├── README.md ├── eigen_catkin ├── .gitignore ├── CMakeLists.txt ├── DisableTests.patch ├── FixWarning.patch ├── LICENSE ├── README.md ├── StdVector.patch ├── cmake │ └── eigen-extras.cmake.in ├── package.xml └── use-system-installation-of-eigen.cmake ├── franka_cal_sim_single ├── .idea │ ├── .name │ ├── franka_cal_sim.iml │ ├── libraries │ │ ├── ROS.xml │ │ └── workspace.xml │ ├── misc.xml │ ├── modules.xml │ ├── ros.xml │ └── workspace.xml ├── CMakeLists.txt ├── cmake-build-debug │ ├── CATKIN_IGNORE │ ├── CMakeCache.txt │ ├── CMakeFiles │ │ ├── 3.15.3 │ │ │ ├── CMakeCCompiler.cmake │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ ├── CMakeSystem.cmake │ │ │ ├── CompilerIdC │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ └── a.out │ │ │ └── CompilerIdCXX │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ └── a.out │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── CMakeError.log │ │ ├── CMakeOutput.log │ │ ├── CMakeRuleHashes.txt │ │ ├── Makefile.cmake │ │ ├── Makefile2 │ │ ├── TargetDirectories.txt │ │ ├── _franka_cal_sim_generate_messages_check_deps_actionSrv.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── actionlib_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── actionlib_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── actionlib_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── actionlib_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── actionlib_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── actionlib_msgs_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── actionlib_msgs_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── actionlib_msgs_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── actionlib_msgs_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── actionlib_msgs_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── bond_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── bond_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── bond_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── bond_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── bond_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── clean_test_results.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── clion-environment.txt │ │ ├── clion-log.txt │ │ ├── cmake.check_cache │ │ ├── download_extra_data.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── doxygen.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── franka_cal_sim.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ └── progress.make │ │ ├── franka_cal_sim_gencpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── franka_cal_sim_generate_messages.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── franka_cal_sim_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── franka_cal_sim_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── franka_cal_sim_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── franka_cal_sim_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── franka_cal_sim_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── franka_cal_sim_geneus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── franka_cal_sim_genlisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── franka_cal_sim_gennodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── franka_cal_sim_genpy.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── gazebo_msgs_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── gazebo_msgs_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── gazebo_msgs_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── gazebo_msgs_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── gazebo_msgs_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── geometry_msgs_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── geometry_msgs_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── geometry_msgs_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── geometry_msgs_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── geometry_msgs_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── graph_msgs_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── graph_msgs_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── graph_msgs_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── graph_msgs_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── graph_msgs_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── moveit_msgs_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── moveit_msgs_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── moveit_msgs_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── moveit_msgs_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── moveit_msgs_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── moveit_ros_manipulation_gencfg.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── moveit_ros_planning_gencfg.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── nodelet_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── nodelet_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── nodelet_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── nodelet_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── nodelet_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── object_recognition_msgs_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── object_recognition_msgs_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── object_recognition_msgs_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── object_recognition_msgs_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── object_recognition_msgs_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── octomap_msgs_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── octomap_msgs_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── octomap_msgs_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── octomap_msgs_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── octomap_msgs_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── progress.marks │ │ ├── roscpp_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── roscpp_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── roscpp_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── roscpp_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── roscpp_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── rosgraph_msgs_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── rosgraph_msgs_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── rosgraph_msgs_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── rosgraph_msgs_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── rosgraph_msgs_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── run_tests.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── sensor_msgs_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── sensor_msgs_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── sensor_msgs_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── sensor_msgs_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── sensor_msgs_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── shape_msgs_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── shape_msgs_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── shape_msgs_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── shape_msgs_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── shape_msgs_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── std_msgs_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── std_msgs_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── std_msgs_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── std_msgs_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── std_msgs_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── std_srvs_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── std_srvs_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── std_srvs_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── std_srvs_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── std_srvs_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── tests.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── tf2_msgs_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── tf2_msgs_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── tf2_msgs_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── tf2_msgs_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── tf2_msgs_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── tf_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── tf_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── tf_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── tf_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── tf_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── trajectory_msgs_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── trajectory_msgs_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── trajectory_msgs_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── trajectory_msgs_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── trajectory_msgs_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── visualization_msgs_generate_messages_cpp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── visualization_msgs_generate_messages_eus.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── visualization_msgs_generate_messages_lisp.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ ├── visualization_msgs_generate_messages_nodejs.