_directories_8txt.xml │ │ ├── ros_2build_2atomic__configure_2__setup__util_8py.xml │ │ ├── ros_2build_2catkin__generated_2generate__cached__setup_8py.xml │ │ ├── ros_2build_2catkin__generated_2installspace_2__setup__util_8py.xml │ │ ├── ros_2build_2catkin__generated_2pkg_8develspace_8context_8pc_8py.xml │ │ ├── ros_2build_2catkin__generated_2pkg_8installspace_8context_8pc_8py.xml │ │ ├── ros_2build_2devel_2__setup__util_8py.xml │ │ ├── ros_2include_2slope__constrained__planner__ros_2utils_8h.xml │ │ ├── ros_2src_2utils_8cpp.xml │ │ ├── sampler_8cpp.xml │ │ ├── sampler_8h.xml │ │ ├── sampler_8rst_8txt.xml │ │ ├── scripts_8rst_8txt.xml │ │ ├── sequence__diagram_8rst_8txt.xml │ │ ├── sequnce__diagram_8rst_8txt.xml │ │ ├── simulation__environment_8rst_8txt.xml │ │ ├── slope__constrained__planner_01copy_8rst_8txt.xml │ │ ├── slope__constrained__planner_8rst_8txt.xml │ │ ├── slope__constrained__planner__ros_8rst_8txt.xml │ │ ├── software__architecture_8rst_8txt.xml │ │ ├── source__files_8rst_8txt.xml │ │ ├── src_2utils_8cpp.xml │ │ ├── src__files_8rst_8txt.xml │ │ ├── structslope__constrained__planner_1_1_params.xml │ │ ├── tilt__robot_8py.xml │ │ ├── usage_8rst_8txt.xml │ │ ├── utils_8rst_8txt.xml │ │ ├── utils__ros_8rst_8txt.xml │ │ └── working__hypothesis_8rst_8txt.xml ├── genindex.html ├── goal_publisher.html ├── goal_publisher.rst ├── index.html ├── index.rst ├── make.bat ├── map.html ├── map.rst ├── motion_validator.html ├── motion_validator.rst ├── objects.inv ├── params.html ├── params.rst ├── path_follower.html ├── path_follower.rst ├── plan_to_goal_client.html ├── plan_to_goal_client.rst ├── planner.html ├── planner.rst ├── planner_ros.html ├── planner_ros.rst ├── py-modindex.html ├── real_world.html ├── real_world.rst ├── sampler.html ├── sampler.rst ├── scripts.html ├── search.html ├── searchindex.js ├── sequence_diagram.html ├── sequence_diagram.rst ├── sequnce_diagram.html ├── simulation_environment.html ├── simulation_environment.rst ├── slope_constrained_planner copy.html ├── slope_constrained_planner.html ├── slope_constrained_planner.rst ├── slope_constrained_planner_ros.html ├── slope_constrained_planner_ros.rst ├── software_architecture.html ├── software_architecture.rst ├── source_files.html ├── source_files.rst ├── src_files.html ├── usage.html ├── usage.rst ├── utils.html ├── utils.rst ├── utils_ros.html ├── utils_ros.rst ├── working_hypothesis.html └── working_hypothesis.rst ├── slope_constrained_planner ├── CMakeLists.txt ├── include │ └── slope_constrained_planner │ │ ├── chain.h │ │ ├── map.h │ │ ├── motion_validator.h │ │ ├── params.h │ │ ├── planner.h │ │ ├── planner_status.h │ │ ├── sampler.h │ │ └── utils.h ├── package.xml └── src │ ├── map.cpp │ ├── motion_validator.cpp │ ├── params.cpp │ ├── planner.cpp │ ├── sampler.cpp │ └── utils.cpp ├── slope_constrained_planner_msgs ├── CMakeLists.txt ├── action │ └── PlanToGoal.action ├── package.xml └── srv │ └── TiltRobot.srv └── slope_constrained_planner_ros ├── CMakeLists.txt ├── config ├── map_real.yaml ├── map_sim.yaml ├── params.yaml ├── postprocessor_pipeline.yaml └── sim.perspective ├── include └── slope_constrained_planner_ros │ ├── converter.h │ ├── planner_ros.h │ └── utils.h ├── launch ├── mapping_real.launch ├── mapping_sim.launch ├── navigation.launch ├── path_follower.launch ├── planner.launch └── simulation.launch ├── package.xml ├── rviz └── spot.rviz ├── scripts ├── __pycache__ │ ├── goal_publisher.cpython-310.pyc │ ├── goal_publisher.cpython-38.pyc │ ├── path_follower.cpython-310.pyc │ ├── path_follower.cpython-38.pyc │ ├── plan_to_goal_client.cpython-310.pyc │ └── plan_to_goal_client.cpython-38.pyc ├── go0 ├── goal_publisher.py ├── gotopoint.py ├── path_follower.py ├── plan_to_goal_client.py └── tilt_robot.py └── src ├── converter.cpp ├── planner_ros.cpp ├── planner_ros_node.cpp └── utils.cpp /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aliy98/slope_constrained_planner/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/aliy98/slope_constrained_planner/HEAD/README.md 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