├── .gitignore ├── .gitmodules ├── README.md ├── coppeliasim_simulation ├── dynamics.ttt ├── kinematics.ttt └── urdf_from_coppelia │ ├── differential_drive.urdf │ └── differential_drive_Hokuyo_URG_04LX_UG01_body__70__.dae ├── installation ├── conda │ └── mamba_environment.yml └── docker_file │ ├── integrated_gpu │ └── dockerfile │ ├── nvidia │ └── dockerfile │ └── nvidia_cuda │ └── dockerfile ├── python_scripts ├── controllers │ ├── acados │ │ ├── acados_model.py │ │ ├── acados_nmpc.py │ │ └── test.py │ ├── approximate_linearization.py │ ├── casadi_nmpc.py │ ├── crocoddyl │ │ ├── test_model_cpp.py │ │ ├── test_model_num_diff.py │ │ └── test_model_python.py │ ├── dynamic_linearization.py │ ├── ilqr.py │ ├── io_linearization.py │ ├── io_linearization_mpc.py │ ├── nonlinear_lyapunov.py │ └── predictive_sampling.py ├── maps │ └── map.pgm ├── path_utilities.py ├── planners │ ├── grid_based │ │ ├── a_star.py │ │ ├── breadth_first_search.py │ │ ├── djikstra.py │ │ └── greedy_best_first_search.py │ └── sampling_based │ │ ├── rrt.py │ │ ├── rrt_primitives.py │ │ └── rrt_star.py ├── robot_model.py └── test │ ├── test_controllers.py │ ├── test_planning_time.py │ └── test_single_planner.py └── ros2_ws └── src ├── controllers ├── controllers │ ├── __init__.py │ ├── base_controller.py │ └── run_controllers.py ├── package.xml ├── resource │ └── controllers ├── setup.cfg ├── setup.py └── test │ ├── test_copyright.py │ ├── test_flake8.py │ └── test_pep257.py ├── driver_motor ├── CMakeLists.txt ├── COLCON_IGNORE ├── Findpigpio.cmake ├── include │ ├── rotary_encoder.cpp │ └── rotary_encoder.hpp ├── package.xml ├── src │ ├── motor.cpp │ └── test.cpp └── test │ └── dc_motor_l298N │ ├── CMakeLists.txt │ ├── Findpigpio.cmake │ ├── build │ ├── CMakeCache.txt │ ├── CMakeFiles │ │ ├── 3.10.2 │ │ │ ├── CMakeCCompiler.cmake │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ ├── CMakeSystem.cmake │ │ │ ├── CompilerIdC │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ └── a.out │ │ │ └── CompilerIdCXX │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ └── a.out │ │ ├── CMakeDirectoryInformation.cmake │ │ ├── CMakeOutput.log │ │ ├── Makefile.cmake │ │ ├── Makefile2 │ │ ├── TargetDirectories.txt │ │ ├── cmake.check_cache │ │ ├── dc_motor.dir │ │ │ ├── CXX.includecache │ │ │ ├── DependInfo.cmake │ │ │ ├── build.make │ │ │ ├── cmake_clean.cmake │ │ │ ├── depend.internal │ │ │ ├── depend.make │ │ │ ├── flags.make │ │ │ ├── link.txt │ │ │ ├── progress.make │ │ │ ├── rotary_encoder.cpp.o │ │ │ └── test.cpp.o │ │ ├── feature_tests.bin │ │ ├── feature_tests.c │ │ ├── feature_tests.cxx │ │ └── progress.marks │ ├── Makefile │ ├── cmake_install.cmake │ ├── data_log.txt │ └── dc_motor │ ├── rotary_encoder.cpp │ ├── rotary_encoder.hpp │ └── test.cpp ├── planners ├── package.xml ├── planners │ ├── __init__.py │ └── run_planners.py ├── resource │ └── planners ├── setup.cfg ├── setup.py └── test │ ├── 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