├── README.md ├── koptplanner ├── CMakeLists.txt ├── bigBenParam.yaml ├── data │ └── report.log ├── doc │ ├── BigBen.png │ ├── BigBenRviz.png │ ├── FoV.png │ ├── HoaHakanaia.png │ ├── HoaHakanaiaRviz.png │ ├── boundingBox.png │ ├── distIncidence.png │ ├── fSpeed.png │ ├── rSpeed.png │ ├── solarPlantFig.png │ └── solarPlantRviz.png ├── hoaHakanaiaParam.yaml ├── include │ ├── LKH-2.0.7 │ │ ├── DOC │ │ │ ├── LKH-2_PARAMETERS.pdf │ │ │ ├── LKH-2_USER_GUIDE.pdf │ │ │ ├── LKH_REPORT.pdf │ │ │ └── TSPLIB_DOC.pdf │ │ ├── Makefile │ │ ├── README │ │ ├── SRC │ │ │ ├── Activate.c │ │ │ ├── AddCandidate.c │ │ │ ├── AddExtraCandidates.c │ │ │ ├── AddTourCandidates.c │ │ │ ├── AdjustCandidateSet.c │ │ │ ├── AllocateStructures.c │ │ │ ├── Ascent.c │ │ │ ├── Best2OptMove.c │ │ │ ├── Best3OptMove.c │ │ │ ├── Best4OptMove.c │ │ │ ├── Best5OptMove.c │ │ │ ├── BestKOptMove.c │ │ │ ├── Between.c │ │ │ ├── Between_SL.c │ │ │ ├── Between_SSL.c │ │ │ ├── BridgeGain.c │ │ │ ├── BuildKDTree.c │ │ │ ├── C.c │ │ │ ├── CandidateReport.c │ │ │ ├── ChooseInitialTour.c │ │ │ ├── Connect.c │ │ │ ├── CreateCandidateSet.c │ │ │ ├── CreateDelaunayCandidateSet.c │ │ │ ├── CreateQuadrantCandidateSet.c │ │ │ ├── Delaunay.c │ │ │ ├── Distance.c │ │ │ ├── Distance_SPECIAL.c │ │ │ ├── ERXT.c │ │ │ ├── Excludable.c │ │ │ ├── Exclude.c │ │ │ ├── FindTour.c │ │ │ ├── Flip.c │ │ │ ├── Flip_SL.c │ │ │ ├── Flip_SSL.c │ │ │ ├── Forbidden.c │ │ │ ├── FreeStructures.c │ │ │ ├── Gain23.c │ │ │ ├── GenerateCandidates.c │ │ │ ├── Genetic.c │ │ │ ├── GeoConversion.c │ │ │ ├── GetTime.c │ │ │ ├── GreedyTour.c │ │ │ ├── Hashing.c │ │ │ ├── Heap.c │ │ │ ├── INCLUDE │ │ │ │ ├── Delaunay.h │ │ │ │ ├── GainType.h │ │ │ │ ├── Genetic.h │ │ │ │ ├── GeoConversion.h │ │ │ │ ├── Hashing.h │ │ │ │ ├── Heap.h │ │ │ │ ├── LKH.h │ │ │ │ ├── Segment.h │ │ │ │ └── Sequence.h │ │ │ ├── IsCandidate.c │ │ │ ├── IsCommonEdge.c │ │ │ ├── IsPossibleCandidate.c │ │ │ ├── KSwapKick.c │ │ │ ├── LKHmain.c │ │ │ ├── LinKernighan.c │ │ │ ├── Make2OptMove.c │ │ │ ├── Make3OptMove.c │ │ │ ├── Make4OptMove.c │ │ │ ├── Make5OptMove.c │ │ │ ├── MakeKOptMove.c │ │ │ ├── Makefile │ │ │ ├── MergeBetterTourWithBestTour.c │ │ │ ├── MergeWithTour.c │ │ │ ├── Minimum1TreeCost.c │ │ │ ├── MinimumSpanningTree.c │ │ │ ├── NormalizeNodeList.c │ │ │ ├── NormalizeSegmentList.c │ │ │ ├── OrderCandidateSet.c │ │ │ ├── PatchCycles.c │ │ │ ├── PrintParameters.c │ │ │ ├── Random.c │ │ │ ├── ReadCandidates.c │ │ │ ├── ReadLine.c │ │ │ ├── ReadParameters.c │ │ │ ├── ReadParametersInsp.c │ │ │ ├── ReadPenalties.c │ │ │ ├── ReadProblem.c │ │ │ ├── ReadProblemInsp.c │ │ │ ├── RecordBestTour.c │ │ │ ├── RecordBetterTour.c │ │ │ ├── RemoveFirstActive.c │ │ │ ├── ResetCandidateSet.c │ │ │ ├── RestoreTour.c │ │ │ ├── SFCTour.c │ │ │ ├── SegmentSize.c │ │ │ ├── Sequence.c │ │ │ ├── SolveCompressedSubproblem.c │ │ │ ├── SolveDelaunaySubproblems.c │ │ │ ├── SolveKCenterSubproblems.c │ │ │ ├── SolveKMeansSubproblems.c │ │ │ ├── SolveKarpSubproblems.c │ │ │ ├── SolveRoheSubproblems.c │ │ │ ├── SolveSFCSubproblems.c │ │ │ ├── SolveSubproblem.c │ │ │ ├── SolveSubproblemBorderProblems.c │ │ │ ├── SolveTourSegmentSubproblems.c │ │ │ ├── Statistics.c │ │ │ ├── StoreTour.c │ │ │ ├── SymmetrizeCandidateSet.c │ │ │ ├── TrimCandidateSet.c │ │ │ ├── WriteCandidates.c │ │ │ ├── WritePenalties.c │ │ │ ├── WriteTour.c │ │ │ ├── eprintf.c │ │ │ ├── fscanint.c │ │ │ ├── printff.c │ │ │ └── qsort.c │ │ ├── pr2392.par │ │ └── pr2392.tsp │ ├── koptplanner │ │ ├── FixedWing.h │ │ ├── FixedWing.hpp │ │ ├── Rotorcraft.h │ │ ├── Rotorcraft.hpp │ │ ├── TriangleObject.h │ │ ├── TriangleObject.hpp │ │ ├── plan.hpp │ │ └── ptpPlanner.hpp │ └── planner_rrts │ │ ├── kdtree.c │ │ ├── kdtree.h │ │ ├── rrts.h │ │ ├── rrts.hpp │ │ ├── system_holonomic.h │ │ └── system_holonomic.hpp ├── koptParam.yaml ├── launch │ ├── bigBen.launch │ ├── hoaHakanaia.launch │ ├── kopt.launch │ └── solarPlant.launch ├── lookupTable │ ├── lookupTable10x10.txt │ └── lookupTable50x50.txt ├── package.xml ├── solarPlantParam.yaml ├── src │ ├── FixedWing.cpp │ ├── Rotorcraft.cpp │ ├── plan.cpp │ ├── ptpPlanner.cpp │ └── system_holonomic.cpp └── srv │ └── inspection.srv ├── optec ├── AUTHORS ├── AUTHORS.txt ├── CMakeLists.txt ├── INSTALL ├── INSTALL.txt ├── LICENSE ├── LICENSE.txt ├── Makefile ├── README ├── README.txt ├── VERSIONS ├── VERSIONS.txt ├── doc │ ├── DoxygenLayout.xml │ ├── Makefile │ ├── doxygen.config │ ├── mainpage.dox │ └── manual.pdf ├── examples │ ├── Makefile │ ├── example1.cpp │ ├── example1a.cpp │ ├── example1b.cpp │ ├── example2.cpp │ ├── example3.cpp │ ├── example3b.cpp │ ├── example4.cpp │ ├── example4CP.cpp │ ├── example5.cpp │ ├── exampleLP.cpp │ └── qrecipe.cpp ├── include │ └── optec │ │ ├── Bounds.hpp │ │ ├── Bounds.ipp │ │ ├── Constants.hpp │ │ ├── ConstraintProduct.hpp │ │ ├── Constraints.hpp │ │ ├── Constraints.ipp │ │ ├── Flipper.hpp │ │ ├── Indexlist.hpp │ │ ├── Indexlist.ipp │ │ ├── Matrices.hpp │ │ ├── MessageHandling.hpp │ │ ├── MessageHandling.ipp │ │ ├── Options.hpp │ │ ├── QProblem.hpp │ │ ├── QProblem.ipp │ │ ├── QProblemB.hpp │ │ ├── QProblemB.ipp │ │ ├── SQProblem.hpp │ │ ├── SQProblem.ipp │ │ ├── SubjectTo.hpp │ │ ├── SubjectTo.ipp │ │ ├── Types.hpp │ │ ├── UnitTesting.hpp │ │ ├── Utils.hpp │ │ ├── Utils.ipp │ │ ├── extras │ │ ├── OQPinterface.hpp │ │ ├── SolutionAnalysis.hpp │ │ └── SolutionAnalysis.ipp │ │ └── qpOASES.hpp ├── interfaces │ ├── CUTEst │ │ ├── Makefile │ │ ├── makeprob │ │ ├── qpoasesCutest.cpp │ │ └── readme.txt │ ├── matlab │ │ ├── CUTEr │ │ │ ├── comparison_cuter.m │ │ │ ├── cplexlink122.c │ │ │ ├── cuter_init_problem.m │ │ │ ├── cuter_performance_graph.m │ │ │ ├── cuter_problems.m │ │ │ ├── load_cuter.m │ │ │ ├── qpresidual.m │ │ │ ├── readme.txt │ │ │ ├── test_QAP8.m │ │ │ ├── test_cuter.m │ │ │ └── test_ncvx.m │ │ ├── Makefile │ │ ├── example1.mat │ │ ├── example1a.mat │ │ ├── example1b.mat │ │ ├── make.m │ │ ├── qpOASES.cpp │ │ ├── qpOASES.m │ │ ├── qpOASES_matlab_utils.cpp │ │ ├── qpOASES_options.m │ │ ├── qpOASES_sequence.cpp │ │ └── qpOASES_sequence.m │ ├── octave │ │ ├── clean │ │ ├── clean.sh │ │ ├── example1.mat │ │ ├── example1a.mat │ │ ├── example1b.mat │ │ ├── make.m │ │ ├── qpOASES.cpp │ │ ├── qpOASES.m │ │ ├── qpOASES_octave_utils.cpp │ │ ├── qpOASES_options.m │ │ ├── qpOASES_sequence.cpp │ │ └── qpOASES_sequence.m │ ├── python │ │ ├── README.rst │ │ ├── examples │ │ │ ├── cython │ │ │ │ ├── example1.pyx │ │ │ │ └── setup.py │ │ │ ├── example1.py │ │ │ ├── example1b.py │ │ │ └── example2.py │ │ ├── qpoases.pxd │ │ ├── qpoases.pyx │ │ ├── setup.py │ │ └── tests │ │ │ ├── __init__.py │ │ │ ├── test_examples.py │ │ │ ├── test_idhessian.py │ │ │ └── test_testbench.py │ ├── scilab │ │ ├── Makefile │ │ ├── example1.dat │ │ ├── example1a.dat │ │ ├── example1b.dat │ │ ├── qpOASESinterface.c │ │ ├── qpOASESinterface.sce │ │ └── qpOASESroutines.cpp │ └── simulink │ │ ├── example_QProblem.mdl │ │ ├── example_QProblemB.mdl │ │ ├── example_SQProblem.mdl │ │ ├── load_example_QProblem.m │ │ ├── load_example_QProblemB.m │ │ ├── load_example_SQProblem.m │ │ ├── make.m │ │ ├── qpOASES_QProblem.cpp │ │ ├── qpOASES_QProblemB.cpp │ │ └── qpOASES_SQProblem.cpp ├── make.mk ├── make_cygwin.mk ├── make_linux.mk ├── make_osx.mk ├── make_windows.mk ├── package.xml └── src │ ├── BLASReplacement.cpp │ ├── Bounds.cpp │ ├── Constraints.cpp │ ├── Flipper.cpp │ ├── Indexlist.cpp │ ├── LAPACKReplacement.cpp │ ├── Makefile │ ├── Matrices.cpp │ ├── MessageHandling.cpp │ ├── OQPinterface.cpp │ ├── Options.cpp │ ├── QProblem.cpp │ ├── QProblemB.cpp │ ├── SQProblem.cpp │ ├── SolutionAnalysis.cpp │ ├── SubjectTo.cpp │ └── Utils.cpp ├── request ├── CMakeLists.txt ├── meshes │ ├── BigBen.stl │ ├── hoa_hakanaia.stl │ ├── regularPlanes │ │ └── rPlane.stl │ └── solarPlant.stl ├── package.xml ├── src │ ├── bigBen.cpp │ ├── hoaHakanaia.cpp │ ├── requester.cpp │ └── solarPlant.cpp └── visualization │ └── inspectionPathVisualization.m └── utils ├── ExportToDJI ├── 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