├── .github └── workflows │ ├── build_test.yml │ └── check_style.yml ├── .gitignore ├── LICENSE ├── Makefile ├── README.md ├── Tools ├── check_code_format.sh ├── fix_code_style.sh ├── run_tests.sh └── visualize_pathlength.py ├── dependencies.rosinstall ├── docker └── Dockerfile ├── mav_planning_rviz ├── CMakeLists.txt ├── Tools │ └── setup.bash ├── include │ └── mav_planning_rviz │ │ ├── edit_button.h │ │ ├── goal_marker.h │ │ ├── planning_panel.h │ │ └── pose_widget.h ├── launch │ └── run_rviz.launch ├── package.xml ├── plugin_description.xml └── src │ ├── edit_button.cpp │ ├── goal_marker.cpp │ ├── planning_panel.cpp │ ├── pose_widget.cpp │ └── standalone_test.cpp ├── output ├── dischma_valley.csv ├── dischma_valley_goal_benchmark.csv ├── dischma_valley_ompl_benchmark.log ├── gotthard.csv ├── gotthard_goal_benchmark.csv ├── gotthard_ompl_benchmark.log ├── sargans.csv ├── sargans_goal_benchmark.csv ├── sargans_ompl_benchmark.log └── timing.csv ├── planner_msgs ├── CMakeLists.txt ├── include │ └── dummy ├── msg │ ├── MctsInfo.msg │ ├── NavigationStatus.msg │ ├── Path.msg │ ├── PathSegment.msg │ └── TerrainInfo.msg ├── package.xml └── srv │ ├── SetPlannerState.srv │ ├── SetService.srv │ ├── SetString.srv │ └── SetVector3.srv ├── resources ├── believer.dae ├── davosdorf.tif ├── davosdorf.world └── davosdorf_color.tif ├── systemd ├── configure.sh ├── environment.conf ├── mavlink-router.service ├── mavlinkrouter.config ├── rosbag-record.service ├── run_controller.sh ├── run_record.sh ├── setup.bash └── terrain-planner.service ├── terrain_navigation ├── CMakeLists.txt ├── include │ └── terrain_navigation │ │ ├── data_logger.h │ │ ├── path.h │ │ ├── path_segment.h │ │ ├── primitive.h │ │ ├── profiler.h │ │ └── terrain_map.h ├── package.xml ├── src │ ├── data_logger.cpp │ ├── profiler.cpp │ └── terrain_map.cpp └── test │ ├── main.cpp │ ├── test_terrain_map.cpp │ └── test_trajectory.cpp ├── terrain_navigation_ros ├── CMakeLists.txt ├── cfg │ └── HeightRateTuning.cfg ├── cmake │ ├── CheckGeographicLibDatasets.cmake │ └── FindGeographicLib.cmake ├── include │ └── terrain_navigation_ros │ │ ├── geo_conversions.h │ │ ├── terrain_planner.h │ │ └── visualization.h ├── launch │ ├── config_visualize.rviz │ ├── run_coverage_benchmark.launch │ ├── run_planner.launch │ ├── run_rosbag.launch │ ├── test_terrain_planner.launch │ └── visualize_path.launch ├── package.xml └── src │ ├── geo_conversions.cpp │ ├── terrain_planner.cpp │ └── terrain_planner_node.cpp ├── terrain_planner ├── CMakeLists.txt ├── include │ └── terrain_planner │ │ ├── DubinsAirplane.hpp │ │ ├── DubinsPath.hpp │ │ ├── common.h │ │ ├── ompl_setup.h │ │ ├── planner.h │ │ ├── terrain_ompl.h │ │ └── terrain_ompl_rrt.h ├── launch │ ├── config.rviz │ ├── config_dfs.rviz │ ├── config_dubins.rviz │ ├── config_dubins_to_circle.rviz │ ├── config_ics.rviz │ ├── config_ifs.rviz │ ├── config_mcts.rviz │ ├── config_mcts_mapping.rviz │ ├── config_ompl.rviz │ ├── config_ompl_segments.rviz │ ├── config_surface.rviz │ ├── test_distance_surface.launch │ ├── test_ompl_dubins.launch │ ├── test_ompl_dubins_to_circle.launch │ └── test_ompl_rrt.launch ├── package.xml ├── src │ ├── DubinsAirplane.cpp │ ├── DubinsPath.cpp │ ├── terrain_ompl.cpp │ └── terrain_ompl_rrt.cpp └── test │ └── main.cpp └── terrain_planner_benchmark ├── CMakeLists.txt ├── Tools ├── analyze_flighttest.py ├── benchmark_circlegoal.yaml ├── benchmark_dubins_classification.py ├── benchmark_goalcoverage.yaml ├── ompl_benchmark_statistics.py ├── run_circlegoal_benchmark.sh ├── run_dubins_classification_benchmark.sh ├── run_ics_benchmark.sh ├── visualize_circlegoal_benchmark.py ├── visualize_dem.py ├── visualize_goal_coverage.py ├── visualize_ompl_benchmarks.py └── visualize_replanning.py ├── include └── terrain_planner_benchmark │ ├── rviz_replay.h │ └── terrain_planner_benchmark.h ├── launch ├── benchmark_replanning.launch ├── goaltype_benchmark.launch ├── ompl_benchmark.launch ├── replay.rviz ├── run_replay.launch 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