├── .gitignore ├── LICENSE ├── README.md ├── Screencast from 05-18-2021 08_33_50 AM.webm ├── fast_planner ├── bag │ └── record.sh ├── bspline │ ├── CMakeLists.txt │ ├── include │ │ └── bspline │ │ │ └── non_uniform_bspline.h │ ├── package.xml │ └── src │ │ └── non_uniform_bspline.cpp ├── bspline_opt │ ├── CMakeLists.txt │ ├── include │ │ └── bspline_opt │ │ │ └── bspline_optimizer.h │ ├── package.xml │ ├── script │ │ ├── calc_jacobian.py │ │ ├── calc_jacobian.pyc │ │ ├── cost_function.py │ │ └── dist_to_line.py │ └── src │ │ └── bspline_optimizer.cpp ├── path_searching │ ├── CMakeLists.txt │ ├── include │ │ └── path_searching │ │ │ ├── astar.h │ │ │ ├── kinodynamic_astar.h │ │ │ └── topo_prm.h │ ├── package.xml │ └── src │ │ ├── astar.cpp │ │ ├── kinodynamic_astar.cpp │ │ └── topo_prm.cpp ├── plan_env │ ├── CMakeLists.txt │ ├── include │ │ └── plan_env │ │ │ ├── edt_environment.h │ │ │ ├── linear_obj_model.hpp │ │ │ ├── obj_predictor.h │ │ │ ├── polynomial_traj.hpp │ │ │ ├── raycast.h │ │ │ └── sdf_map.h │ ├── package.xml │ └── src │ │ ├── edt_environment.cpp │ │ ├── obj_generator.cpp │ │ ├── obj_predictor.cpp │ │ ├── raycast.cpp │ │ └── sdf_map.cpp ├── plan_manage │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ ├── exp.rviz │ │ ├── kino.rviz │ │ ├── traj.rviz │ │ └── traj_sitl.rviz │ ├── include │ │ └── plan_manage │ │ │ ├── backward.hpp │ │ │ ├── kino_replan_fsm.h │ │ │ ├── plan_container.hpp │ │ │ ├── planner_manager.h │ │ │ ├── topo_replan_fsm.h │ │ │ └── utils.h │ ├── launch │ │ ├── kino_algorithm.xml │ │ ├── kino_replan.launch │ │ ├── mavros_posix_sitl.launch │ │ ├── px4.launch │ │ ├── px4_config.yaml │ │ ├── px4_kino_algorithm.xml │ │ ├── px4_kino_replan.launch │ │ ├── px4_pluginlists.yaml │ │ ├── px4_sitl_kino_replan.launch │ │ ├── px4_sitl_topo_replan.launch │ │ ├── px4_topo_algorithm.xml │ │ ├── px4_topo_replan.launch │ │ ├── rviz.launch │ │ ├── rviz_sitl.launch │ │ ├── simulator.xml │ │ ├── topo_algorithm.xml │ │ └── topo_replan.launch │ ├── msg │ │ └── Bspline.msg │ ├── package.xml │ ├── script │ │ ├── calc.py │ │ ├── polyfit_predict.py │ │ ├── traj_opt.py │ │ ├── trajectory_msg_converter_pos.py │ │ └── trajectory_msg_converter_raw.py │ └── src │ │ ├── fast_planner_node.cpp │ │ ├── kino_replan_fsm.cpp │ │ ├── planner_manager.cpp │ │ ├── topo_replan_fsm.cpp │ │ └── traj_server.cpp ├── poly_traj │ ├── CMakeLists.txt │ ├── include │ │ └── poly_traj │ │ │ └── polynomial_traj.h │ ├── package.xml │ └── src │ │ ├── polynomial_traj.cpp │ │ └── traj_generator.cpp └── traj_utils │ ├── CMakeLists.txt │ ├── include │ └── traj_utils │ │ └── planning_visualization.h │ ├── package.xml │ └── src │ └── planning_visualization.cpp ├── image └── fast_planner_error.png ├── log.txt ├── storage ├── 1024_iris_depth_camera └── depth_camera.sdf └── uav_simulator └── Utils ├── quadrotor_msgs ├── CMakeLists.txt ├── cmake │ └── FindEigen3.cmake ├── include │ └── quadrotor_msgs │ │ ├── comm_types.h │ │ ├── decode_msgs.h │ │ └── encode_msgs.h ├── msg │ ├── AuxCommand.msg │ ├── Corrections.msg │ ├── Gains.msg │ ├── LQRTrajectory.msg │ ├── Odometry.msg │ ├── OutputData.msg │ ├── PPROutputData.msg │ ├── PolynomialTrajectory.msg │ ├── PolynomialTrajectory.msg~ │ ├── PositionCommand.msg │ ├── PositionCommand.msg~ │ ├── SO3Command.msg │ ├── Serial.msg │ ├── StatusData.msg │ └── TRPYCommand.msg ├── package.xml └── src │ ├── decode_msgs.cpp │ ├── encode_msgs.cpp │ └── quadrotor_msgs │ ├── __init__.pyc │ └── msg │ ├── _AuxCommand.py │ ├── _Corrections.py │ ├── _Gains.py │ ├── _OutputData.py │ ├── _PPROutputData.py │ ├── _PositionCommand.py │ ├── _SO3Command.py │ ├── _Serial.py │ ├── _StatusData.py │ ├── _TRPYCommand.py │ └── __init__.py ├── testbot_description ├── CMakeLists.txt ├── launch │ └── testbot.launch ├── meshes │ └── quadrotor │ │ └── quadrotor_base.dae ├── package.xml └── urdf │ └── test.urdf └── waypoint_generator ├── CMakeLists.txt ├── package.xml └── src ├── sample_waypoints.h └── waypoint_generator.cpp /.gitignore: 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