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ │ └── visualization_msgs_generate_messages_py.dir │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ └── progress.make │ ├── CTestConfiguration.ini │ ├── CTestCustom.cmake │ ├── CTestTestfile.cmake │ ├── Makefile │ ├── atomic_configure │ │ ├── .rosinstall │ │ ├── _setup_util.py │ │ ├── env.sh │ │ ├── local_setup.bash │ │ ├── local_setup.sh │ │ ├── local_setup.zsh │ │ ├── setup.bash │ │ ├── setup.sh │ │ └── setup.zsh │ ├── catkin │ │ └── catkin_generated │ │ │ └── version │ │ │ └── package.cmake │ ├── catkin_generated │ │ ├── env_cached.sh │ │ ├── franka_cal_sim-msg-extras.cmake.develspace.in │ │ ├── franka_cal_sim-msg-extras.cmake.installspace.in │ │ ├── generate_cached_setup.py │ │ ├── installspace │ │ │ ├── .rosinstall │ │ │ ├── _setup_util.py │ │ │ ├── env.sh │ │ │ ├── franka_cal_sim-msg-extras.cmake │ │ │ ├── franka_cal_sim-msg-paths.cmake │ │ │ ├── franka_cal_sim.pc │ │ │ ├── franka_cal_simConfig-version.cmake │ │ │ ├── franka_cal_simConfig.cmake │ │ │ ├── local_setup.bash │ │ │ ├── local_setup.sh │ │ │ ├── local_setup.zsh │ │ │ ├── setup.bash │ │ │ ├── setup.sh │ │ │ └── setup.zsh │ │ ├── ordered_paths.cmake │ │ ├── package.cmake │ │ ├── pkg.develspace.context.pc.py │ │ ├── pkg.installspace.context.pc.py │ │ ├── setup_cached.sh │ │ └── stamps │ │ │ └── franka_cal_sim │ │ │ ├── _setup_util.py.stamp │ │ │ ├── interrogate_setup_dot_py.py.stamp │ │ │ ├── package.xml.stamp │ │ │ ├── pkg-genmsg.cmake.em.stamp │ │ │ └── pkg.pc.em.stamp │ ├── cmake │ │ ├── franka_cal_sim-genmsg-context.py │ │ └── franka_cal_sim-genmsg.cmake │ ├── cmake_install.cmake │ ├── devel │ │ ├── .catkin │ │ ├── .rosinstall │ │ ├── _setup_util.py │ │ ├── cmake.lock │ │ ├── env.sh │ │ ├── lib │ │ │ ├── pkgconfig │ │ │ │ └── franka_cal_sim.pc │ │ │ └── python2.7 │ │ │ │ └── dist-packages │ │ │ │ └── franka_cal_sim │ │ │ │ └── __init__.py │ │ ├── local_setup.bash │ │ ├── local_setup.sh │ │ ├── local_setup.zsh │ │ ├── setup.bash │ │ ├── setup.sh │ │ ├── setup.zsh │ │ └── share │ │ │ └── franka_cal_sim │ │ │ └── cmake │ │ │ ├── franka_cal_sim-msg-extras.cmake │ │ │ ├── franka_cal_sim-msg-paths.cmake │ │ │ ├── franka_cal_simConfig-version.cmake │ │ │ └── franka_cal_simConfig.cmake │ ├── franka_cal_sim.cbp │ └── gtest │ │ ├── CMakeFiles │ │ ├── CMakeDirectoryInformation.cmake │ │ └── progress.marks │ │ ├── CTestTestfile.cmake │ │ ├── Makefile │ │ ├── cmake_install.cmake │ │ ├── googlemock │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── gmock.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ ├── gmock_main.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ └── progress.marks │ │ ├── CTestTestfile.cmake │ │ ├── Makefile │ │ ├── cmake_install.cmake │ │ ├── gmock.cbp │ │ └── gtest │ │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── gtest.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ ├── gtest_main.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ └── progress.marks │ │ │ ├── CTestTestfile.cmake │ │ │ ├── Makefile │ │ │ ├── cmake_install.cmake │ │ │ └── gtest.cbp │ │ └── googletest-distribution.cbp ├── config │ ├── config.yaml │ └── panda_control.yaml ├── include │ ├── model_client.h │ └── simulation_server.h ├── launch │ ├── cam_che.launch │ ├── cam_che_real.launch │ ├── cam_imu_ext_che.launch │ ├── cam_imu_real.launch │ ├── franka.launch │ ├── history │ │ ├── action_srv_nodelet.launch │ │ ├── action_srv_nodelet_checkerboard.launch │ │ ├── cam_imu_ext_aprilgrid.launch │ │ ├── cam_imu_nodelet_checkerboard.launch │ │ ├── cam_imu_together_checkerboard.launch │ │ ├── cam_ray_checkerboard.launch │ │ ├── test_action_srv_nodelet_checkerboard.launch │ │ ├── test_cam_imu_nodelet_checkerboard.launch │ │ └── test_cam_imu_together_checkerboard.launch │ ├── kill.launch │ ├── spawn.launch │ ├── spawn_0.launch │ └── spawn_controller.launch ├── models │ ├── checkerboard.zip │ ├── checkerboard │ │ ├── checkerboard_6_7_0_07 │ │ │ ├── checkerboard.sdf │ │ │ └── model.config │ │ ├── checkerboard_7_6_0_06 │ │ │ ├── checkerboard.sdf │ │ │ └── model.config │ │ ├── checkerboard_7_8_0_07 │ │ │ ├── checkerboard.sdf │ │ │ └── model.config │ │ ├── checkerboard_8_7_0_06 │ │ │ ├── checkerboard.sdf │ │ │ └── model.config │ │ ├── checkerboard_8_7_0_07 │ │ │ ├── checkerboard.sdf │ │ │ └── model.config │ │ └── generate_checkerboard.py │ └── small_checkerboard │ │ ├── model.config │ │ └── small_checkerboard.sdf ├── nodelet_plugins.xml ├── package.xml ├── python │ ├── .ipynb_checkpoints │ │ ├── DDPG+RNN+nopadding-checkpoint.ipynb │ │ ├── DDPG+RNN+separate-checkpoint.ipynb │ │ ├── DDPG+RNN-checkpoint.ipynb │ │ ├── RL_algo_sample_replay_new-checkpoint.py │ │ ├── Untitled-checkpoint.ipynb │ │ ├── ddpg_example-checkpoint.ipynb │ │ ├── estimation-checkpoint.py │ │ ├── estimation_service_server_imu_cam-checkpoint.py │ │ ├── example_modfied-action-Copy1-checkpoint.ipynb │ │ ├── example_modfied-action-checkpoint.ipynb │ │ ├── example_modfied-checkpoint.ipynb │ │ ├── example_modfied-padding-checkpoint.ipynb │ │ ├── example_modfied-padding-fast-checkpoint.ipynb │ │ ├── learning_curve-checkpoint.ipynb │ │ ├── model-checkpoint.ipynb │ │ └── model_based RL-checkpoint.ipynb │ ├── algorithms │ │ ├── MB_PSO_grd_RL_algo.py │ │ ├── MB_PSO_grd_RL_algo_act.py │ │ ├── MB_RL_algo.py │ │ ├── RL_algo.py │ │ ├── RL_algo_ddpg.py │ │ ├── RL_algo_sac_Set_simplified.py │ │ ├── RL_algo_sac_Set_simplified_attention.py │ │ ├── RL_algo_sac_Set_simplified_contrast.py │ │ ├── RL_algo_sac_Set_simplified_fully_connect.py │ │ ├── RL_algo_sac_Set_simplified_sep.py │ │ ├── RL_algo_sac_Set_simplified_share.py │ │ ├── RL_algo_sac_ext.py │ │ ├── RL_algo_sac_int.py │ │ ├── RL_algo_sac_int_ext.py │ │ ├── RL_algo_sac_pend.py │ │ ├── RL_algo_sac_simplied.py │ │ ├── RL_set.png │ │ ├── RL_set_1.png │ │ ├── RL_set_compare.png │ │ ├── SimplifiedCalEnv.py │ │ ├── __pycache__ │ │ │ └── SimplifiedCalEnv.cpython-36.pyc │ │ └── set_converge.png │ ├── calibrator.py │ ├── calibrator.pyc │ ├── checkpoints │ │ ├── actor_checkpoint │ │ └── critic_checkpoint │ ├── estimation_service_cam.py │ ├── estimation_service_cam_imu.py │ ├── estimation_service_server_imu.py │ ├── estimator.py │ ├── experiment_data │ │ ├── ext_experiment data_random │ │ ├── ext_experiment_data_hand │ │ ├── ext_experiment_data_previous │ │ ├── ext_experiment_datarand_traj │ │ ├── ext_learned_policy_evaluate │ │ ├── int_experiment data_rand │ │ ├── int_experiment_data_previous │ │ ├── int_experiment_data_random_traj │ │ ├── int_experiment_datahand │ │ ├── int_experiment_policy │ │ ├── int_ext_experiment_data_hand │ │ ├── int_ext_experiment_data_previous │ │ ├── int_ext_experiment_datarand_traj │ │ ├── int_ext_learned_policy_joint │ │ └── int_ext_random_experiment data │ ├── history │ │ ├── RL_agent.py │ │ ├── RL_agent3.py │ │ ├── RL_agent_cam.py │ │ ├── RL_agent_cam_imu_ddpg.py │ │ ├── RL_agent_imu.py │ │ ├── RL_agent_imu_ddpg.py │ │ ├── RL_agent_imu_sac.py │ │ ├── RL_agent_imu_sac_test.py │ │ ├── RL_agent_sac.py │ │ ├── RL_algo_hidden.py │ │ ├── RL_algo_hidden_simple_actor.py │ │ ├── RL_algo_long_test.py │ │ ├── RL_algo_sample_replay.py │ │ ├── RL_algo_sample_replay_dense.py │ │ ├── RL_algo_sample_replay_new.py │ │ └── others │ │ │ ├── DDPG+RNN+nopadding.ipynb │ │ │ ├── DDPG+RNN+separate.ipynb │ │ │ ├── DDPG+RNN.ipynb │ │ │ ├── action.npy │ │ │ ├── action.txt │ │ │ ├── action1.txt │ │ │ ├── april.jpeg │ │ │ ├── calib_pattern.jpg │ │ │ ├── ddpg_example.ipynb │ │ │ ├── download.png │ │ │ ├── estimation_service_server_imu_copy.py │ │ │ ├── estimation_service_server_imu_one_bag.py │ │ │ ├── estimation_service_server_new.py │ │ │ ├── example_modfied-action-Copy1.ipynb │ │ │ ├── example_modfied-action.ipynb │ │ │ ├── example_modfied-padding-fast.ipynb │ │ │ ├── example_modfied-padding.ipynb │ │ │ ├── example_modfied.ipynb │ │ │ ├── index.jpg │ │ │ ├── index1 (copy).jpg │ │ │ ├── index1.jpg │ │ │ ├── model.ipynb │ │ │ └── test1.png │ ├── kalibr │ │ ├── .ipynb_checkpoints │ │ │ ├── Untitled-checkpoint.ipynb │ │ │ └── Untitled1-checkpoint.ipynb │ │ ├── H.txt │ │ ├── H_inverse.txt │ │ ├── Untitled.ipynb │ │ ├── Untitled1.ipynb │ │ ├── april_6x6_80x80cm.yaml │ │ ├── camchain-real_exp_data_3.yaml │ │ ├── camchain-real_exp_data_7joint05.yaml │ │ ├── camchain-real_exp_data_7joint152.yaml │ │ ├── camchain.yaml │ │ ├── camchain_real.yaml │ │ ├── camchain_real0316.yaml │ │ ├── camchain_real_exp_data_input.yaml │ │ ├── checkerboard_7x6_10x10cm.yaml │ │ ├── checkerboard_7x6_7x7cm.yaml │ │ ├── ground_truth.py │ │ ├── imu-data.yaml │ │ ├── imu-random_data.yaml │ │ ├── imu-real_exp_data_7joint152.yaml │ │ ├── imu.yaml │ │ ├── imu_adis16448.yaml │ │ ├── imu_real.yaml │ │ ├── imu_real_FT.yaml │ │ ├── report-imucam-real_exp_data_7joint152.pdf │ │ ├── results-cam-real_exp_data_7joint152.txt │ │ └── results-imucam-real_exp_data_7joint152.txt │ ├── results │ │ ├── report-imucam-data.pdf │ │ ├── report-imucam-data_learned.pdf │ │ ├── report-imucam-data_random.pdf │ │ ├── report-imucam-random_2.pdf │ │ ├── set_abstraction │ │ │ ├── five_points │ │ │ │ ├── actor_checkpoint │ │ │ │ └── critic_checkpoint │ │ │ └── only_center │ │ │ │ ├── actor_checkpoint │ │ │ │ └── critic_checkpoint │ │ ├── simplified_result │ │ │ └── 03_08_rand_dist_center_ext │ │ │ │ ├── action.npy │ │ │ │ ├── actor_checkpoint │ │ │ │ ├── actor_checkpoint .data-00000-of-00002 │ │ │ │ ├── actor_checkpoint .data-00001-of-00002 │ │ │ │ ├── actor_checkpoint .index │ │ │ │ ├── actor_checkpoint.data-00000-of-00002 │ │ │ │ ├── actor_checkpoint.data-00001-of-00002 │ │ │ │ ├── actor_checkpoint.index │ │ │ │ ├── checkpoint │ │ │ │ ├── critic_checkpoint │ │ │ │ ├── critic_checkpoint .data-00000-of-00002 │ │ │ │ ├── critic_checkpoint .data-00001-of-00002 │ │ │ │ ├── critic_checkpoint .index │ │ │ │ ├── critic_checkpoint.data-00000-of-00001 │ │ │ │ ├── critic_checkpoint.data-00000-of-00002 │ │ │ │ ├── critic_checkpoint.data-00001-of-00002 │ │ │ │ └── critic_checkpoint.index │ │ └── simplified_traj │ │ │ ├── MB_extrinsic_action.txt │ │ │ ├── test_actions-1.txt │ │ │ ├── test_actions-2.txt │ │ │ └── test_actions-3.txt │ └── test_policies │ │ ├── RL_algo_sac_ext_int_test.py │ │ ├── RL_algo_sac_ext_test.py │ │ ├── RL_algo_sac_int_test.py │ │ ├── experiment data │ │ ├── experiment_data │ │ ├── ext_experiment_data_hand │ │ ├── ext_experiment_data_previous │ │ ├── ext_learned_policy_evaluate │ │ ├── ext_random_policy_evaluate │ │ ├── generate_traj_from_policy.py │ │ ├── generated_trajs │ │ ├── new_test_actions_real │ │ ├── new_test_actions_real_2.txt │ │ ├── new_test_actions_real_3.txt │ │ ├── new_test_actions_real_4.txt │ │ ├── new_test_actions_real_5.txt │ │ ├── new_test_actions_real_6.txt │ │ └── new_test_actions_real_7.txt │ │ ├── int_ext_experiment data_learned │ │ ├── int_ext_experiment data_learned.zip │ │ ├── int_ext_experiment_data_previous │ │ ├── new_test_actions_real.txt │ │ ├── test_actions-2.txt │ │ └── test_actions.txt ├── src │ ├── model_client.cpp │ ├── simulation_server.cpp │ └── simulation_server_01.cpp ├── srv │ ├── RLSrv.srv │ ├── actionSrv.srv │ ├── distortSrv.srv │ ├── estimateSrv.srv │ ├── getBoardCenterSrv.srv │ └── recordSrv.srv ├── worlds │ └── fast.world └── xacro │ └── aprilgrid.xacro ├── franka_ros ├── .ci │ ├── Dockerfile │ └── debug.sh ├── .clang-format ├── .clang-tidy ├── .travis.yml ├── CHANGELOG.md ├── Jenkinsfile ├── LICENSE ├── NOTICE ├── README.md ├── franka_control │ ├── CMakeLists.txt │ ├── action │ │ └── ErrorRecovery.action │ ├── config │ │ ├── default_controllers.yaml │ │ └── franka_control_node.yaml │ ├── franka_controller_plugins.xml │ ├── include │ │ └── franka_control │ │ │ ├── franka_state_controller.h │ │ │ └── services.h │ ├── launch │ │ └── franka_control.launch │ ├── mainpage.dox │ ├── package.xml │ ├── rosdoc.yaml │ ├── src │ │ ├── franka_control_node.cpp │ │ ├── franka_state_controller.cpp │ │ └── services.cpp │ └── srv │ │ ├── SetCartesianImpedance.srv │ │ ├── SetEEFrame.srv │ │ ├── SetForceTorqueCollisionBehavior.srv │ │ ├── SetFullCollisionBehavior.srv │ │ ├── SetJointImpedance.srv │ │ ├── SetKFrame.srv │ │ └── SetLoad.srv ├── franka_description │ ├── CMakeLists.txt │ ├── mainpage.dox │ ├── meshes │ │ ├── collision │ │ │ ├── finger.stl │ │ │ ├── hand.stl │ │ │ ├── link0.stl │ │ │ ├── link1.stl │ │ │ ├── link2.stl │ │ │ ├── link3.stl │ │ │ ├── link4.stl │ │ │ ├── link5.stl │ │ │ ├── link6.stl │ │ │ └── link7.stl │ │ └── visual │ │ │ ├── finger.dae │ │ │ ├── hand.dae │ │ │ ├── link0.dae │ │ │ ├── link1.dae │ │ │ ├── link2.dae │ │ │ ├── link3.dae │ │ │ ├── link4.dae │ │ │ ├── link5.dae │ │ │ ├── link6.dae │ │ │ └── link7.dae │ ├── package.xml │ ├── robots │ │ ├── hand.urdf.xacro │ │ ├── hand.xacro │ │ ├── panda.gazebo.xacro │ │ ├── panda.transmission.xacro │ │ ├── panda_arm (copy).xacro │ │ ├── panda_arm.urdf.xacro │ │ ├── panda_arm.xacro │ │ ├── panda_arm_hand.urdf │ │ └── panda_arm_hand.urdf.xacro │ └── rosdoc.yaml ├── franka_example_controllers │ ├── CMakeLists.txt │ ├── cfg │ │ ├── compliance_param.cfg │ │ └── desired_mass_param.cfg │ ├── config │ │ └── franka_example_controllers.yaml │ ├── franka_example_controllers_plugin.xml │ ├── include │ │ └── franka_example_controllers │ │ │ ├── cartesian_impedance_example_controller.h │ │ │ ├── cartesian_pose_example_controller.h │ │ │ ├── cartesian_velocity_example_controller.h │ │ │ ├── elbow_example_controller.h │ │ │ ├── force_example_controller.h │ │ │ ├── joint_impedance_example_controller.h │ │ │ ├── joint_position_example_controller.h │ │ │ ├── joint_velocity_example_controller.h │ │ │ └── model_example_controller.h │ ├── launch │ │ ├── cartesian_impedance_example_controller.launch │ │ ├── cartesian_pose_example_controller.launch │ │ ├── cartesian_velocity_example_controller.launch │ │ ├── elbow_example_controller.launch │ │ ├── force_example_controller.launch │ │ ├── joint_impedance_example_controller.launch │ │ ├── joint_position_example_controller.launch │ │ ├── joint_velocity_example_controller.launch │ │ ├── model_example_controller.launch │ │ ├── move_to_start.launch │ │ ├── robot.rviz │ │ └── rviz │ │ │ └── franka_description_with_marker.rviz │ ├── mainpage.dox │ ├── msg │ │ └── JointTorqueComparison.msg │ ├── package.xml │ ├── rosdoc.yaml │ ├── scripts │ │ ├── interactive_marker.py │ │ └── move_to_start.py │ └── src │ │ ├── cartesian_impedance_example_controller.cpp │ │ ├── cartesian_pose_example_controller.cpp │ │ ├── cartesian_velocity_example_controller.cpp │ │ ├── elbow_example_controller.cpp │ │ ├── force_example_controller.cpp │ │ ├── joint_impedance_example_controller.cpp │ │ ├── joint_position_example_controller.cpp │ │ ├── joint_velocity_example_controller.cpp │ │ ├── model_example_controller.cpp │ │ └── pseudo_inversion.h ├── franka_gripper │ ├── CMakeLists.txt │ ├── action │ │ ├── Grasp.action │ │ ├── Homing.action │ │ ├── Move.action │ │ └── Stop.action │ ├── config │ │ └── franka_gripper_node.yaml │ ├── include │ │ └── franka_gripper │ │ │ └── franka_gripper.h │ ├── launch │ │ └── franka_gripper.launch │ ├── mainpage.dox │ ├── msg │ │ └── GraspEpsilon.msg │ ├── package.xml │ ├── rosdoc.yaml │ └── src │ │ ├── franka_gripper.cpp │ │ └── franka_gripper_node.cpp ├── franka_hw │ ├── CMakeLists.txt │ ├── include │ │ └── franka_hw │ │ │ ├── control_mode.h │ │ │ ├── franka_cartesian_command_interface.h │ │ │ ├── franka_hw.h │ │ │ ├── franka_model_interface.h │ │ │ ├── franka_state_interface.h │ │ │ └── trigger_rate.h │ ├── mainpage.dox │ ├── package.xml │ ├── rosdoc.yaml │ ├── src │ │ ├── control_mode.cpp │ │ ├── franka_hw.cpp │ │ ├── resource_helpers.cpp │ │ ├── resource_helpers.h │ │ └── trigger_rate.cpp │ └── test │ │ ├── CMakeLists.txt │ │ ├── config │ │ └── ros_console_settings_for_tests.conf │ │ ├── franka_hw_controller_switching_test.cpp │ │ ├── franka_hw_interfaces_test.cpp │ │ ├── launch │ │ └── franka_hw_test.test │ │ └── main.cpp ├── franka_msgs │ ├── CMakeLists.txt │ ├── mainpage.dox │ ├── msg │ │ ├── Errors.msg │ │ └── FrankaState.msg │ ├── package.xml │ └── rosdoc.yaml ├── franka_ros │ ├── CMakeLists.txt │ ├── mainpage.dox │ ├── package.xml │ └── rosdoc.yaml ├── franka_visualization │ ├── CMakeLists.txt │ ├── config │ │ ├── gripper_settings.yaml │ │ └── robot_settings.yaml │ ├── launch │ │ ├── franka_visualization.launch │ │ └── franka_visualization.rviz │ ├── mainpage.dox │ ├── package.xml │ ├── rosdoc.yaml │ └── src │ │ ├── gripper_joint_state_publisher.cpp │ │ └── robot_joint_state_publisher.cpp └── scripts │ ├── fail-on-output.sh │ └── format-check.sh ├── kalibr ├── .gitignore ├── LICENSE ├── README.md ├── Schweizer-Messer │ ├── numpy_eigen │ │ ├── CMakeLists.txt │ │ ├── cmake │ │ │ └── add_python_export_library.cmake │ │ ├── include │ │ │ └── numpy_eigen │ │ │ │ ├── NumpyEigenConverter.hpp │ │ │ │ ├── boost_python_headers.hpp │ │ │ │ ├── copy_routines.hpp │ │ │ │ └── type_traits.hpp │ │ ├── mainpage.dox │ │ ├── package.xml │ │ ├── setup.py │ │ ├── src │ │ │ ├── autogen_files.cmake │ │ │ ├── autogen_module │ │ │ │ ├── import_1_1_double.cpp │ │ │ │ ├── import_1_1_float.cpp │ │ │ │ ├── import_1_1_int.cpp │ │ │ │ ├── import_1_1_long.cpp │ │ │ │ ├── import_1_1_uchar.cpp │ │ │ │ ├── import_1_2_double.cpp │ │ │ │ ├── import_1_2_float.cpp │ │ │ │ ├── import_1_2_int.cpp │ │ │ │ ├── import_1_2_long.cpp │ │ │ │ ├── import_1_2_uchar.cpp │ │ │ │ ├── import_1_3_double.cpp │ │ │ │ ├── import_1_3_float.cpp │ │ │ │ ├── import_1_3_int.cpp │ │ │ │ ├── import_1_3_long.cpp │ │ │ │ ├── import_1_3_uchar.cpp │ │ │ │ ├── import_1_4_double.cpp │ │ │ │ ├── import_1_4_float.cpp │ │ │ │ ├── import_1_4_int.cpp │ │ │ │ ├── import_1_4_long.cpp │ │ │ │ ├── import_1_4_uchar.cpp │ │ │ │ ├── import_1_5_double.cpp │ │ │ │ ├── import_1_5_float.cpp │ │ │ │ ├── import_1_5_int.cpp │ │ │ │ ├── import_1_5_long.cpp │ │ │ │ ├── import_1_5_uchar.cpp │ │ │ │ ├── import_1_6_double.cpp │ │ │ │ ├── import_1_6_float.cpp │ │ │ │ ├── import_1_6_int.cpp │ │ │ │ ├── import_1_6_long.cpp │ │ │ │ ├── import_1_6_uchar.cpp │ │ │ │ ├── import_1_D_double.cpp │ │ │ │ ├── import_1_D_float.cpp │ │ │ │ ├── import_1_D_int.cpp │ │ │ │ ├── import_1_D_long.cpp │ │ │ │ ├── import_1_D_uchar.cpp │ │ │ │ ├── import_2_1_double.cpp │ │ │ │ ├── import_2_1_float.cpp │ │ │ │ ├── import_2_1_int.cpp │ │ │ │ ├── import_2_1_long.cpp │ │ │ │ ├── import_2_1_uchar.cpp │ │ │ │ ├── import_2_2_double.cpp │ │ │ │ ├── import_2_2_float.cpp │ │ │ │ ├── import_2_2_int.cpp │ │ │ │ ├── import_2_2_long.cpp │ │ │ │ ├── import_2_2_uchar.cpp │ │ │ │ ├── import_2_3_double.cpp │ │ │ │ ├── import_2_3_float.cpp │ │ │ │ ├── import_2_3_int.cpp │ │ │ │ ├── import_2_3_long.cpp │ │ │ │ ├── import_2_3_uchar.cpp │ │ │ │ ├── import_2_4_double.cpp │ │ │ │ ├── import_2_4_float.cpp │ │ │ │ ├── import_2_4_int.cpp │ │ │ │ ├── import_2_4_long.cpp │ │ │ │ ├── import_2_4_uchar.cpp │ │ │ │ ├── import_2_5_double.cpp │ │ │ │ ├── import_2_5_float.cpp │ │ │ │ ├── import_2_5_int.cpp │ │ │ │ ├── import_2_5_long.cpp │ │ │ │ ├── import_2_5_uchar.cpp │ │ │ │ ├── import_2_6_double.cpp │ │ │ │ ├── import_2_6_float.cpp │ │ │ │ ├── import_2_6_int.cpp │ │ │ │ ├── import_2_6_long.cpp │ │ │ │ ├── import_2_6_uchar.cpp │ │ │ │ ├── import_2_D_double.cpp │ │ │ │ ├── import_2_D_float.cpp │ │ │ │ ├── import_2_D_int.cpp │ │ │ │ ├── import_2_D_long.cpp │ │ │ │ ├── import_2_D_uchar.cpp │ │ │ │ ├── import_3_1_double.cpp │ │ │ │ ├── import_3_1_float.cpp │ │ │ │ ├── import_3_1_int.cpp │ │ │ │ ├── import_3_1_long.cpp │ │ │ │ ├── import_3_1_uchar.cpp │ │ │ │ ├── import_3_2_double.cpp │ │ │ │ ├── import_3_2_float.cpp │ │ │ │ ├── import_3_2_int.cpp │ │ │ │ ├── import_3_2_long.cpp │ │ │ │ ├── import_3_2_uchar.cpp │ │ │ │ ├── import_3_3_double.cpp │ │ │ │ ├── import_3_3_float.cpp │ │ │ │ ├── import_3_3_int.cpp │ │ │ │ ├── import_3_3_long.cpp │ │ │ │ ├── import_3_3_uchar.cpp │ │ │ │ ├── import_3_4_double.cpp │ │ │ │ ├── import_3_4_float.cpp │ │ │ │ ├── import_3_4_int.cpp │ │ │ │ ├── import_3_4_long.cpp │ │ │ │ ├── import_3_4_uchar.cpp │ │ │ │ ├── import_3_5_double.cpp │ │ │ │ ├── import_3_5_float.cpp │ │ │ │ ├── import_3_5_int.cpp │ │ │ │ ├── import_3_5_long.cpp │ │ │ │ ├── import_3_5_uchar.cpp │ │ │ │ ├── import_3_6_double.cpp │ │ │ │ ├── import_3_6_float.cpp │ │ │ │ ├── import_3_6_int.cpp │ │ │ │ ├── import_3_6_long.cpp │ │ │ │ ├── import_3_6_uchar.cpp │ │ │ │ ├── import_3_D_double.cpp │ │ │ │ ├── import_3_D_float.cpp │ │ │ │ ├── import_3_D_int.cpp │ │ │ │ ├── import_3_D_long.cpp │ │ │ │ ├── import_3_D_uchar.cpp │ │ │ │ ├── import_4_1_double.cpp │ │ │ │ ├── import_4_1_float.cpp │ │ │ │ ├── import_4_1_int.cpp │ │ │ │ ├── import_4_1_long.cpp │ │ │ │ ├── import_4_1_uchar.cpp │ │ │ │ ├── import_4_2_double.cpp │ │ │ │ ├── import_4_2_float.cpp │ │ │ │ ├── import_4_2_int.cpp │ │ │ │ ├── import_4_2_long.cpp │ │ │ │ ├── import_4_2_uchar.cpp │ │ │ │ ├── import_4_3_double.cpp │ │ │ │ ├── import_4_3_float.cpp │ │ │ │ ├── import_4_3_int.cpp │ │ │ │ ├── import_4_3_long.cpp │ │ │ │ ├── import_4_3_uchar.cpp │ │ │ │ ├── import_4_4_double.cpp │ │ │ │ ├── import_4_4_float.cpp │ │ │ │ ├── import_4_4_int.cpp │ │ │ │ ├── import_4_4_long.cpp │ │ │ │ ├── import_4_4_uchar.cpp │ │ │ │ ├── import_4_5_double.cpp │ │ │ │ ├── import_4_5_float.cpp │ │ │ │ ├── import_4_5_int.cpp │ │ │ │ ├── import_4_5_long.cpp │ │ │ │ ├── import_4_5_uchar.cpp │ │ │ │ ├── import_4_6_double.cpp │ │ │ │ ├── import_4_6_float.cpp │ │ │ │ ├── import_4_6_int.cpp │ │ │ │ ├── import_4_6_long.cpp │ │ │ │ ├── import_4_6_uchar.cpp │ │ │ │ ├── import_4_D_double.cpp │ │ │ │ ├── import_4_D_float.cpp │ │ │ │ ├── import_4_D_int.cpp │ │ │ │ ├── import_4_D_long.cpp │ │ │ │ ├── import_4_D_uchar.cpp │ │ │ │ ├── import_5_1_double.cpp │ │ │ │ ├── import_5_1_float.cpp │ │ │ │ ├── import_5_1_int.cpp │ │ │ │ ├── import_5_1_long.cpp │ │ │ │ ├── import_5_1_uchar.cpp │ │ │ │ ├── import_5_2_double.cpp │ │ │ │ ├── import_5_2_float.cpp │ │ │ │ ├── import_5_2_int.cpp │ │ │ │ ├── import_5_2_long.cpp │ │ │ │ ├── import_5_2_uchar.cpp │ │ │ │ ├── import_5_3_double.cpp │ │ │ │ ├── import_5_3_float.cpp │ │ │ │ ├── import_5_3_int.cpp │ │ │ │ ├── import_5_3_long.cpp │ │ │ │ ├── import_5_3_uchar.cpp │ │ │ │ ├── import_5_4_double.cpp │ │ │ │ ├── import_5_4_float.cpp │ │ │ │ ├── import_5_4_int.cpp │ │ │ │ ├── import_5_4_long.cpp │ │ │ │ ├── import_5_4_uchar.cpp │ │ │ │ ├── import_5_5_double.cpp │ │ │ │ ├── import_5_5_float.cpp │ │ │ │ ├── import_5_5_int.cpp │ │ │ │ ├── import_5_5_long.cpp │ │ │ │ ├── import_5_5_uchar.cpp │ │ │ │ ├── import_5_6_double.cpp │ │ │ │ ├── import_5_6_float.cpp │ │ │ │ ├── import_5_6_int.cpp │ │ │ │ ├── import_5_6_long.cpp │ │ │ │ ├── import_5_6_uchar.cpp │ │ │ │ ├── import_5_D_double.cpp │ │ │ │ ├── import_5_D_float.cpp │ │ │ │ ├── import_5_D_int.cpp │ │ │ │ ├── import_5_D_long.cpp │ │ │ │ ├── import_5_D_uchar.cpp │ │ │ │ ├── import_6_1_double.cpp │ │ │ │ ├── import_6_1_float.cpp │ │ │ │ ├── import_6_1_int.cpp │ │ │ │ ├── import_6_1_long.cpp │ │ │ │ ├── import_6_1_uchar.cpp │ │ │ │ ├── import_6_2_double.cpp │ │ │ │ ├── import_6_2_float.cpp │ │ │ │ ├── import_6_2_int.cpp │ │ │ │ ├── import_6_2_long.cpp │ │ │ │ ├── import_6_2_uchar.cpp │ │ │ │ ├── import_6_3_double.cpp │ │ │ │ ├── import_6_3_float.cpp │ │ │ │ ├── import_6_3_int.cpp │ │ │ │ ├── import_6_3_long.cpp │ │ │ │ ├── import_6_3_uchar.cpp │ │ │ │ ├── import_6_4_double.cpp │ │ │ │ ├── import_6_4_float.cpp │ │ │ │ ├── import_6_4_int.cpp │ │ │ │ ├── import_6_4_long.cpp │ │ │ │ ├── import_6_4_uchar.cpp │ │ │ │ ├── import_6_5_double.cpp │ │ │ │ ├── import_6_5_float.cpp │ │ │ │ ├── import_6_5_int.cpp │ │ │ │ ├── import_6_5_long.cpp │ │ │ │ ├── import_6_5_uchar.cpp │ │ │ │ ├── import_6_6_double.cpp │ │ │ │ ├── import_6_6_float.cpp │ │ │ │ ├── import_6_6_int.cpp │ │ │ │ ├── import_6_6_long.cpp │ │ │ │ ├── import_6_6_uchar.cpp │ │ │ │ ├── import_6_D_double.cpp │ │ │ │ ├── import_6_D_float.cpp │ │ │ │ ├── import_6_D_int.cpp │ │ │ │ ├── import_6_D_long.cpp │ │ │ │ ├── import_6_D_uchar.cpp │ │ │ │ ├── import_D_1_double.cpp │ │ │ │ ├── import_D_1_float.cpp │ │ │ │ ├── import_D_1_int.cpp │ │ │ │ ├── import_D_1_long.cpp │ │ │ │ ├── import_D_1_uchar.cpp │ │ │ │ ├── import_D_2_double.cpp │ │ │ │ ├── import_D_2_float.cpp │ │ │ │ ├── import_D_2_int.cpp │ │ │ │ ├── import_D_2_long.cpp │ │ │ │ ├── import_D_2_uchar.cpp │ │ │ │ ├── import_D_3_double.cpp │ │ │ │ ├── import_D_3_float.cpp │ │ │ │ ├── import_D_3_int.cpp │ │ │ │ ├── import_D_3_long.cpp │ │ │ │ ├── import_D_3_uchar.cpp │ │ │ │ ├── import_D_4_double.cpp │ │ │ │ ├── import_D_4_float.cpp │ │ │ │ ├── import_D_4_int.cpp │ │ │ │ ├── import_D_4_long.cpp │ │ │ │ ├── import_D_4_uchar.cpp │ │ │ │ ├── import_D_5_double.cpp │ │ │ │ ├── import_D_5_float.cpp │ │ │ │ ├── import_D_5_int.cpp │ │ │ │ ├── import_D_5_long.cpp │ │ │ │ ├── import_D_5_uchar.cpp │ │ │ │ ├── import_D_6_double.cpp │ │ │ │ ├── import_D_6_float.cpp │ │ │ │ ├── import_D_6_int.cpp │ │ │ │ ├── import_D_6_long.cpp │ │ │ │ ├── import_D_6_uchar.cpp │ │ │ │ ├── import_D_D_double.cpp │ │ │ │ ├── import_D_D_float.cpp │ │ │ │ ├── import_D_D_int.cpp │ │ │ │ ├── import_D_D_long.cpp │ │ │ │ ├── import_D_D_uchar.cpp │ │ │ │ └── numpy_eigen_export_module.cpp │ │ │ ├── autogen_test_files.cmake │ │ │ ├── autogen_test_module │ │ │ │ ├── numpy_eigen_test_module.cpp │ │ │ │ ├── test_1_1_double.cpp │ │ │ │ ├── test_1_1_float.cpp │ │ │ │ ├── test_1_1_int.cpp │ │ │ │ ├── test_1_1_long.cpp │ │ │ │ ├── test_1_1_uchar.cpp │ │ │ │ ├── test_1_2_double.cpp │ │ │ │ ├── test_1_2_float.cpp │ │ │ │ ├── test_1_2_int.cpp │ │ │ │ ├── test_1_2_long.cpp │ │ │ │ ├── test_1_2_uchar.cpp │ │ │ │ ├── test_1_3_double.cpp │ │ │ │ ├── test_1_3_float.cpp │ │ │ │ ├── test_1_3_int.cpp │ │ │ │ ├── test_1_3_long.cpp │ │ │ │ ├── test_1_3_uchar.cpp │ │ │ │ ├── test_1_4_double.cpp │ │ │ │ ├── test_1_4_float.cpp │ │ │ │ ├── test_1_4_int.cpp │ │ │ │ ├── test_1_4_long.cpp │ │ │ │ ├── test_1_4_uchar.cpp │ │ │ │ ├── test_1_5_double.cpp │ │ │ │ ├── test_1_5_float.cpp │ │ │ │ ├── test_1_5_int.cpp │ │ │ │ ├── test_1_5_long.cpp │ │ │ │ ├── test_1_5_uchar.cpp │ │ │ │ ├── test_1_6_double.cpp │ │ │ │ ├── test_1_6_float.cpp │ │ │ │ ├── test_1_6_int.cpp │ │ │ │ ├── test_1_6_long.cpp │ │ │ │ ├── test_1_6_uchar.cpp │ │ │ │ ├── test_1_D_double.cpp │ │ │ │ ├── test_1_D_float.cpp │ │ │ │ ├── test_1_D_int.cpp │ │ │ │ ├── test_1_D_long.cpp │ │ │ │ ├── test_1_D_uchar.cpp │ │ │ │ ├── test_2_1_double.cpp │ │ │ │ ├── test_2_1_float.cpp │ │ │ │ ├── test_2_1_int.cpp │ │ │ │ ├── test_2_1_long.cpp │ │ │ │ ├── test_2_1_uchar.cpp │ │ │ │ ├── test_2_2_double.cpp │ │ │ │ ├── test_2_2_float.cpp │ │ │ │ ├── test_2_2_int.cpp │ │ │ │ ├── test_2_2_long.cpp │ │ │ │ ├── test_2_2_uchar.cpp │ │ │ │ ├── test_2_3_double.cpp │ │ │ │ ├── test_2_3_float.cpp │ │ │ │ ├── test_2_3_int.cpp │ │ │ │ ├── test_2_3_long.cpp │ │ │ │ ├── test_2_3_uchar.cpp │ │ │ │ ├── test_2_4_double.cpp │ │ │ │ ├── test_2_4_float.cpp │ │ │ │ ├── test_2_4_int.cpp │ │ │ │ ├── test_2_4_long.cpp │ │ │ │ ├── test_2_4_uchar.cpp │ │ │ │ ├── test_2_5_double.cpp │ │ │ │ ├── test_2_5_float.cpp │ │ │ │ ├── test_2_5_int.cpp │ │ │ │ ├── test_2_5_long.cpp │ │ │ │ ├── test_2_5_uchar.cpp │ │ │ │ ├── test_2_6_double.cpp │ │ │ │ ├── test_2_6_float.cpp │ │ │ │ ├── test_2_6_int.cpp │ │ │ │ ├── test_2_6_long.cpp │ │ │ │ ├── test_2_6_uchar.cpp │ │ │ │ ├── test_2_D_double.cpp │ │ │ │ ├── test_2_D_float.cpp │ │ │ │ ├── test_2_D_int.cpp │ │ │ │ ├── test_2_D_long.cpp │ │ │ │ ├── test_2_D_uchar.cpp │ │ │ │ ├── test_3_1_double.cpp │ │ │ │ ├── test_3_1_float.cpp │ │ │ │ ├── test_3_1_int.cpp │ │ │ │ ├── test_3_1_long.cpp │ │ │ │ ├── test_3_1_uchar.cpp │ │ │ │ ├── test_3_2_double.cpp │ │ │ │ ├── test_3_2_float.cpp │ │ │ │ ├── test_3_2_int.cpp │ │ │ │ ├── test_3_2_long.cpp │ │ │ │ ├── test_3_2_uchar.cpp │ │ │ │ ├── test_3_3_double.cpp │ │ │ │ ├── test_3_3_float.cpp │ │ │ │ ├── test_3_3_int.cpp │ │ │ │ ├── test_3_3_long.cpp │ │ │ │ ├── test_3_3_uchar.cpp │ │ │ │ ├── test_3_4_double.cpp │ │ │ │ ├── test_3_4_float.cpp │ │ │ │ ├── test_3_4_int.cpp │ │ │ │ ├── test_3_4_long.cpp │ │ │ │ ├── test_3_4_uchar.cpp │ │ │ │ ├── test_3_5_double.cpp │ │ │ │ ├── test_3_5_float.cpp │ │ │ │ ├── test_3_5_int.cpp │ │ │ │ ├── test_3_5_long.cpp │ │ │ │ ├── test_3_5_uchar.cpp │ │ │ │ ├── test_3_6_double.cpp │ │ │ │ ├── test_3_6_float.cpp │ │ │ │ ├── test_3_6_int.cpp │ │ │ │ ├── test_3_6_long.cpp │ │ │ │ ├── test_3_6_uchar.cpp │ │ │ │ ├── test_3_D_double.cpp │ │ │ │ ├── test_3_D_float.cpp │ │ │ │ ├── test_3_D_int.cpp │ │ │ │ ├── test_3_D_long.cpp │ │ │ │ ├── test_3_D_uchar.cpp │ │ │ │ ├── test_4_1_double.cpp │ │ │ │ ├── test_4_1_float.cpp │ │ │ │ ├── test_4_1_int.cpp │ │ │ │ ├── test_4_1_long.cpp │ │ │ │ ├── test_4_1_uchar.cpp │ │ │ │ ├── test_4_2_double.cpp │ │ │ │ ├── test_4_2_float.cpp │ │ │ │ ├── test_4_2_int.cpp │ │ │ │ ├── test_4_2_long.cpp │ │ │ │ ├── test_4_2_uchar.cpp │ │ │ │ ├── test_4_3_double.cpp │ │ │ │ ├── test_4_3_float.cpp │ │ │ │ ├── test_4_3_int.cpp │ │ │ │ ├── test_4_3_long.cpp │ │ │ │ ├── test_4_3_uchar.cpp │ │ │ │ ├── test_4_4_double.cpp │ │ │ │ ├── test_4_4_float.cpp │ │ │ │ ├── test_4_4_int.cpp │ │ │ │ ├── test_4_4_long.cpp │ │ │ │ ├── test_4_4_uchar.cpp │ │ │ │ ├── test_4_5_double.cpp │ │ │ │ ├── test_4_5_float.cpp │ │ │ │ ├── test_4_5_int.cpp │ │ │ │ ├── test_4_5_long.cpp │ │ │ │ ├── test_4_5_uchar.cpp │ │ │ │ ├── test_4_6_double.cpp │ │ │ │ ├── test_4_6_float.cpp │ │ │ │ ├── test_4_6_int.cpp │ │ │ │ ├── test_4_6_long.cpp │ │ │ │ ├── test_4_6_uchar.cpp │ │ │ │ ├── test_4_D_double.cpp │ │ │ │ ├── test_4_D_float.cpp │ │ │ │ ├── test_4_D_int.cpp │ │ │ │ ├── test_4_D_long.cpp │ │ │ │ ├── test_4_D_uchar.cpp │ │ │ │ ├── test_5_1_double.cpp │ │ │ │ ├── test_5_1_float.cpp │ │ │ │ ├── test_5_1_int.cpp │ │ │ │ ├── test_5_1_long.cpp │ │ │ │ ├── test_5_1_uchar.cpp │ │ │ │ ├── test_5_2_double.cpp │ │ │ │ ├── test_5_2_float.cpp │ │ │ │ ├── test_5_2_int.cpp │ │ │ │ ├── test_5_2_long.cpp │ │ │ │ ├── test_5_2_uchar.cpp │ │ │ │ ├── test_5_3_double.cpp │ │ │ │ ├── test_5_3_float.cpp │ │ │ │ ├── test_5_3_int.cpp │ │ │ │ ├── test_5_3_long.cpp │ │ │ │ ├── test_5_3_uchar.cpp │ │ │ │ ├── test_5_4_double.cpp │ │ │ │ ├── test_5_4_float.cpp │ │ │ │ ├── test_5_4_int.cpp │ │ │ │ ├── test_5_4_long.cpp │ │ │ │ ├── test_5_4_uchar.cpp │ │ │ │ ├── test_5_5_double.cpp │ │ │ │ ├── test_5_5_float.cpp │ │ │ │ ├── test_5_5_int.cpp │ │ │ │ ├── test_5_5_long.cpp │ │ │ │ ├── test_5_5_uchar.cpp │ │ │ │ ├── test_5_6_double.cpp │ │ │ │ ├── test_5_6_float.cpp │ │ │ │ ├── test_5_6_int.cpp │ │ │ │ ├── test_5_6_long.cpp │ │ │ │ ├── test_5_6_uchar.cpp │ │ │ │ ├── test_5_D_double.cpp │ │ │ │ ├── test_5_D_float.cpp │ │ │ │ ├── test_5_D_int.cpp │ │ │ │ ├── test_5_D_long.cpp │ │ │ │ ├── test_5_D_uchar.cpp │ │ │ │ ├── test_6_1_double.cpp │ │ │ │ ├── test_6_1_float.cpp │ │ │ │ ├── test_6_1_int.cpp │ │ │ │ ├── test_6_1_long.cpp │ │ │ │ ├── test_6_1_uchar.cpp │ │ │ │ ├── test_6_2_double.cpp │ │ │ │ ├── test_6_2_float.cpp │ │ │ │ ├── test_6_2_int.cpp │ │ │ │ ├── test_6_2_long.cpp │ │ │ │ ├── test_6_2_uchar.cpp │ │ │ │ ├── test_6_3_double.cpp │ │ │ │ ├── test_6_3_float.cpp │ │ │ │ ├── test_6_3_int.cpp │ │ │ │ ├── test_6_3_long.cpp │ │ │ │ ├── test_6_3_uchar.cpp │ │ │ │ ├── test_6_4_double.cpp │ │ │ │ ├── test_6_4_float.cpp │ │ │ │ ├── test_6_4_int.cpp │ │ │ │ ├── test_6_4_long.cpp │ │ │ │ ├── test_6_4_uchar.cpp │ │ │ │ ├── test_6_5_double.cpp │ │ │ │ ├── test_6_5_float.cpp │ │ │ │ ├── test_6_5_int.cpp │ │ │ │ ├── test_6_5_long.cpp │ │ │ │ ├── test_6_5_uchar.cpp │ │ │ │ ├── test_6_6_double.cpp │ │ │ │ ├── test_6_6_float.cpp │ │ │ │ ├── test_6_6_int.cpp │ │ │ │ ├── test_6_6_long.cpp │ │ │ │ ├── test_6_6_uchar.cpp │ │ │ │ ├── test_6_D_double.cpp │ │ │ │ ├── test_6_D_float.cpp │ │ │ │ ├── test_6_D_int.cpp │ │ │ │ ├── test_6_D_long.cpp │ │ │ │ ├── test_6_D_uchar.cpp │ │ │ │ ├── test_D_1_double.cpp │ │ │ │ ├── test_D_1_float.cpp │ │ │ │ ├── test_D_1_int.cpp │ │ │ │ ├── test_D_1_long.cpp │ │ │ │ ├── test_D_1_uchar.cpp │ │ │ │ ├── test_D_2_double.cpp │ │ │ │ ├── test_D_2_float.cpp │ │ │ │ ├── test_D_2_int.cpp │ │ │ │ ├── test_D_2_long.cpp │ │ │ │ ├── test_D_2_uchar.cpp │ │ │ │ ├── test_D_3_double.cpp │ │ │ │ ├── test_D_3_float.cpp │ │ │ │ ├── test_D_3_int.cpp │ │ │ │ ├── test_D_3_long.cpp │ │ │ │ ├── test_D_3_uchar.cpp │ │ │ │ ├── test_D_4_double.cpp │ │ │ │ ├── test_D_4_float.cpp │ │ │ │ ├── test_D_4_int.cpp │ │ │ │ ├── test_D_4_long.cpp │ │ │ │ ├── test_D_4_uchar.cpp │ │ │ │ ├── test_D_5_double.cpp │ │ │ │ ├── test_D_5_float.cpp │ │ │ │ ├── test_D_5_int.cpp │ │ │ │ ├── test_D_5_long.cpp │ │ │ │ ├── test_D_5_uchar.cpp │ │ │ │ ├── test_D_6_double.cpp │ │ │ │ ├── test_D_6_float.cpp │ │ │ │ ├── test_D_6_int.cpp │ │ │ │ ├── test_D_6_long.cpp │ │ │ │ ├── test_D_6_uchar.cpp │ │ │ │ ├── test_D_D_double.cpp │ │ │ │ ├── test_D_D_float.cpp │ │ │ │ ├── test_D_D_int.cpp │ │ │ │ ├── test_D_D_long.cpp │ │ │ │ └── test_D_D_uchar.cpp │ │ │ ├── create_export_module.py │ │ │ └── numpy_eigen │ │ │ │ ├── __init__.py │ │ │ │ └── test │ │ │ │ └── __init__.py │ │ └── test │ │ │ └── numpy_eigen_tests.py │ ├── python_module │ │ ├── CMakeLists.txt │ │ ├── cmake │ │ │ └── add_python_export_library.cmake │ │ └── package.xml │ ├── sm_boost │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ ├── boost │ │ │ │ ├── portable_binary_archive.hpp │ │ │ │ ├── portable_binary_iarchive.hpp │ │ │ │ └── portable_binary_oarchive.hpp │ │ │ └── sm │ │ │ │ └── boost │ │ │ │ ├── JobQueue.hpp │ │ │ │ ├── implementation │ │ │ │ └── JobQueue.hpp │ │ │ │ ├── null_deleter.hpp │ │ │ │ ├── ptime.hpp │ │ │ │ └── serialization.hpp │ │ ├── mainpage.dox │ │ ├── package.xml │ │ ├── src │ │ │ ├── JobQueue.cpp │ │ │ ├── portable_binary_iarchive.cpp │ │ │ └── portable_binary_oarchive.cpp │ │ └── test │ │ │ ├── testFuture.cpp │ │ │ └── test_main.cpp │ ├── sm_common │ │ ├── CMakeLists.txt │ │ ├── cmake │ │ │ └── export_flags.cmake │ │ ├── include │ │ │ └── sm │ │ │ │ ├── Id.hpp │ │ │ │ ├── aligned_allocation.h │ │ │ │ ├── assert_macros.hpp │ │ │ │ ├── hash_id.hpp │ │ │ │ ├── is_binary_equal.hpp │ │ │ │ ├── maths.hpp │ │ │ │ ├── numerical_comparisons.hpp │ │ │ │ ├── progress_info.hpp │ │ │ │ ├── round.hpp │ │ │ │ ├── serialization_macros.hpp │ │ │ │ ├── source_file_pos.hpp │ │ │ │ ├── string_routines.hpp │ │ │ │ └── typetraits.hpp │ │ ├── mainpage.dox │ │ ├── package.xml │ │ ├── src │ │ │ └── progress_info.cpp │ │ └── test │ │ │ ├── hash_id.cpp │ │ │ ├── maths.cpp │ │ │ ├── numerical_comparisons.cpp │ │ │ ├── serialization_macros.cpp │ │ │ └── test_main.cpp │ ├── sm_eigen │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── sm │ │ │ │ └── eigen │ │ │ │ ├── NumericalDiff.hpp │ │ │ │ ├── assert_macros.hpp │ │ │ │ ├── gtest.hpp │ │ │ │ ├── matrix_sqrt.hpp │ │ │ │ ├── property_tree.hpp │ │ │ │ ├── random.hpp │ │ │ │ ├── serialization.hpp │ │ │ │ ├── static_assert.hpp │ │ │ │ └── traits.hpp │ │ ├── mainpage.dox │ │ ├── package.xml │ │ ├── src │ │ │ └── random.cpp │ │ └── test │ │ │ ├── EigenSerializationTests.cpp │ │ │ ├── MatrixSqrtTest.cpp │ │ │ └── test_main.cpp │ ├── sm_kinematics │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── sm │ │ │ │ └── kinematics │ │ │ │ ├── EulerAnglesYawPitchRoll.hpp │ │ │ │ ├── EulerAnglesZXY.h │ │ │ │ ├── EulerAnglesZYX.hpp │ │ │ │ ├── EulerRodriguez.hpp │ │ │ │ ├── HomogeneousPoint.hpp │ │ │ │ ├── RotationVector.hpp │ │ │ │ ├── RotationalKinematics.hpp │ │ │ │ ├── Transformation.hpp │ │ │ │ ├── UncertainHomogeneousPoint.hpp │ │ │ │ ├── UncertainTransformation.hpp │ │ │ │ ├── UncertainVector.hpp │ │ │ │ ├── homogeneous_coordinates.hpp │ │ │ │ ├── implementation │ │ │ │ └── UncertainVector.hpp │ │ │ │ ├── property_tree.hpp │ │ │ │ ├── quaternion_algebra.hpp │ │ │ │ ├── rotations.hpp │ │ │ │ ├── three_point_methods.hpp │ │ │ │ └── transformations.hpp │ │ ├── mainpage.dox │ │ ├── package.xml │ │ ├── src │ │ │ ├── EulerAnglesYawPitchRoll.cpp │ │ │ ├── EulerAnglesZXY.cpp │ │ │ ├── EulerAnglesZYX.cpp │ │ │ ├── EulerRodriguez.cpp │ │ │ ├── HomogeneousPoint.cpp │ │ │ ├── RotationVector.cpp │ │ │ ├── RotationalKinematics.cpp │ │ │ ├── Transformation.cpp │ │ │ ├── UncertainHomogeneousPoint.cpp │ │ │ ├── UncertainTransformation.cpp │ │ │ ├── homogeneous_coordinates.cpp │ │ │ ├── quaternion_algebra.cpp │ │ │ ├── rotations.cpp │ │ │ ├── three_point_methods.cpp │ │ │ └── transformations.cpp │ │ └── test │ │ │ ├── HomogeneousPoint.cpp │ │ │ ├── PointTestHarness.hpp │ │ │ ├── QuaternionTests.cpp │ │ │ ├── RotationalKinematicsTests.cpp │ │ │ ├── TransformationTests.cpp │ │ │ ├── UncertainHomogeneousPoint.cpp │ │ │ ├── UncertainTransformationTests.cpp │ │ │ ├── homogeneous_coordinates.cpp │ │ │ ├── test_main.cpp │ │ │ ├── three_point_methods.cpp │ │ │ └── transformations.cpp │ ├── sm_logging │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── sm │ │ │ │ ├── logging.hpp │ │ │ │ └── logging │ │ │ │ ├── Formatter.hpp │ │ │ │ ├── Levels.hpp │ │ │ │ ├── LogLocation.hpp │ │ │ │ ├── Logger.hpp │ │ │ │ ├── LoggingEvent.hpp │ │ │ │ ├── LoggingGlobals.hpp │ │ │ │ ├── StdOutLogger.hpp │ │ │ │ ├── Tokens.hpp │ │ │ │ ├── assert.h │ │ │ │ ├── console.hpp │ │ │ │ ├── macros.h │ │ │ │ └── macros_generated.hpp │ │ ├── mainpage.dox │ │ ├── package.xml │ │ ├── scripts │ │ │ ├── generate_macros.py │ │ │ └── generate_speed_test.py │ │ ├── src │ │ │ ├── Formatter.cpp │ │ │ ├── Logger.cpp │ │ │ ├── LoggingEvent.cpp │ │ │ ├── LoggingGlobals.cpp │ │ │ ├── StdOutLogger.cpp │ │ │ ├── Tokens.cpp │ │ │ └── gettimeofday.hpp │ │ └── test │ │ │ ├── logTest.cpp │ │ │ └── test_main.cpp │ ├── sm_matrix_archive │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── sm │ │ │ │ └── MatrixArchive.hpp │ │ ├── mainpage.dox │ │ ├── matlab │ │ │ ├── loadMatrixArchive.m │ │ │ └── saveMatrixArchive.m │ │ ├── package.xml │ │ ├── src │ │ │ └── MatrixArchive.cpp │ │ └── test │ │ │ ├── TestMatrixArchive.cpp │ │ │ └── test_main.cpp │ ├── sm_opencv │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── sm │ │ │ │ └── opencv │ │ │ │ └── serialization.hpp │ │ ├── mainpage.dox │ │ └── package.xml │ ├── sm_property_tree │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── sm │ │ │ │ ├── BoostPropertyTree.hpp │ │ │ │ ├── BoostPropertyTreeImplementation.hpp │ │ │ │ ├── BoostPropertyTreeSupport.hpp │ │ │ │ ├── PropertyTree.hpp │ │ │ │ └── PropertyTreeImplementation.hpp │ │ ├── mainpage.dox │ │ ├── package.xml │ │ ├── src │ │ │ ├── BoostPropertyTree.cpp │ │ │ ├── BoostPropertyTreeImplementation.cpp │ │ │ ├── BoostPropertyTreeSupport.cpp │ │ │ ├── PropertyTree.cpp │ │ │ └── PropertyTreeImplementation.cpp │ │ └── test │ │ │ ├── BoostPropertyTreeImplementation.cpp │ │ │ └── test_main.cpp │ ├── sm_python │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── sm │ │ │ │ └── python │ │ │ │ ├── Id.hpp │ │ │ │ ├── boost_serialization_pickle.hpp │ │ │ │ ├── stl_converters.hpp │ │ │ │ └── unique_register_ptr_to_python.hpp │ │ ├── mainpage.dox │ │ ├── package.xml │ │ ├── python │ │ │ └── sm │ │ │ │ ├── PlotCollection.py │ │ │ │ ├── Progress.py │ │ │ │ ├── __init__.py │ │ │ │ ├── experiments │ │ │ │ └── __init__.py │ │ │ │ ├── plotCoordinateFrame.py │ │ │ │ └── saveFigTight.py │ │ ├── setup.py │ │ └── src │ │ │ ├── Logging.cpp │ │ │ ├── exportEigen.cpp │ │ │ ├── exportHomogeneousPoint.cpp │ │ │ ├── exportMatrixArchive.cpp │ │ │ ├── exportNsecTime.cpp │ │ │ ├── exportPropertyTree.cpp │ │ │ ├── exportTimestampCorrector.cpp │ │ │ ├── exportTransformation.cpp │ │ │ ├── exportUncertainVector.cpp │ │ │ ├── export_eigen_property_tree.cpp │ │ │ ├── export_homogeneous.cpp │ │ │ ├── export_kinematics_property_tree.cpp │ │ │ ├── export_quaternion_algebra.cpp │ │ │ ├── export_rotational_kinematics.cpp │ │ │ ├── export_rotations.cpp │ │ │ ├── export_transformations.cpp │ │ │ ├── module.cpp │ │ │ └── random.cpp │ ├── sm_random │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── sm │ │ │ │ └── random.hpp │ │ ├── mainpage.dox │ │ ├── package.xml │ │ └── src │ │ │ └── random.cpp │ └── sm_timing │ │ ├── CMakeLists.txt │ │ ├── include │ │ └── sm │ │ │ └── timing │ │ │ ├── NsecTimeUtilities.hpp │ │ │ ├── Timer.hpp │ │ │ ├── TimestampCorrector.hpp │ │ │ └── implementation │ │ │ └── TimestampCorrector.hpp │ │ ├── mainpage.dox │ │ ├── package.xml │ │ ├── src │ │ ├── NsecTimeUtilities.cpp │ │ └── Timer.cpp │ │ └── test │ │ ├── TestNsecTimeUtilities.cpp │ │ ├── TestTimestampCorrector.cpp │ │ └── test_main.cpp ├── aslam_cv │ ├── aslam_cameras │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── aslam │ │ │ │ ├── BackProjection.hpp │ │ │ │ ├── DescriptorBase.hpp │ │ │ │ ├── Frame.hpp │ │ │ │ ├── FrameBase.hpp │ │ │ │ ├── Image.hpp │ │ │ │ ├── Keypoint.hpp │ │ │ │ ├── KeypointBase.hpp │ │ │ │ ├── KeypointIdentifier.hpp │ │ │ │ ├── Landmark.hpp │ │ │ │ ├── cameras.hpp │ │ │ │ ├── cameras │ │ │ │ ├── CameraGeometry.hpp │ │ │ │ ├── CameraGeometryBase.hpp │ │ │ │ ├── DepthProjection.hpp │ │ │ │ ├── DoubleSphereProjection.hpp │ │ │ │ ├── EquidistantDistortion.hpp │ │ │ │ ├── ExtendedUnifiedProjection.hpp │ │ │ │ ├── FiniteDifferences.hpp │ │ │ │ ├── FovDistortion.hpp │ │ │ │ ├── GlobalShutter.hpp │ │ │ │ ├── GridCalibrationTargetBase.hpp │ │ │ │ ├── GridCalibrationTargetCheckerboard.hpp │ │ │ │ ├── GridCalibrationTargetCirclegrid.hpp │ │ │ │ ├── GridCalibrationTargetObservation.hpp │ │ │ │ ├── GridDetector.hpp │ │ │ │ ├── ImageMask.hpp │ │ │ │ ├── NoDistortion.hpp │ │ │ │ ├── NoMask.hpp │ │ │ │ ├── OmniProjection.hpp │ │ │ │ ├── PinholeProjection.hpp │ │ │ │ ├── RadialTangentialDistortion.hpp │ │ │ │ ├── RollingShutter.hpp │ │ │ │ ├── StaticAssert.hpp │ │ │ │ ├── Triangulation.hpp │ │ │ │ ├── implementation │ │ │ │ │ ├── CameraGeometry.hpp │ │ │ │ │ ├── DepthProjection.hpp │ │ │ │ │ ├── DoubleSphereProjection.hpp │ │ │ │ │ ├── EquidistantDistortion.hpp │ │ │ │ │ ├── ExtendedUnifiedProjection.hpp │ │ │ │ │ ├── FovDistortion.hpp │ │ │ │ │ ├── NoDistortion.hpp │ │ │ │ │ ├── OmniProjection.hpp │ │ │ │ │ ├── PinholeProjection.hpp │ │ │ │ │ └── RadialTangentialDistortion.hpp │ │ │ │ └── test │ │ │ │ │ └── CameraGeometryTestHarness.hpp │ │ │ │ ├── frontend_ids.hpp │ │ │ │ ├── implementation │ │ │ │ ├── Frame.hpp │ │ │ │ ├── Image.hpp │ │ │ │ ├── Keypoint.hpp │ │ │ │ └── utilities.hpp │ │ │ │ ├── targets.hpp │ │ │ │ └── utilities.hpp │ │ ├── package.xml │ │ ├── src │ │ │ ├── BackProjection.cpp │ │ │ ├── CameraGeometryBase.cpp │ │ │ ├── DepthCameraGeometry.cpp │ │ │ ├── DescriptorBase.cpp │ │ │ ├── EquidistantDistortion.cpp │ │ │ ├── FovDistortion.cpp │ │ │ ├── FrameBase.cpp │ │ │ ├── GlobalShutter.cpp │ │ │ ├── GridCalibrationTargetBase.cpp │ │ │ ├── GridCalibrationTargetCheckerboard.cpp │ │ │ ├── GridCalibrationTargetCirclegrid.cpp │ │ │ ├── GridCalibrationTargetObservation.cpp │ │ │ ├── GridDetector.cpp │ │ │ ├── Image.cpp │ │ │ ├── ImageMask.cpp │ │ │ ├── KeypointBase.cpp │ │ │ ├── Landmark.cpp │ │ │ ├── MaskedCameraGeometry.cpp │ │ │ ├── NoDistortion.cpp │ │ │ ├── NoMask.cpp │ │ │ ├── OmniCameraGeometry.cpp │ │ │ ├── PinholeCameraGeometry.cpp │ │ │ ├── PinholeRSCameraGeometry.cpp │ │ │ ├── RadialTangentialDistortion.cpp │ │ │ ├── RollingShutter.cpp │ │ │ ├── SphericalCameraGeometry.cpp │ │ │ └── Triangulation.cpp │ │ ├── test.ba │ │ └── test │ │ │ ├── DepthCameraGeometry.cpp │ │ │ ├── DoubleSphereCameraGeometry.cpp │ │ │ ├── EquidistantDistortion.cpp │ │ │ ├── ExtendedUnifiedCameraGeometry.cpp │ │ │ ├── FovDistortion.cpp │ │ │ ├── GridCalibration.cpp │ │ │ ├── OmniCameraGeometry.cpp │ │ │ ├── PinholeCameraGeometry.cpp │ │ │ ├── RadialTangentialDistortion.cpp │ │ │ ├── Triangulation.cpp │ │ │ ├── testFrame.cpp │ │ │ ├── test_etc.cpp │ │ │ └── test_main.cpp │ ├── aslam_cameras_april │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── aslam │ │ │ │ └── cameras │ │ │ │ └── GridCalibrationTargetAprilgrid.hpp │ │ ├── package.xml │ │ ├── python │ │ │ └── aslam_cameras_april │ │ │ │ └── __init__.py │ │ ├── setup.py │ │ └── src │ │ │ ├── GridCalibrationTargetAprilgrid.cpp │ │ │ ├── createTargetPDF.py │ │ │ └── module.cpp │ ├── aslam_cv_backend │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── aslam │ │ │ │ ├── CameraGeometryDesignVariableContainer.hpp │ │ │ │ ├── GridCalibrationTargetDesignVariableContainer.hpp │ │ │ │ ├── NCameraSystemDesignVariableContainer.hpp │ │ │ │ ├── NCameraSystemEstimation.hpp │ │ │ │ └── backend │ │ │ │ ├── CameraDesignVariable.hpp │ │ │ │ ├── ScalarExpressionNodeKeypointTime.hpp │ │ │ │ └── implementation │ │ │ │ ├── CameraDesignVariable.hpp │ │ │ │ └── ScalarExpressionNodeKeypointTime.hpp │ │ ├── package.xml │ │ ├── src │ │ │ ├── CameraGeometryDesignVariableContainer.cpp │ │ │ ├── GridCalibrationTargetDesignVariableContainer.cpp │ │ │ ├── NCameraSystemDesignVariableContainer.cpp │ │ │ └── NCameraSystemEstimation.cpp │ │ └── test │ │ │ ├── testReprojectionError.cpp │ │ │ └── test_main.cpp │ ├── aslam_cv_backend_python │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── aslam │ │ │ │ ├── ExportCameraDesignVariable.hpp │ │ │ │ ├── ExportReprojectionError.hpp │ │ │ │ └── ExportScalarExpressionNodeKeypointTime.hpp │ │ ├── package.xml │ │ ├── python │ │ │ └── aslam_cv_backend │ │ │ │ └── __init__.py │ │ ├── setup.py │ │ └── src │ │ │ ├── CameraGeometryDesignVariableContainer.cpp │ │ │ ├── GridCalibration.cpp │ │ │ ├── NCameraSystemDesignVariableContainer.cpp │ │ │ ├── helpers.hpp │ │ │ └── module.cpp │ ├── aslam_cv_error_terms │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── aslam │ │ │ │ └── backend │ │ │ │ ├── BSplineMotionError.hpp │ │ │ │ ├── CovarianceReprojectionError.hpp │ │ │ │ ├── ReprojectionError.hpp │ │ │ │ ├── SimpleReprojectionError.hpp │ │ │ │ └── implementation │ │ │ │ ├── BSplineMotionError.hpp │ │ │ │ ├── CovarianceReprojectionError.hpp │ │ │ │ ├── ReprojectionError.hpp │ │ │ │ └── SimpleReprojectionError.hpp │ │ ├── package.xml │ │ └── test │ │ │ ├── TestReprojectionError.cpp │ │ │ └── test_main.cpp │ ├── aslam_cv_python │ │ ├── CMakeLists.txt │ │ ├── example │ │ │ ├── pipeline.info │ │ │ └── prototype.py │ │ ├── include │ │ │ └── aslam │ │ │ │ └── python │ │ │ │ ├── ExportFrame.hpp │ │ │ │ ├── exportOmniUndistorter.hpp │ │ │ │ └── exportPinholeUndistorter.hpp │ │ ├── mainpage.dox │ │ ├── package.xml │ │ ├── python │ │ │ └── aslam_cv │ │ │ │ └── __init__.py │ │ ├── setup.py │ │ └── src │ │ │ ├── CameraGeometries.cpp │ │ │ ├── CameraGeometry.cpp │ │ │ ├── CameraProjections.cpp │ │ │ ├── CameraShutters.cpp │ │ │ ├── CameraSystem.cpp │ │ │ ├── CameraSystemClasses.cpp │ │ │ ├── Descriptors.cpp │ │ │ ├── Frame.cpp │ │ │ ├── FrameBuilder.cpp │ │ │ ├── Frontend.cpp │ │ │ ├── GridCalibration.cpp │ │ │ ├── ImageContainer.cpp │ │ │ ├── ImageSynchronizer.cpp │ │ │ ├── Landmark.cpp │ │ │ ├── MatchingAlgorithms.cpp │ │ │ ├── MultiFrame.cpp │ │ │ ├── MultiFrameFactory.cpp │ │ │ ├── NCameras.cpp │ │ │ ├── OmniUndistorter.cpp │ │ │ ├── PinholeUndistorter.cpp │ │ │ ├── Time.cpp │ │ │ ├── Undistorters.cpp │ │ │ └── module.cpp │ ├── aslam_cv_serialization │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ ├── Makefile │ │ ├── autogen_cameras.cmake │ │ ├── autogen_frames.cmake │ │ ├── gen_files.py │ │ ├── include │ │ │ └── aslam │ │ │ │ ├── FrameBaseSerialization.hpp │ │ │ │ ├── LinkCvSerialization.hpp │ │ │ │ ├── aslam_cv_serialization.hpp │ │ │ │ └── cameras │ │ │ │ └── CameraBaseSerialization.hpp │ │ ├── mainpage.dox │ │ ├── package.xml │ │ ├── src │ │ │ ├── FrameBaseSerialization.cpp │ │ │ ├── FrameSerialization.hpp │ │ │ ├── LinkCvSerialization.cpp │ │ │ └── autogen │ │ │ │ ├── Camera-DepthCameraGeometry.cpp │ │ │ │ ├── Camera-DistortedDepthCameraGeometry.cpp │ │ │ │ ├── Camera-DistortedOmniCameraGeometry.cpp │ │ │ │ ├── Camera-DistortedOmniRsCameraGeometry.cpp │ │ │ │ ├── Camera-DistortedPinholeCameraGeometry.cpp │ │ │ │ ├── Camera-DistortedPinholeRsCameraGeometry.cpp │ │ │ │ ├── Camera-DoubleSphereCameraGeometry.cpp │ │ │ │ ├── Camera-EquidistantDistortedDepthCameraGeometry.cpp │ │ │ │ ├── Camera-EquidistantDistortedOmniCameraGeometry.cpp │ │ │ │ ├── Camera-EquidistantDistortedOmniRsCameraGeometry.cpp │ │ │ │ ├── Camera-EquidistantDistortedPinholeCameraGeometry.cpp │ │ │ │ ├── Camera-EquidistantDistortedPinholeRsCameraGeometry.cpp │ │ │ │ ├── Camera-ExtendedUnifiedCameraGeometry.cpp │ │ │ │ ├── Camera-FovDistortedPinholeCameraGeometry.cpp │ │ │ │ ├── Camera-MaskedDistortedOmniCameraGeometry.cpp │ │ │ │ ├── Camera-MaskedDistortedOmniRsCameraGeometry.cpp │ │ │ │ ├── Camera-MaskedDistortedPinholeCameraGeometry.cpp │ │ │ │ ├── Camera-MaskedDistortedPinholeRsCameraGeometry.cpp │ │ │ │ ├── Camera-MaskedEquidistantDistortedOmniCameraGeometry.cpp │ │ │ │ ├── Camera-MaskedEquidistantDistortedOmniRsCameraGeometry.cpp │ │ │ │ ├── Camera-MaskedEquidistantDistortedPinholeCameraGeometry.cpp │ │ │ │ ├── Camera-MaskedEquidistantDistortedPinholeRsCameraGeometry.cpp │ │ │ │ ├── Camera-MaskedOmniCameraGeometry.cpp │ │ │ │ ├── Camera-MaskedOmniRsCameraGeometry.cpp │ │ │ │ ├── Camera-MaskedPinholeCameraGeometry.cpp │ │ │ │ ├── Camera-MaskedPinholeRsCameraGeometry.cpp │ │ │ │ ├── Camera-OmniCameraGeometry.cpp │ │ │ │ ├── Camera-OmniRsCameraGeometry.cpp │ │ │ │ ├── Camera-PinholeCameraGeometry.cpp │ │ │ │ ├── Camera-PinholeRsCameraGeometry.cpp │ │ │ │ ├── Frame-DepthCameraGeometry.cpp │ │ │ │ ├── Frame-DistortedDepthCameraGeometry.cpp │ │ │ │ ├── Frame-DistortedOmniCameraGeometry.cpp │ │ │ │ ├── Frame-DistortedOmniRsCameraGeometry.cpp │ │ │ │ ├── Frame-DistortedPinholeCameraGeometry.cpp │ │ │ │ ├── Frame-DistortedPinholeRsCameraGeometry.cpp │ │ │ │ ├── Frame-DoubleSphereCameraGeometry.cpp │ │ │ │ ├── Frame-EquidistantDistortedDepthCameraGeometry.cpp │ │ │ │ ├── Frame-EquidistantDistortedOmniCameraGeometry.cpp │ │ │ │ ├── Frame-EquidistantDistortedOmniRsCameraGeometry.cpp │ │ │ │ ├── Frame-EquidistantDistortedPinholeCameraGeometry.cpp │ │ │ │ ├── Frame-EquidistantDistortedPinholeRsCameraGeometry.cpp │ │ │ │ ├── Frame-ExtendedUnifiedCameraGeometry.cpp │ │ │ │ ├── Frame-FovDistortedPinholeCameraGeometry.cpp │ │ │ │ ├── Frame-MaskedDistortedOmniCameraGeometry.cpp │ │ │ │ ├── Frame-MaskedDistortedOmniRsCameraGeometry.cpp │ │ │ │ ├── Frame-MaskedDistortedPinholeCameraGeometry.cpp │ │ │ │ ├── Frame-MaskedDistortedPinholeRsCameraGeometry.cpp │ │ │ │ ├── Frame-MaskedEquidistantDistortedOmniCameraGeometry.cpp │ │ │ │ ├── Frame-MaskedEquidistantDistortedOmniRsCameraGeometry.cpp │ │ │ │ ├── Frame-MaskedEquidistantDistortedPinholeCameraGeometry.cpp │ │ │ │ ├── Frame-MaskedEquidistantDistortedPinholeRsCameraGeometry.cpp │ │ │ │ ├── Frame-MaskedOmniCameraGeometry.cpp │ │ │ │ ├── Frame-MaskedOmniRsCameraGeometry.cpp │ │ │ │ ├── Frame-MaskedPinholeCameraGeometry.cpp │ │ │ │ ├── Frame-MaskedPinholeRsCameraGeometry.cpp │ │ │ │ ├── Frame-OmniCameraGeometry.cpp │ │ │ │ ├── Frame-OmniRsCameraGeometry.cpp │ │ │ │ ├── Frame-PinholeCameraGeometry.cpp │ │ │ │ └── Frame-PinholeRsCameraGeometry.cpp │ │ └── test │ │ │ ├── testMultiFrame.cpp │ │ │ └── test_main.cpp │ ├── aslam_imgproc │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── aslam │ │ │ │ ├── NullUndistorter.hpp │ │ │ │ ├── OmniUndistorter.hpp │ │ │ │ ├── PinholeUndistorter.hpp │ │ │ │ ├── UndistorterBase.hpp │ │ │ │ ├── calculateOverlappingFov.hpp │ │ │ │ └── implementation │ │ │ │ ├── NullUndistorter.hpp │ │ │ │ ├── OmniUndistorter.hpp │ │ │ │ ├── PinholeUndistorter.hpp │ │ │ │ ├── aslamcv_helper.hpp │ │ │ │ └── calculateOverlappingFov.hpp │ │ ├── package.xml │ │ ├── src │ │ │ ├── UndistorterBase.cpp │ │ │ └── calculateOverlappingFov.cpp │ │ └── test │ │ │ └── testUndistorter.cpp │ └── aslam_time │ │ ├── CMakeLists.txt │ │ ├── include │ │ └── aslam │ │ │ ├── Duration.hpp │ │ │ ├── Time.hpp │ │ │ └── implementation │ │ │ ├── Duration.hpp │ │ │ └── Time.hpp │ │ ├── package.xml │ │ └── src │ │ ├── duration.cpp │ │ └── time.cpp ├── aslam_incremental_calibration │ ├── incremental_calibration │ │ ├── CMakeLists.txt │ │ ├── conf │ │ │ └── config.xml │ │ ├── include │ │ │ └── aslam │ │ │ │ └── calibration │ │ │ │ ├── algorithms │ │ │ │ ├── linalg.h │ │ │ │ ├── marginalize.h │ │ │ │ ├── matrixOperations.h │ │ │ │ ├── matrixOperations.tpp │ │ │ │ ├── permute.h │ │ │ │ └── permute.tpp │ │ │ │ ├── base │ │ │ │ ├── Condition.h │ │ │ │ ├── Mutex.h │ │ │ │ ├── Serializable.h │ │ │ │ ├── Singleton.h │ │ │ │ ├── Singleton.tpp │ │ │ │ ├── Thread.h │ │ │ │ ├── Threads.h │ │ │ │ ├── Timer.h │ │ │ │ └── Timestamp.h │ │ │ │ ├── core │ │ │ │ ├── IncrementalEstimator.h │ │ │ │ ├── IncrementalOptimizationProblem.h │ │ │ │ ├── LinearSolver.h │ │ │ │ ├── LinearSolverOptions.h │ │ │ │ └── OptimizationProblem.h │ │ │ │ ├── data-structures │ │ │ │ ├── Grid.h │ │ │ │ ├── Grid.tpp │ │ │ │ ├── VectorDesignVariable.h │ │ │ │ └── VectorDesignVariable.tpp │ │ │ │ ├── exceptions │ │ │ │ ├── BadArgumentException.h │ │ │ │ ├── BadArgumentException.tpp │ │ │ │ ├── Exception.h │ │ │ │ ├── InvalidOperationException.h │ │ │ │ ├── NullPointerException.h │ │ │ │ ├── OutOfBoundException.h │ │ │ │ ├── OutOfBoundException.tpp │ │ │ │ ├── SystemException.h │ │ │ │ ├── ThreadsManagerException.h │ │ │ │ └── ThreadsManagerException.tpp │ │ │ │ ├── functions │ │ │ │ ├── ContinuousFunction.h │ │ │ │ ├── ContinuousFunction1v.h │ │ │ │ ├── ContinuousFunction1v.tpp │ │ │ │ ├── ContinuousFunctionMv.h │ │ │ │ ├── ContinuousFunctionMv.tpp │ │ │ │ ├── DigammaFunction.h │ │ │ │ ├── DigammaFunction.tpp │ │ │ │ ├── DiscreteFunction.h │ │ │ │ ├── DiscreteFunction1v.h │ │ │ │ ├── DiscreteFunction1v.tpp │ │ │ │ ├── DiscreteFunctionMv.h │ │ │ │ ├── DiscreteFunctionMv.tpp │ │ │ │ ├── Function.h │ │ │ │ ├── Function.tpp │ │ │ │ ├── IncompleteGammaPFunction.h │ │ │ │ ├── IncompleteGammaQFunction.h │ │ │ │ ├── LogFactorialFunction.h │ │ │ │ ├── LogGammaFunction.h │ │ │ │ └── LogGammaFunction.tpp │ │ │ │ ├── geometry │ │ │ │ ├── Transformation.h │ │ │ │ ├── Transformation2d.h │ │ │ │ ├── Transformation2d.tpp │ │ │ │ ├── Transformation3d.h │ │ │ │ └── Transformation3d.tpp │ │ │ │ ├── statistics │ │ │ │ ├── ChiSquareDistribution.h │ │ │ │ ├── ContinuousDistribution.h │ │ │ │ ├── ContinuousDistribution1v.h │ │ │ │ ├── ContinuousDistribution1v.tpp │ │ │ │ ├── ContinuousDistributionMv.h │ │ │ │ ├── ContinuousDistributionMv.tpp │ │ │ │ ├── DiscreteDistribution.h │ │ │ │ ├── DiscreteDistribution1v.h │ │ │ │ ├── DiscreteDistribution1v.tpp │ │ │ │ ├── DiscreteDistributionMv.h │ │ │ │ ├── DiscreteDistributionMv.tpp │ │ │ │ ├── Distribution.h │ │ │ │ ├── Distribution.tpp │ │ │ │ ├── EstimatorML.h │ │ │ │ ├── EstimatorMLNormal1v.h │ │ │ │ ├── EstimatorMLNormalMv.h │ │ │ │ ├── EstimatorMLNormalMv.tpp │ │ │ │ ├── GammaDistribution.h │ │ │ │ ├── GammaDistribution.tpp │ │ │ │ ├── Histogram.h │ │ │ │ ├── Histogram1v.h │ │ │ │ ├── Histogram1v.tpp │ │ │ │ ├── HistogramMv.h │ │ │ │ ├── HistogramMv.tpp │ │ │ │ ├── NormalDistribution.h │ │ │ │ ├── NormalDistribution1v.h │ │ │ │ ├── NormalDistributionMv.h │ │ │ │ ├── NormalDistributionMv.tpp │ │ │ │ ├── Randomizer.h │ │ │ │ ├── Randomizer.tpp │ │ │ │ ├── SampleDistribution.h │ │ │ │ ├── SampleDistribution.tpp │ │ │ │ ├── UniformDistribution.h │ │ │ │ ├── UniformDistribution1v.h │ │ │ │ ├── UniformDistribution1v.tpp │ │ │ │ ├── UniformDistributionMv.h │ │ │ │ └── UniformDistributionMv.tpp │ │ │ │ ├── tpl │ │ │ │ ├── And.h │ │ │ │ ├── Boolean.h │ │ │ │ ├── Equals.h │ │ │ │ ├── If.h │ │ │ │ ├── IfThenElse.h │ │ │ │ ├── IsInteger.h │ │ │ │ ├── IsNumeric.h │ │ │ │ ├── IsReal.h │ │ │ │ ├── IsVoid.h │ │ │ │ ├── Not.h │ │ │ │ └── Or.h │ │ │ │ └── utils │ │ │ │ ├── OuterProduct.h │ │ │ │ ├── OuterProduct.tpp │ │ │ │ ├── SizeTSupport.h │ │ │ │ └── SsizeTSupport.h │ │ ├── package.xml │ │ ├── src │ │ │ ├── algorithms │ │ │ │ ├── linalg.cpp │ │ │ │ └── marginalize.cpp │ │ │ ├── base │ │ │ │ ├── Condition.cpp │ │ │ │ ├── Mutex.cpp │ │ │ │ ├── Serializable.cpp │ │ │ │ ├── Thread.cpp │ │ │ │ ├── Threads.cpp │ │ │ │ ├── Timer.cpp │ │ │ │ └── Timestamp.cpp │ │ │ ├── core │ │ │ │ ├── IncrementalEstimator.cpp │ │ │ │ ├── IncrementalOptimizationProblem.cpp │ │ │ │ ├── LinearSolver.cpp │ │ │ │ ├── LinearSolverOptions.cpp │ │ │ │ └── OptimizationProblem.cpp │ │ │ ├── exceptions │ │ │ │ ├── Exception.cpp │ │ │ │ ├── InvalidOperationException.cpp │ │ │ │ ├── NullPointerException.cpp │ │ │ │ └── SystemException.cpp │ │ │ ├── functions │ │ │ │ ├── IncompleteGammaPFunction.cpp │ │ │ │ ├── IncompleteGammaQFunction.cpp │ │ │ │ ├── LogFactorialFunction.cpp │ │ │ │ └── LogGammaFunction.cpp │ │ │ └── statistics │ │ │ │ ├── ChiSquareDistribution.cpp │ │ │ │ ├── EstimatorMLNormal1v.cpp │ │ │ │ └── NormalDistribution1v.cpp │ │ └── test │ │ │ ├── AlgorithmsTest.cpp │ │ │ ├── IncrementalOptimizationProblemTest.cpp │ │ │ ├── LinearSolverTest.cpp │ │ │ ├── OptimizationProblemTest.cpp │ │ │ ├── VectorDesignVariableTest.cpp │ │ │ └── test_main.cpp │ └── incremental_calibration_python │ │ ├── CMakeLists.txt │ │ ├── include │ │ └── module.cpp │ │ ├── package.xml │ │ ├── setup.py │ │ └── src │ │ ├── IncrementalEstimator.cpp │ │ ├── LinearSolver.cpp │ │ ├── OptimizationProblem.cpp │ │ ├── VisionDataAssociation.cpp │ │ ├── incremental_calibration │ │ └── __init__.py │ │ └── module.cpp ├── aslam_nonparametric_estimation │ ├── aslam_splines │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── aslam │ │ │ │ ├── backend │ │ │ │ ├── BSplineMotionError.hpp │ │ │ │ ├── BSplineMotionErrorFactory.hpp │ │ │ │ ├── QuadraticIntegralError.hpp │ │ │ │ ├── SimpleSplineError.hpp │ │ │ │ └── implementation │ │ │ │ │ ├── BSplineMotionError.hpp │ │ │ │ │ ├── BSplineMotionErrorFactory.hpp │ │ │ │ │ └── SimpleSplineError.hpp │ │ │ │ └── splines │ │ │ │ ├── BSplineDesignVariable.hpp │ │ │ │ ├── BSplineExpressions.hpp │ │ │ │ ├── BSplinePoseDesignVariable.hpp │ │ │ │ ├── EuclideanBSplineDesignVariable.hpp │ │ │ │ └── implementation │ │ │ │ ├── BSplineDesignVariable.hpp │ │ │ │ └── BSplineExpressions.hpp │ │ ├── package.xml │ │ ├── src │ │ │ ├── BSplineExpressions.cpp │ │ │ ├── BSplinePoseDesignVariable.cpp │ │ │ └── EuclideanBSplineDesignVariable.cpp │ │ └── test │ │ │ ├── TestBSplineExpressions.cpp │ │ │ ├── TestErrors.cpp │ │ │ ├── TestOPTBSpline.cpp │ │ │ └── test_main.cpp │ ├── aslam_splines_python │ │ ├── CMakeLists.txt │ │ ├── package.xml │ │ ├── python │ │ │ └── aslam_splines │ │ │ │ └── __init__.py │ │ ├── setup.py │ │ ├── src │ │ │ ├── BSplineMotionError.cpp │ │ │ ├── SimpleSplineError.cpp │ │ │ └── spline_module.cpp │ │ └── test │ │ │ ├── OptBSpline.py │ │ │ └── QuadraticIntegralError.py │ ├── bsplines │ │ ├── .gitignore │ │ ├── .texlipse │ │ ├── CMakeLists.txt │ │ ├── doc │ │ │ ├── doxygen.config.in │ │ │ ├── footer.html │ │ │ └── header.html │ │ ├── include │ │ │ └── bsplines │ │ │ │ ├── BSpline.hpp │ │ │ │ └── BSplinePose.hpp │ │ ├── interp_rotation │ │ │ ├── cummulativeTestPlots.py │ │ │ ├── cumulative.py │ │ │ ├── diffManifoldBSplines │ │ │ │ └── __init__.py │ │ │ ├── diffManifolds │ │ │ │ └── __init__.py │ │ │ ├── invariance.py │ │ │ ├── invariance2.py │ │ │ ├── jacobians.py │ │ │ ├── quaternions │ │ │ │ └── __init__.py │ │ │ ├── testManifoldBSplines.py │ │ │ ├── testThreeManifold.py │ │ │ └── threeManifoldVisual │ │ │ │ └── __init__.py │ │ ├── latex │ │ │ └── orientation │ │ │ │ ├── .gitignore │ │ │ │ ├── figs │ │ │ │ ├── asl.pdf │ │ │ │ ├── asl_black.pdf │ │ │ │ ├── asl_black_logo.pdf │ │ │ │ └── eth_logo_black.pdf │ │ │ │ ├── notation-math-defs.tex │ │ │ │ ├── orientation.tex │ │ │ │ └── thesis.bib │ │ ├── mainpage.dox │ │ ├── package.xml │ │ ├── src │ │ │ ├── BSpline.cpp │ │ │ ├── BSplinePose.cpp │ │ │ └── DiffManifoldBSpline.cpp │ │ └── test │ │ │ ├── BSplinePoseTests.cpp │ │ │ ├── DiffManifoldBSplineTests.cpp │ │ │ ├── DiffManifoldBSplineTests.hpp │ │ │ ├── EuclideanBSplineTests.cpp │ │ │ ├── NodeDistributedCacheTests.cpp │ │ │ ├── NumericIntegratorTests.cpp │ │ │ ├── RotationalKinematicsTests.cpp │ │ │ ├── SplineTests.cpp │ │ │ ├── UnitQuaternionBSplineTests.cpp │ │ │ └── test_main.cpp │ └── bsplines_python │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ ├── package.xml │ │ ├── python │ │ └── bsplines │ │ │ ├── __init__.py │ │ │ └── plotPoseSpline.py │ │ ├── setup.py │ │ ├── src │ │ ├── BSplinePosePython.cpp │ │ ├── BSplinePython.cpp │ │ └── SplinePython.cpp │ │ └── test │ │ ├── BSplinePoseTests.py │ │ ├── BSplineTests.py │ │ ├── DiffManifoldBSpline.py │ │ ├── DiffManifoldBSplineFittingExperiments.py │ │ ├── SplineTests.py │ │ └── UnitTests.py ├── aslam_offline_calibration │ ├── ethz_apriltag2 │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── apriltags │ │ │ │ ├── Edge.h │ │ │ │ ├── FloatImage.h │ │ │ │ ├── GLine2D.h │ │ │ │ ├── GLineSegment2D.h │ │ │ │ ├── Gaussian.h │ │ │ │ ├── GrayModel.h │ │ │ │ ├── Gridder.h │ │ │ │ ├── Homography33.h │ │ │ │ ├── MathUtil.h │ │ │ │ ├── Quad.h │ │ │ │ ├── Segment.h │ │ │ │ ├── Tag16h5.h │ │ │ │ ├── Tag16h5_other.h │ │ │ │ ├── Tag25h7.h │ │ │ │ ├── Tag25h9.h │ │ │ │ ├── Tag36h11.h │ │ │ │ ├── Tag36h11_other.h │ │ │ │ ├── Tag36h9.h │ │ │ │ ├── TagDetection.h │ │ │ │ ├── TagDetector.h │ │ │ │ ├── TagFamily.h │ │ │ │ ├── UnionFindSimple.h │ │ │ │ ├── XYWeight.h │ │ │ │ └── pch.h │ │ ├── package.xml │ │ └── src │ │ │ ├── Edge.cc │ │ │ ├── FloatImage.cc │ │ │ ├── GLine2D.cc │ │ │ ├── GLineSegment2D.cc │ │ │ ├── Gaussian.cc │ │ │ ├── GrayModel.cc │ │ │ ├── Homography33.cc │ │ │ ├── MathUtil.cc │ │ │ ├── Quad.cc │ │ │ ├── Segment.cc │ │ │ ├── TagDetection.cc │ │ │ ├── TagDetector.cc │ │ │ ├── TagFamily.cc │ │ │ ├── UnionFindSimple.cc │ │ │ └── example │ │ │ ├── CMakeLists.txt │ │ │ ├── Serial.cpp │ │ │ ├── Serial.h │ │ │ ├── apriltags_demo.cpp │ │ │ ├── arduino_tags │ │ │ └── arduino_tags.ino │ │ │ └── imu.cpp │ └── kalibr │ │ ├── CMakeLists.txt │ │ ├── include │ │ └── kalibr_errorterms │ │ │ ├── AccelerometerError.hpp │ │ │ ├── EuclideanError.hpp │ │ │ └── GyroscopeError.hpp │ │ ├── package.xml │ │ ├── python │ │ ├── exporters │ │ │ ├── auxiliary_files │ │ │ │ ├── aslam_footer.txt │ │ │ │ ├── msf_footer.txt │ │ │ │ ├── msf_header.txt │ │ │ │ ├── msf_mid.txt │ │ │ │ ├── rovio_footer.txt │ │ │ │ └── rovio_header.txt │ │ │ ├── kalibr_maplab_config │ │ │ ├── kalibr_msf_config │ │ │ ├── kalibr_okvis_config │ │ │ └── kalibr_rovio_config │ │ ├── kalibr_bagcreater │ │ ├── kalibr_bagextractor │ │ ├── kalibr_calibrate_cameras │ │ ├── kalibr_calibrate_imu_camera │ │ ├── kalibr_calibrate_rs_cameras │ │ ├── kalibr_camera_calibration │ │ │ ├── CameraCalibrator.py │ │ │ ├── CameraIntializers.py │ │ │ ├── MulticamGraph.py │ │ │ ├── ObsDb.py │ │ │ └── __init__.py │ │ ├── kalibr_camera_focus │ │ ├── kalibr_camera_validator │ │ ├── kalibr_common │ │ │ ├── ConfigReader.py │ │ │ ├── ImageDatasetReader.py │ │ │ ├── ImuDatasetReader.py │ │ │ ├── TargetExtractor.py │ │ │ └── __init__.py │ │ ├── kalibr_create_target_pdf │ │ ├── kalibr_errorterms │ │ │ └── __init__.py │ │ ├── kalibr_imu_camera_calibration │ │ │ ├── IccCalibrator.py │ │ │ ├── IccPlots.py │ │ │ ├── IccSensors.py │ │ │ ├── IccUtil.py │ │ │ └── __init__.py │ │ ├── kalibr_rs_camera_calibration │ │ │ ├── ReprojectionErrorKnotSequenceUpdateStrategy.py │ │ │ ├── RsCalibrator.py │ │ │ ├── RsPlot.py │ │ │ └── __init__.py │ │ ├── kalibr_visualize_calibration │ │ └── kalibr_visualize_distortion │ │ ├── setup.py │ │ ├── src │ │ ├── AccelerometerError.cpp │ │ ├── EuclideanError.cpp │ │ ├── GyroscopeError.cpp │ │ └── module.cpp │ │ └── test │ │ ├── TestErrorTerms.cpp │ │ └── test_main.cpp ├── aslam_optimizer │ ├── aslam_backend │ │ ├── BlockCholeskyLinearSystemSolver_conj.cpp │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── aslam │ │ │ │ ├── Exceptions.hpp │ │ │ │ └── backend │ │ │ │ ├── BlockCholeskyLinearSolverOptions.h │ │ │ │ ├── BlockCholeskyLinearSystemSolver.hpp │ │ │ │ ├── Cholmod.hpp │ │ │ │ ├── CompressedColumnJacobianTransposeBuilder.hpp │ │ │ │ ├── CompressedColumnMatrix.hpp │ │ │ │ ├── CompressedRowJacobianBuilder.hpp │ │ │ │ ├── DenseMatrix.hpp │ │ │ │ ├── DenseQRLinearSolverOptions.h │ │ │ │ ├── DenseQrLinearSystemSolver.hpp │ │ │ │ ├── DesignVariable.hpp │ │ │ │ ├── DesignVariableAdapter.hpp │ │ │ │ ├── DogLegTrustRegionPolicy.hpp │ │ │ │ ├── ErrorTerm.hpp │ │ │ │ ├── ErrorTermDs.hpp │ │ │ │ ├── GaussNewtonTrustRegionPolicy.hpp │ │ │ │ ├── JacobianBuilder.hpp │ │ │ │ ├── JacobianContainer.hpp │ │ │ │ ├── LevenbergMarquardtTrustRegionPolicy.hpp │ │ │ │ ├── LinearSystemSolver.hpp │ │ │ │ ├── MEstimatorPolicies.hpp │ │ │ │ ├── MarginalizationPriorErrorTerm.hpp │ │ │ │ ├── Marginalizer.hpp │ │ │ │ ├── Matrix.hpp │ │ │ │ ├── OptimizationProblem.hpp │ │ │ │ ├── OptimizationProblemBase.hpp │ │ │ │ ├── Optimizer.hpp │ │ │ │ ├── Optimizer2.hpp │ │ │ │ ├── Optimizer2.tpp │ │ │ │ ├── Optimizer2Options.hpp │ │ │ │ ├── OptimizerOptions.hpp │ │ │ │ ├── SimpleOptimizationProblem.hpp │ │ │ │ ├── SparseBlockMatrixWrapper.hpp │ │ │ │ ├── SparseCholeskyLinearSolverOptions.h │ │ │ │ ├── SparseCholeskyLinearSystemSolver.hpp │ │ │ │ ├── SparseQRLinearSolverOptions.h │ │ │ │ ├── SparseQrLinearSystemSolver.hpp │ │ │ │ ├── TrustRegionPolicy.hpp │ │ │ │ ├── backend.hpp │ │ │ │ ├── implementation │ │ │ │ ├── Cholmod.hpp │ │ │ │ ├── CompressedColumnJacobianTransposeBuilder.hpp │ │ │ │ ├── CompressedColumnMatrix.hpp │ │ │ │ ├── DesignVariableAdapter.hpp │ │ │ │ └── ErrorTerm.hpp │ │ │ │ ├── sparse_matrix_functions.hpp │ │ │ │ └── test │ │ │ │ └── ErrorTermTestHarness.hpp │ │ ├── mainpage.dox │ │ ├── notes.txt │ │ ├── package.xml │ │ ├── src │ │ │ ├── BlockCholeskyLinearSolverOptions.cpp │ │ │ ├── BlockCholeskyLinearSystemSolver.cpp │ │ │ ├── DenseMatrix.cpp │ │ │ ├── DenseQRLinearSolverOptions.cpp │ │ │ ├── DenseQrLinearSystemSolver.cpp │ │ │ ├── DesignVariable.cpp │ │ │ ├── DogLegTrustRegionPolicy.cpp │ │ │ ├── ErrorTerm.cpp │ │ │ ├── ErrorTermDs.cpp │ │ │ ├── GaussNewtonTrustRegionPolicy.cpp │ │ │ ├── JacobianBuilder.cpp │ │ │ ├── JacobianContainer.cpp │ │ │ ├── LevenbergMarquardtTrustRegionPolicy.cpp │ │ │ ├── LinearSystemSolver.cpp │ │ │ ├── MEstimatorPolicies.cpp │ │ │ ├── MarginalizationPriorErrorTerm.cpp │ │ │ ├── Marginalizer.cpp │ │ │ ├── Matrix.cpp │ │ │ ├── OptimizationProblem.cpp │ │ │ ├── OptimizationProblemBase.cpp │ │ │ ├── Optimizer.cpp │ │ │ ├── Optimizer2.cpp │ │ │ ├── QrSolution.hpp │ │ │ ├── SimpleOptimizationProblem.cpp │ │ │ ├── SparseBlockMatrixWrapper.cpp │ │ │ ├── SparseCholeskyLinearSolverOptions.cpp │ │ │ ├── SparseCholeskyLinearSystemSolver.cpp │ │ │ ├── SparseQRLinearSolverOptions.cpp │ │ │ ├── SparseQrLinearSystemSolver.cpp │ │ │ ├── TrustRegionPolicy.cpp │ │ │ └── sparse_matrix_functions.cpp │ │ └── test │ │ │ ├── CompressedColumnMatrixTest.cpp │ │ │ ├── DenseMatrixTest.cpp │ │ │ ├── DummyDesignVariable.hpp │ │ │ ├── ErrorTermTests.cpp │ │ │ ├── JacobianContainer.cpp │ │ │ ├── LinearSolverTests.cpp │ │ │ ├── MatrixTestHarness.cpp │ │ │ ├── MatrixTestHarness.hpp │ │ │ ├── SampleDvAndError.hpp │ │ │ ├── SparseMatrixTest.cpp │ │ │ ├── TestOptimizationProblem.cpp │ │ │ ├── TestOptimizer.cpp │ │ │ ├── test_main.cpp │ │ │ └── test_sparse_matrix_functions.cpp │ ├── aslam_backend_expressions │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── aslam │ │ │ │ └── backend │ │ │ │ ├── BasisMatrixFunctor.hpp │ │ │ │ ├── DesignVariableGenericVector.hpp │ │ │ │ ├── DesignVariableMappedVector.hpp │ │ │ │ ├── DesignVariableMinimalDifferenceExpression.hpp │ │ │ │ ├── DesignVariableUnitQuaternion.hpp │ │ │ │ ├── DesignVariableVector.hpp │ │ │ │ ├── Differential.hpp │ │ │ │ ├── ErrorTermEuclidean.hpp │ │ │ │ ├── ErrorTermTransformation.hpp │ │ │ │ ├── EuclideanDirection.hpp │ │ │ │ ├── EuclideanExpression.hpp │ │ │ │ ├── EuclideanExpressionNode.hpp │ │ │ │ ├── EuclideanPoint.hpp │ │ │ │ ├── ExpressionErrorTerm.hpp │ │ │ │ ├── FixedPointNumber.hpp │ │ │ │ ├── GenericMatrixExpression.hpp │ │ │ │ ├── GenericMatrixExpressionNode.hpp │ │ │ │ ├── GenericScalar.hpp │ │ │ │ ├── GenericScalarExpression.hpp │ │ │ │ ├── GenericScalarExpressionNode.hpp │ │ │ │ ├── HomogeneousExpression.hpp │ │ │ │ ├── HomogeneousExpressionNode.hpp │ │ │ │ ├── HomogeneousPoint.hpp │ │ │ │ ├── MapTransformation.hpp │ │ │ │ ├── MappedEuclideanPoint.hpp │ │ │ │ ├── MappedHomogeneousPoint.hpp │ │ │ │ ├── MappedRotationQuaternion.hpp │ │ │ │ ├── MatrixBasic.hpp │ │ │ │ ├── MatrixExpression.hpp │ │ │ │ ├── MatrixExpressionNode.hpp │ │ │ │ ├── MatrixTransformation.hpp │ │ │ │ ├── QuaternionExpression.hpp │ │ │ │ ├── RotationExpression.hpp │ │ │ │ ├── RotationExpressionNode.hpp │ │ │ │ ├── RotationQuaternion.hpp │ │ │ │ ├── Scalar.hpp │ │ │ │ ├── ScalarExpression.hpp │ │ │ │ ├── ScalarExpressionNode.hpp │ │ │ │ ├── TransformationBasic.hpp │ │ │ │ ├── TransformationExpression.hpp │ │ │ │ ├── TransformationExpressionNode.hpp │ │ │ │ ├── Vector2RotationQuaternionExpressionAdapter.hpp │ │ │ │ ├── VectorExpression.hpp │ │ │ │ ├── VectorExpressionNode.hpp │ │ │ │ ├── VectorExpressionToGenericMatrixTraits.hpp │ │ │ │ ├── implementation │ │ │ │ ├── DesignVariableMappedVector.hpp │ │ │ │ ├── DesignVariableVector.hpp │ │ │ │ ├── GenericMatrixExpression.hpp │ │ │ │ ├── GenericScalar.hpp │ │ │ │ ├── GenericScalarExpression.hpp │ │ │ │ ├── GenericScalarExpressionNode.hpp │ │ │ │ ├── QuaternionExpression.hpp │ │ │ │ ├── VectorExpression.hpp │ │ │ │ └── VectorExpressionNode.hpp │ │ │ │ └── test │ │ │ │ ├── DesignVariableTests.hpp │ │ │ │ ├── ExpressionTests.hpp │ │ │ │ ├── GenericScalarExpressionTests.hpp │ │ │ │ ├── RotationExpressionTests.hpp │ │ │ │ └── RotationQuaternionAsVectorExpressionNode.hpp │ │ ├── notes.txt │ │ ├── package.xml │ │ ├── src │ │ │ ├── ErrorTermEuclidean.cpp │ │ │ ├── ErrorTermTransformation.cpp │ │ │ ├── EuclideanDirection.cpp │ │ │ ├── EuclideanExpression.cpp │ │ │ ├── EuclideanExpressionNode.cpp │ │ │ ├── EuclideanPoint.cpp │ │ │ ├── HomogeneousExpression.cpp │ │ │ ├── HomogeneousExpressionNode.cpp │ │ │ ├── HomogeneousPoint.cpp │ │ │ ├── MapTransformation.cpp │ │ │ ├── MappedEuclideanPoint.cpp │ │ │ ├── MappedHomogeneousPoint.cpp │ │ │ ├── MappedRotationQuaternion.cpp │ │ │ ├── MatrixBasic.cpp │ │ │ ├── MatrixExpression.cpp │ │ │ ├── MatrixExpressionNode.cpp │ │ │ ├── MatrixTransformation.cpp │ │ │ ├── RotationExpression.cpp │ │ │ ├── RotationExpressionNode.cpp │ │ │ ├── RotationQuaternion.cpp │ │ │ ├── Scalar.cpp │ │ │ ├── ScalarExpression.cpp │ │ │ ├── ScalarExpressionNode.cpp │ │ │ ├── TransformationBasic.cpp │ │ │ ├── TransformationExpression.cpp │ │ │ ├── TransformationExpressionNode.cpp │ │ │ └── Vector2RotationQuaternionExpressionAdapter.cpp │ │ └── test │ │ │ ├── CameraDesignVariable.cpp │ │ │ ├── ErrorTest_Euclidean.cpp │ │ │ ├── ErrorTest_Transformation.cpp │ │ │ ├── FixedPointNumberTest.cpp │ │ │ ├── GenericMatrixExpression.cpp │ │ │ ├── GenericScalarExpressionTest.cpp │ │ │ ├── HomogeneousExpression.cpp │ │ │ ├── MatrixAndEuclideanExpression.cpp │ │ │ ├── QuaternionExpression.cpp │ │ │ ├── RotationExpression.cpp │ │ │ ├── ScalarExpression.cpp │ │ │ └── test_main.cpp │ ├── aslam_backend_python │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── aslam │ │ │ │ └── python │ │ │ │ ├── ExportAPrioriInformationError.hpp │ │ │ │ ├── ExportBackendExpressions.hpp │ │ │ │ ├── ExportDesignVariableAdapter.hpp │ │ │ │ └── ExportFrame.hpp │ │ ├── package.xml │ │ ├── python │ │ │ └── aslam_backend │ │ │ │ └── __init__.py │ │ ├── setup.py │ │ └── src │ │ │ ├── BSplineMotionError.cpp │ │ │ ├── Backend.cpp │ │ │ ├── BackendDesignVariables.cpp │ │ │ ├── BackendExpressions.cpp │ │ │ ├── CompressedColumnMatrix.cpp │ │ │ ├── Descriptors.cpp │ │ │ ├── DesignVariable.cpp │ │ │ ├── ErrorTerm.cpp │ │ │ ├── ErrorTermTransformation.cpp │ │ │ ├── Frontend.cpp │ │ │ ├── JacobianContainer.cpp │ │ │ ├── LinearSystemSolver.cpp │ │ │ ├── MEstimators.cpp │ │ │ ├── OptimizationProblem.cpp │ │ │ ├── Optimizer.cpp │ │ │ ├── OptimizerOptions.cpp │ │ │ ├── SparseBlockMatrix.cpp │ │ │ ├── Time.cpp │ │ │ ├── TrustRegionPolicies.cpp │ │ │ └── module.cpp │ └── sparse_block_matrix │ │ ├── CMakeLists.txt │ │ ├── include │ │ └── sparse_block_matrix │ │ │ ├── implementation │ │ │ ├── linear_solver_pcg.hpp │ │ │ ├── sparse_block_matrix.hpp │ │ │ └── sparse_helper.h │ │ │ ├── linear_solver.h │ │ │ ├── linear_solver_cholmod.h │ │ │ ├── linear_solver_csparse.h │ │ │ ├── linear_solver_dense.h │ │ │ ├── linear_solver_pcg.h │ │ │ ├── linear_solver_spqr.h │ │ │ ├── marginal_covariance_cholesky.h │ │ │ ├── matrix_structure.h │ │ │ ├── sparse_block_matrix.h │ │ │ └── sparse_helper.h │ │ ├── package.xml │ │ ├── src │ │ ├── marginal_covariance_cholesky.cpp │ │ ├── matrix_structure.cpp │ │ ├── solver_cholmod.cpp │ │ ├── solver_csparse.cpp │ │ ├── solver_dense.cpp │ │ ├── solver_pcg.cpp │ │ ├── sparse_block_matrix │ │ │ ├── .gitignore │ │ │ └── __init__.py │ │ └── sparse_helper.cpp │ │ └── test │ │ ├── sbm_gtest.hpp │ │ ├── solver_tests.cpp │ │ ├── sparse_block_matrix_tests.cpp │ │ └── test_main.cpp ├── catkin_simple │ ├── .gitignore │ ├── CMakeLists.txt │ ├── README.md │ ├── cmake │ │ └── catkin_simple-extras.cmake.em │ ├── package.xml │ └── test │ │ └── scenarios │ │ └── hello_world │ │ ├── .gitignore │ │ ├── bar │ │ ├── include │ │ │ └── bar │ │ │ │ └── hello.h │ │ ├── msg │ │ │ └── HeaderString.msg │ │ ├── package.xml │ │ └── src │ │ │ └── hello.cpp │ │ ├── baz │ │ ├── include │ │ │ └── baz │ │ │ │ └── world.h │ │ └── package.xml │ │ ├── catkin_simple │ │ └── foo │ │ ├── package.xml │ │ └── src │ │ └── main.cpp ├── opencv2_catkin │ ├── .gitignore │ ├── CMakeLists.txt │ ├── README.md │ ├── cmake │ │ └── opencv2-extras.cmake.in │ └── package.xml └── suitesparse │ ├── .gitignore │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── cmake │ └── suitesparse-extras.cmake.in │ ├── include │ └── README │ ├── package.xml │ └── src │ └── export_lib_hack.cc ├── nodelet_rosbag ├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── action │ ├── Record.action │ ├── Start.action │ ├── Stop.action │ └── Subscribe.action ├── config │ └── rosbag.yaml ├── include │ └── nodelet_rosbag │ │ └── nodelet_rosbag.h ├── nodelet_rosbag.launch ├── nodelet_rosbag.xml ├── package.xml └── src │ └── nodelet_rosbag.cpp ├── panda_moveit_config ├── .setup_assistant ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── config │ ├── chomp_planning.yaml │ ├── fake_controllers.yaml │ ├── hand.xacro │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── panda_arm.srdf.xacro │ ├── panda_arm.xacro │ ├── panda_arm_hand.srdf.xacro │ ├── panda_controllers.yaml │ ├── panda_gripper_controllers.yaml │ ├── sensors_kinect_depthmap.yaml │ ├── sensors_kinect_pointcloud.yaml │ └── stomp_planning.yaml ├── launch │ ├── chomp_planning_pipeline.launch.xml │ ├── default_warehouse_db.launch │ ├── demo.launch │ ├── demo_chomp.launch │ ├── fake_moveit_controller_manager.launch.xml │ ├── joystick_control.launch │ ├── move_group.launch │ ├── moveit.rviz │ ├── moveit_empty.rviz │ ├── moveit_rviz.launch │ ├── ompl_planning_pipeline.launch.xml │ ├── panda_control_moveit_rviz.launch │ ├── panda_gripper_moveit_controller_manager.launch.xml │ ├── panda_moveit.launch │ ├── panda_moveit_controller_manager.launch.xml │ ├── panda_moveit_sensor_manager.launch.xml │ ├── planning_context.launch │ ├── planning_pipeline.launch.xml │ ├── run_benchmark_ompl.launch │ ├── sensor_manager.launch.xml │ ├── setup_assistant.launch │ ├── 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