├── .gitattributes ├── .github └── workflows │ ├── c-cpp.yml │ └── docs.yml ├── .gitignore ├── .gitlab-ci.yml ├── CITATION.cff ├── CMakeLists.txt ├── CONTRIBUTING.md ├── Doxyfile.in ├── LICENSE ├── README.md ├── doc └── figures │ ├── color_codes.png │ ├── gazebo_teleop.png │ ├── max_curve_length.png │ ├── max_curve_length_2.png │ ├── max_curve_length_3.png │ ├── mls_visualization_rviz2.png │ ├── mls_visualization_rviz2_2.png │ ├── mls_visualization_rviz2_3.png │ ├── mls_visualization_rviz2_4.png │ ├── motion_primitives_gui.png │ ├── num_angles.png │ ├── planner_gui.png │ ├── planner_gui_result.png │ ├── set_goal_pose_rviz2.png │ ├── splines.gif │ ├── splines_filtered.gif │ ├── trav_map_1.png │ └── ugv_nav4d_logo.jpeg ├── manifest.xml ├── paper ├── figures │ ├── color_codes.png │ ├── debug_gui.png │ ├── motion_planning_hunter.png │ ├── motion_primitives.png │ ├── parking_deck.png │ ├── space_hall_crater.png │ ├── test_environment │ │ ├── multi_surface_planned_trajectory.png │ │ ├── multi_surface_test_mls_map.png │ │ └── multi_surface_trav_map.png │ ├── trav_map.png │ ├── trav_map_and_space_hall.png │ └── trav_map_space_hall.png ├── paper.bib └── paper.md ├── source_dependencies ├── CMakeLists.txt ├── build.bash ├── env.sh.in └── install_os_dependencies.bash └── src ├── CMakeLists.txt ├── DebugDrawingDeclarations.cpp ├── Dijkstra.cpp ├── Dijkstra.hpp ├── DiscreteTheta.cpp ├── DiscreteTheta.hpp ├── EnvironmentXYZTheta.cpp ├── EnvironmentXYZTheta.hpp ├── Logger.hpp ├── Mobility.hpp ├── PathStatistic.cpp ├── PathStatistic.hpp ├── Planner.cpp ├── Planner.hpp ├── PlannerConfig.hpp ├── PlannerDump.cpp ├── PlannerDump.hpp ├── PreComputedMotions.cpp ├── PreComputedMotions.hpp ├── gui ├── CMakeLists.txt ├── Main.cpp ├── PlannerGui.cpp ├── PlannerGui.h ├── ReplayDump.cpp ├── ugv_nav4d_gui-qt5.pc.in └── ugv_nav4d_gui.pc.in ├── test ├── CMakeLists.txt ├── test_DiscreteTheta.cpp ├── test_EnvironmentXYZTheta.cpp ├── test_Planner.cpp └── test_PreComputedMotions.cpp └── 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