├── .gitignore ├── .vscode ├── launch.json ├── settings.json └── tasks.json ├── CMakeLists.txt ├── Planning ├── ARAStar │ ├── arastar.cpp │ ├── arastar.hpp │ └── main.cpp ├── ARAStar_OpenCV │ ├── arastar.cpp │ ├── arastar.hpp │ └── main.cpp ├── AStar │ ├── AStar.cpp │ ├── AStar.hpp │ └── main.cpp ├── AntColony │ ├── AntColony.cpp │ ├── AntColony.hpp │ └── main.cpp ├── AntColony_OpenCV │ ├── AntColony.cpp │ ├── AntColony.hpp │ └── main.cpp ├── ArtificalPotentialField │ ├── APF.cpp │ ├── APF.hpp │ └── main.cpp ├── BSpline │ ├── BSpline.cpp │ ├── BSpline.hpp │ └── main.cpp ├── BezierCurve │ ├── Bezier.cpp │ ├── Bezier.hpp │ └── main.cpp ├── BidirectionalAStar │ ├── B_AStar.cpp │ ├── B_AStar.hpp │ └── main.cpp ├── BidirectionalAStar_test │ ├── bidirectional_a_star.cpp │ ├── bidirectional_a_star.hpp │ ├── env.cpp │ ├── env.hpp │ ├── main.cpp │ ├── plotting.cpp │ └── plotting.hpp ├── CMakeLists.txt ├── Curve_interpolation │ └── main.cpp ├── Dijkstra │ ├── Dijkstra.cpp │ ├── Dijkstra.hpp │ └── main.cpp ├── Dubins │ ├── Dubins.cpp │ ├── Dubins.hpp │ └── main.cpp ├── DynamicProgramming │ ├── Arial.ttf │ ├── DP.cpp │ ├── DP.hpp │ └── main.cpp ├── Dynamic_Window_Approach │ ├── DWA.cpp │ ├── DWA.hpp │ └── main.cpp ├── JumpPointSearch │ ├── JPS.cpp │ ├── JPS.hpp │ └── main.cpp ├── LPAStar │ ├── LPAStar.cpp │ ├── LPAStar.hpp │ └── main.cpp ├── LRTAStar │ ├── LRTAStar.cpp │ ├── LRTAStar.hpp │ └── main.cpp ├── LRTAStar_test │ └── test.cpp ├── RRT │ ├── RRT.cpp │ ├── RRT.hpp │ └── main.cpp ├── RRT_Star │ ├── RRT_Star.cpp │ ├── RRT_Star.hpp │ └── main.cpp ├── RRT_connect │ ├── RRT_connect.cpp │ ├── RRT_connect.hpp │ └── main.cpp ├── ReedsShepp │ ├── ReedsShepp.cpp │ ├── ReedsShepp.hpp │ └── main.cpp ├── test │ ├── circle_test.cpp │ └── test.cpp └── utils │ ├── env.cpp │ ├── env.hpp │ ├── geometry_utils.hpp │ ├── planner.hpp │ ├── plotting.cpp │ ├── plotting.hpp │ ├── utils.cpp │ └── utils.hpp ├── README.md ├── Tracking ├── CMakeLists.txt ├── LQR │ ├── LQR.cpp │ ├── LQR.hpp │ └── main.cpp ├── MPC │ ├── MPC.cpp │ ├── MPC.hpp │ └── main.cpp ├── MPSSC │ ├── MPSSC.cpp │ ├── MPSSC.hpp │ └── main.cpp ├── PID │ ├── PID_controller.cpp │ ├── PID_controller.h │ └── main.cpp ├── PurePursuit │ ├── PurePursuit.cpp │ ├── PurePursuit.hpp │ └── main.cpp ├── RearWheelFeedback │ ├── RWF.cpp │ ├── RWF.hpp │ └── main.cpp ├── Stanley │ ├── Stanley.cpp │ ├── Stanley.hpp │ └── main.cpp └── utils │ ├── KinematicModel.cpp │ ├── KinematicModel.h │ ├── LateralErrorModel.cpp │ ├── LateralErrorModel.h │ ├── MyReferencePath.cpp │ ├── MyReferencePath.h │ ├── NormalizeAngle.hpp │ └── cubic_spline.hpp └── matplotlibcpp.h /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/chdwxy/PathPlanning_CPP/HEAD/.gitignore -------------------------------------------------------------------------------- /.vscode/launch.json: -------------------------------------------------------------------------------- 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