├── .clang-format ├── .gitignore ├── .gitmodules ├── .nojekyll ├── README.md ├── rmpcpp ├── CMakeLists.txt ├── Readme.md ├── docs │ ├── .buildinfo │ ├── .nojekyll │ ├── Doxyfile │ ├── Makefile │ ├── conf.py │ ├── index.rst │ └── requirements.txt ├── example.cc ├── include │ └── rmpcpp │ │ ├── core │ │ ├── geometry_base.h │ │ ├── policy_base.h │ │ ├── policy_value.h │ │ ├── space.h │ │ └── state.h │ │ ├── eval │ │ └── trapezoidal_integrator.h │ │ ├── geometry │ │ ├── cylindrical_geometry.h │ │ ├── linear_geometry.h │ │ └── rotated_geometry_3d.h │ │ ├── policies │ │ └── simple_target_policy.h │ │ └── util │ │ └── vector_range.h └── package.xml ├── rmpcpp_lidar_sim ├── CMakeLists.txt ├── launch │ └── mav.launch ├── package.xml ├── urdf │ ├── firefly_lidar.xacro │ └── ouster_lidar.xacro └── worlds │ ├── leevicon.world │ └── trees.world ├── rmpcpp_planner ├── .gitignore ├── CMakeLists.txt ├── cfg │ └── LidarPlanner.cfg ├── eval │ └── run_statistics.py ├── include │ ├── rmpcpp_planner │ │ ├── core │ │ │ ├── parameters.h │ │ │ ├── planner_base.h │ │ │ ├── planner_rmp.h │ │ │ ├── trajectory_rmp.h │ │ │ ├── world.h │ │ │ └── world_rmp.h │ │ ├── node │ │ │ └── lidar_cloud_node.h │ │ └── policies │ │ │ ├── lidarray_CUDA.h │ │ │ ├── misc.cuh │ │ │ ├── raycasting_CUDA.h │ │ │ ├── simple_ESDF.h │ │ │ └── world_policy_base.h │ └── testing │ │ ├── parser.h │ │ ├── settings.h │ │ ├── statistics.h │ │ ├── tester.h │ │ └── worldgen.h ├── launch │ ├── planner.launch │ └── planner_sim.launch ├── package.xml ├── src │ ├── core │ │ ├── planner_rmp.cc │ │ ├── trajectory_rmp.cc │ │ ├── world.cc │ │ └── world_rmp.cc │ ├── node │ │ └── lidar_cloud_node.cc │ ├── policies │ │ ├── lidarray_CUDA.cu │ │ ├── raycasting_CUDA.cu │ │ └── simple_ESDF.cc │ └── testing │ │ ├── parser.cc │ │ ├── tester.cc │ │ └── worldgen.cc └── tests │ └── run_test.cc └── rmpcpp_ros ├── CMakeLists.txt ├── include └── rmpcpp_ros │ ├── arrow_renderer.h │ ├── color_map.h │ └── rmp_field_marker_publisher.h ├── package.xml 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