├── .clang-format ├── .gitignore ├── LICENSE ├── README.md ├── install └── prepare-jenkins-slave.sh ├── polygon_coverage_benchmark ├── CMakeLists.txt ├── data │ └── coverage_results.txt ├── package.xml ├── python │ └── polygon_coverage_benchmark │ │ ├── __init__.py │ │ └── plot_results.py ├── scripts │ └── plot_results ├── setup.py └── test │ └── benchmark-test.cpp ├── polygon_coverage_geometry ├── CMakeLists.txt ├── README.md ├── include │ └── polygon_coverage_geometry │ │ ├── bcd.h │ │ ├── boolean.h │ │ ├── cgal_comm.h │ │ ├── cgal_definitions.h │ │ ├── decomposition.h │ │ ├── impl │ │ └── plane_transformation_impl.h │ │ ├── offset.h │ │ ├── plane_transformation.h │ │ ├── sweep.h │ │ ├── tcd.h │ │ ├── test_comm.h │ │ ├── triangulation.h │ │ ├── visibility_graph.h │ │ ├── visibility_polygon.h │ │ └── weakly_monotone.h ├── package.xml ├── src │ ├── bcd.cc │ ├── boolean.cc │ ├── cgal_comm.cc │ ├── decomposition.cc │ ├── offset.cc │ ├── sweep.cc │ ├── tcd.cc │ ├── triangulation.cc │ ├── visibility_graph.cc │ ├── visibility_polygon.cc │ └── weakly_monotone.cc └── test │ ├── bcd-test.cpp │ ├── cgal_comm-test.cpp │ ├── offset-test.cpp │ ├── sweep-test.cpp │ ├── visibility_graph-test.cpp │ └── visibility_polygon-test.cpp ├── polygon_coverage_msgs ├── CMakeLists.txt ├── include │ └── polygon_coverage_msgs │ │ ├── conversion.h │ │ └── msg_from_xml_rpc.h ├── msg │ ├── PolygonWithHoles.msg │ └── PolygonWithHolesStamped.msg ├── package.xml ├── src │ ├── conversion.cc │ └── msg_from_xml_rpc.cc └── srv │ ├── PlannerService.srv │ └── PolygonService.srv ├── polygon_coverage_planners ├── CMakeLists.txt ├── README.md ├── include │ └── polygon_coverage_planners │ │ ├── cost_functions │ │ └── path_cost_functions.h │ │ ├── graphs │ │ ├── gtspp_product_graph.h │ │ └── sweep_plan_graph.h │ │ ├── planners │ │ ├── polygon_stripmap_planner.h │ │ ├── polygon_stripmap_planner_exact.h │ │ └── polygon_stripmap_planner_exact_preprocessed.h │ │ ├── sensor_models │ │ ├── frustum.h │ │ ├── line.h │ │ └── sensor_model_base.h │ │ └── timing.h ├── package.xml ├── src │ ├── cost_functions │ │ └── path_cost_functions.cc │ ├── graphs │ │ ├── gtspp_product_graph.cc │ │ └── sweep_plan_graph.cc │ ├── planners │ │ ├── polygon_stripmap_planner.cc │ │ ├── polygon_stripmap_planner_exact.cc │ │ └── polygon_stripmap_planner_exact_preprocessed.cc │ └── timing.cc └── test │ └── planners-test.cpp ├── polygon_coverage_ros ├── CMakeLists.txt ├── README.md ├── cfg │ ├── coverage_planner.yaml │ ├── polygons │ │ ├── example_l.yaml │ │ ├── example_polygon_bcd_cell.yaml │ │ ├── example_polygon_epfl.yaml │ │ ├── example_polygon_epfl_simple.yaml │ │ ├── example_polygon_epfl_trivial.yaml │ │ ├── example_polygon_piombino.yaml │ │ └── example_rectangle_with_hole.yaml │ ├── rviz │ │ ├── coverage_planner.rviz │ │ ├── coverage_planner_satellite.rviz │ │ ├── home.gps │ │ ├── shortest_path.rviz │ │ └── sweep_test.rviz │ └── shortest_path_planner.yaml ├── images │ ├── coverage_euclidean.png │ ├── coverage_time.png │ ├── piombino_euclidean.png │ ├── piombino_time.png │ ├── shortest_euclidean.png │ ├── shortest_time.png │ └── sweep_distance.png ├── include │ └── polygon_coverage_ros │ │ ├── coverage_planner.h │ │ ├── polygon_planner_base.h │ │ ├── ros_interface.h │ │ └── shortest_path_planner.h ├── launch │ ├── coverage_planner.launch │ ├── coverage_planner_satellite.launch │ ├── shortest_path_planner.launch │ └── sweep_test.launch ├── package.xml ├── src │ ├── coverage_planner.cc │ ├── coverage_planner_exact_node.cc │ ├── coverage_planner_exact_preprocessed_node.cc │ ├── coverage_planner_node.cc │ ├── polygon_planner_base.cc │ ├── ros_interface.cc │ ├── shortest_path_planner.cc │ └── shortest_path_planner_node.cc └── test │ └── sweep_test_node.cc ├── polygon_coverage_solvers ├── CMakeLists.txt ├── README.md ├── include │ └── polygon_coverage_solvers │ │ ├── boolean_lattice.h │ │ ├── combinatorics.h │ │ ├── gk_ma.h │ │ ├── graph_base.h │ │ └── impl │ │ └── graph_base_impl.h ├── package.xml ├── patches │ ├── Algorithm.patch │ ├── ClusterOptimisationCpp.patch │ ├── ClusterOptimisationH.patch │ ├── Generation.patch │ ├── GeneticAlgorithm.patch │ ├── Helper.patch │ ├── ImprovementManagerH.patch │ ├── InsertCpp.patch │ ├── InsertH.patch │ ├── MakefileCpp │ ├── MakefileCs │ ├── NativeHelper.patch │ ├── NativeHelperCpp.patch │ ├── NativeHelperH.patch │ ├── OurSolver.patch │ ├── Permutation.patch │ ├── Program.patch │ ├── Solver.patch │ ├── SwapCpp.patch │ ├── Task.patch │ └── Tour.patch ├── src │ ├── boolean_lattice.cc │ ├── combinatorics.cc │ └── gk_ma.cc └── test │ ├── combinatorics-test.cpp │ └── gk_ma-test.cpp └── rviz_polygon_tool ├── CMakeLists.txt ├── icons └── classes │ └── PolygonSelection.svg ├── include └── rviz_polygon_tool │ └── polygon_tool.h ├── package.xml ├── plugin_description.xml └── src └── polygon_tool.cc /.clang-format: -------------------------------------------------------------------------------- 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