├── .clang-format ├── .gitignore ├── CMakeLists.txt ├── Doxyfile ├── LICENSE.txt ├── README.md ├── cfg └── VelocityBasedPositionControllerDynamic.cfg ├── cmake ├── FindEigen3.cmake ├── FindGCOP.cmake ├── FindGlog.cmake ├── FindTinyXML.cmake ├── LibFindMacros.cmake └── add_event_function.cmake ├── doxygen ├── code.css └── custom_footer.html ├── events ├── arm_events ├── mpc_events ├── pick_place_events ├── sensor_place_events ├── uav_arm_sysid_events ├── uav_basic_events └── visual_servoing_events ├── include └── aerial_autonomy │ ├── actions_guards │ ├── arm_functors.h │ ├── arm_states_actions.h │ ├── base_functors.h │ ├── exec_if.h │ ├── hovering_functors.h │ ├── land_functors.h │ ├── manual_control_functors.h │ ├── mpc_functors.h │ ├── mpc_states_actions.h │ ├── pick_place_functors.h │ ├── pick_place_states_actions.h │ ├── position_control_functors.h │ ├── sensor_place_functors.h │ ├── sensor_place_states_actions.h │ ├── shorting_action_sequence.h │ ├── takeoff_functors.h │ ├── uav_arm_functors.h │ ├── uav_arm_sysid_states_actions.h │ ├── uav_states_actions.h │ ├── velocity_control_functors.h │ ├── visual_servoing_functors.h │ └── visual_servoing_states_actions.h │ ├── common │ ├── async_timer.h │ ├── atomic.h │ ├── controller_status.h │ ├── conversions.h │ ├── file_utils.h │ ├── html_utils.h │ ├── iterable_enum.h │ ├── math.h │ ├── mpc_trajectory_visualizer.h │ ├── proto_utils.h │ ├── qrotor_backstepping_trajectory_visualizer.h │ ├── robot_system_container.h │ ├── string_utils.h │ ├── system_handler_node_utils.h │ ├── system_status_publisher.h │ ├── thread_safe_state_machine.h │ ├── type_map.h │ └── unordered_heterogeneous_map.h │ ├── controller_connectors │ ├── abstract_constraint_generator.h │ ├── abstract_control_selector.h │ ├── arm_sine_controller_connector.h │ ├── base_controller_connector.h │ ├── base_mpc_controller_quad_connector.h │ ├── base_relative_pose_visual_servoing_connector.h │ ├── basic_controller_connectors.h │ ├── builtin_pose_controller_arm_connector.h │ ├── builtin_velocity_controller_drone_connector.h │ ├── joystick_velocity_controller_drone_connector.h │ ├── manual_rpyt_controller_drone_connector.h │ ├── mpc_controller_airm_connector.h │ ├── mpc_controller_connector.h │ ├── mpc_controller_quad_connector.h │ ├── position_controller_drone_connector.h │ ├── qrotor_backstepping_controller_connector.h │ ├── relative_pose_visual_servoing_controller_drone_connector.h │ ├── rpyt_based_position_controller_drone_connector.h │ ├── rpyt_based_reference_connector.h │ ├── rpyt_relative_pose_visual_servoing_connector.h │ ├── velocity_based_position_controller_drone_connector.h │ ├── visual_servoing_controller_arm_connector.h │ ├── visual_servoing_controller_drone_connector.h │ └── visual_servoing_reference_connector.h │ ├── controllers │ ├── arm_sine_controller.h │ ├── base_controller.h │ ├── basic_controllers.h │ ├── builtin_controller.h │ ├── constant_heading_depth_controller.h │ ├── ddp_airm_mpc_controller.h │ ├── ddp_casadi_mpc_controller.h │ ├── ddp_quad_mpc_controller.h │ ├── joystick_velocity_controller.h │ ├── manual_rpyt_controller.h │ ├── mpc_controller.h │ ├── qrotor_backstepping_controller.h │ ├── quad_particle_reference_controller.h │ ├── quad_polynomial_reference_controller.h │ ├── relative_pose_controller.h │ ├── rpyt_based_position_controller.h │ ├── rpyt_based_reference_controller.h │ ├── rpyt_based_relative_pose_controller.h │ ├── rpyt_based_velocity_controller.h │ ├── velocity_based_position_controller.h │ └── velocity_based_relative_pose_controller.h │ ├── estimators │ ├── acceleration_bias_estimator.h │ ├── state_estimator.h │ ├── thrust_gain_estimator.h │ └── tracking_vector_estimator.h │ ├── filters │ ├── base_filter.h │ └── exponential_filter.h │ ├── log │ ├── data_stream.h │ ├── log.h │ └── mocap_logger.h │ ├── logic_states │ ├── base_state.h │ └── timed_state.h │ ├── robot_systems │ ├── arm_system.h │ ├── base_robot_system.h │ ├── uav_arm_system.h │ ├── uav_system.h │ └── uav_vision_system.h │ ├── sensors │ ├── base_sensor.h │ ├── flight_control_sensor.h │ ├── guidance.h │ ├── odometry_from_pose_sensor.h │ ├── pose_sensor.h │ └── velocity_sensor.h │ ├── state_machines │ ├── base_state_machine.h │ ├── joystick_state_machine.h │ ├── mpc_state_machine.h │ ├── pick_place_state_machine.h │ ├── sensor_place_state_machine.h │ ├── state_machine_gui_connector.h │ ├── uav_arm_sysid_state_machine.h │ ├── uav_state_machine.h │ └── visual_servoing_state_machine.h │ ├── system_handlers │ ├── common_system_handler.h │ ├── mpc_system_handler.h │ ├── uav_arm_system_handler.h │ ├── uav_system_handler.h │ └── uav_vision_system_handler.h │ ├── tests │ ├── ddp_airm_mpc_connector_tests.h │ ├── qrotor_backstepping_controller_connector_tests.h │ ├── sample_logic_state_machine.h │ ├── sample_parser.h │ ├── sample_robot_system.h │ └── test_utils.h │ ├── trackers │ ├── alvar_tracker.h │ ├── base_tracker.h │ ├── closest_tracking_strategy.h │ ├── id_tracking_strategy.h │ ├── roi_base_tracker.h │ ├── roi_to_plane_converter.h │ ├── roi_to_position_converter.h │ ├── simple_multi_tracker.h │ ├── simple_tracker.h │ ├── simple_tracking_strategy.h │ ├── simulated_ros_tracker.h │ └── tracking_strategy.h │ └── types │ ├── acceleration.h │ ├── arm_state.h │ ├── completed_event.h │ ├── constraint.h │ ├── controller_groups.h │ ├── discrete_reference_trajectory.h │ ├── discrete_reference_trajectory_closest.h │ ├── discrete_reference_trajectory_interpolate.h │ ├── empty_goal.h │ ├── empty_sensor.h │ ├── internal_transition_event.h │ ├── jerk.h │ ├── joystick.h │ ├── manual_control_event.h │ ├── minimum_snap_reference_trajectory.h │ ├── mpc_inputs.h │ ├── object_id.h │ ├── particle_reference_trajectory.h │ ├── particle_state.h │ ├── polynomial_reference_trajectory.h │ ├── position.h │ ├── position_yaw.h │ ├── qrotor_backstepping_control.h │ ├── qrotor_backstepping_state.h │ ├── quad_particle_reference_trajectory.h │ ├── quad_state.h │ ├── reference_trajectory.h │ ├── reset_event.h │ ├── roll_pitch_yaw_thrust.h │ ├── roll_pitch_yawrate_thrust.h │ ├── sensor_status.h │ ├── snap.h │ ├── spiral_reference_trajectory.h │ ├── velocity.h │ ├── velocity_yaw.h │ ├── velocity_yaw_rate.h │ └── waypoint.h ├── launch ├── aerial_autonomy_perspective.perspective ├── manual_rpyt_joy_matrice.launch ├── manual_rpyt_joy_simulator.launch ├── matrice.launch ├── matrice_pick_place_alvar.launch ├── matrice_sensor_place_alvar.launch ├── matrice_sensor_place_duo.launch ├── matrice_sensor_place_guidance.launch ├── matrice_sensor_place_realsense.launch ├── matrice_visual_servoing_alvar.launch ├── matrice_visual_servoing_roi.launch ├── mpc_control_tuner.launch ├── mpc_matrice_arm_simulator.launch ├── mpc_matrice_simple_arm.launch ├── mpc_simulator.launch ├── pick_place_simulator.launch ├── qrotor_backstepping_controller_tuner.launch ├── quad_mpc_control_tuner.launch ├── remote.launch ├── remote_rqt_aerial_autonomy.launch ├── s1000.launch ├── simulator.launch ├── simulator_rqt_aerial_autonomy.launch ├── uav_arm_sysid.launch └── visual_servoing_simulator.launch ├── logs └── .gitignore ├── markdown ├── background.md ├── class_groups.md ├── creating_autonomy_application.md └── state_machine.png ├── msg └── VelocityYaw.msg ├── neural_network_model_data └── tensorflow_model_vars_16_8_tanh │ ├── joint_gains_kd_0 │ ├── joint_gains_kp_0 │ ├── residual_dynamics_dense_0_residual_dynamics_beta_0 │ ├── residual_dynamics_dense_0_residual_dynamics_gamma_0 │ ├── residual_dynamics_dense_0_residual_dynamics_moving_mean_0 │ ├── residual_dynamics_dense_0_residual_dynamics_moving_variance_0 │ ├── residual_dynamics_dense_0_weights_0 │ ├── residual_dynamics_dense_1_residual_dynamics_beta_0 │ ├── residual_dynamics_dense_1_residual_dynamics_gamma_0 │ ├── residual_dynamics_dense_1_residual_dynamics_moving_mean_0 │ ├── residual_dynamics_dense_1_residual_dynamics_moving_variance_0 │ ├── residual_dynamics_dense_1_weights_0 │ ├── residual_dynamics_dense_final_biases_0 │ ├── residual_dynamics_dense_final_weights_0 │ ├── rpy_gains_kd_0 │ └── rpy_gains_kp_0 ├── package.xml ├── param ├── arm_sine_reference_config.pbtxt ├── base_state_machine_config.pbtxt ├── log_config.pbtxt.in ├── matrice_airm_mpc_config.pbtxt ├── matrice_airm_mpc_simulator_config.pbtxt ├── matrice_airm_mpc_simulator_state_machine_config.pbtxt ├── matrice_config.pbtxt ├── matrice_hil_pick_place_alvar_pointgrey_config.pbtxt ├── matrice_hil_sensor_place_alvar_pointgrey_config.pbtxt ├── matrice_hil_uav_arm_sysid_config.pbtxt ├── matrice_pick_place_alvar_pointgrey_config.pbtxt ├── matrice_sensor_place_alvar_pointgrey_config.pbtxt ├── matrice_sensor_place_duo_config.pbtxt ├── matrice_sensor_place_guidance_config.pbtxt ├── matrice_sensor_place_realsense_config.pbtxt ├── matrice_uav_arm_sysid_config.pbtxt ├── matrice_visual_servoing_config.pbtxt ├── matrice_visual_servoing_config_hil_pointgrey.pbtxt ├── matrice_visual_servoing_config_pointgrey.pbtxt ├── mpc_controller_config.pbtxt ├── particle_reference_config.pbtxt ├── pick_place_simulator_config.pbtxt ├── pick_place_state_machine_config.pbtxt ├── pick_place_state_machine_simulator_config.pbtxt ├── qrotor_backstepping_controller_config.pbtxt ├── quad_mpc_controller_config.pbtxt ├── sensor_place_state_machine_config.pbtxt ├── simulator_config.pbtxt ├── spiral_reference_config.pbtxt ├── visual_servoing_simulator_config.pbtxt └── visual_servoing_state_machine_config.pbtxt ├── plugin.xml ├── proto ├── acceleration_bias_estimator_config.proto ├── airm_mpc_controller_config.proto ├── arm_sine_controller_config.proto ├── arm_system_config.proto ├── base_state_machine_config.proto ├── common_system_handler_config.proto ├── constant_heading_depth_controller_config.proto ├── data_stream_config.proto ├── ddp_mpc_controller_config.proto ├── following_waypoint_sequence_config.proto ├── grip_config.proto ├── joystick_velocity_controller_config.proto ├── log_config.proto ├── mpc_connector_config.proto ├── mpc_state_machine_config.proto ├── mpc_visualizer_config.proto ├── odom_from_pose_sensor_config.proto ├── particle_reference_config.proto ├── pick_place_state_machine_config.proto ├── place_group.proto ├── polynomial_reference_config.proto ├── pose_controller_config.proto ├── position.proto ├── position_controller_config.proto ├── position_yaw.proto ├── qrotor_backstepping_controller_config.proto ├── quad_mpc_controller_config.proto ├── ros_sensor_config.proto ├── rotation.proto ├── rpyt_based_position_controller_config.proto ├── rpyt_based_relative_pose_controller_config.proto ├── rpyt_based_velocity_controller_config.proto ├── rpyt_reference_connector_config.proto ├── sensor_place_state_machine_config.proto ├── spiral_reference_trajectory_config.proto ├── thrust_gain_estimator_config.proto ├── tracking_vector_estimator_config.proto ├── transform.proto ├── uav_arm_system_config.proto ├── uav_arm_system_handler_config.proto ├── uav_state_machine_config.proto ├── uav_system_config.proto ├── uav_system_handler_config.proto ├── uav_vision_system_config.proto ├── velocity.proto ├── velocity_based_position_controller_config.proto ├── velocity_based_relative_pose_controller_config.proto ├── velocity_controller_config.proto └── visual_servoing_state_machine_config.proto ├── rviz └── quad_sim.rviz ├── scripts ├── analysis │ ├── acceleration_analysis.py │ ├── compare_mpc_trajectories.py │ ├── find_average_error.py │ ├── find_rms_error_pick_place_rpyt_ref.py │ ├── plot_arm_data.py │ ├── plot_data_file.py │ ├── plot_mocap_joystick_arm_data.py │ ├── plot_mocap_joystick_data.py │ ├── plot_mpc_trajectories.py │ ├── plot_poly_data.py │ ├── plot_qrotor_backstepping_controller.py │ ├── plot_quad_data.py │ ├── plot_rpyt_based_velocity_controller_data.py │ ├── plot_rpyt_reference_controller_data.py │ ├── plot_rpyt_relative_pose_visual_servoing.py │ ├── plot_thrust_gain_estimator.py │ ├── plot_tracking_vector_estimator_stats.py │ ├── plot_tracking_vector_noise.py │ ├── plot_velocity_based_position_controller_data.py │ ├── rpy_bias_estimator.py │ ├── set_axes_equal.py │ ├── split_data_pick_trials.py │ └── test_exponential_filter.py ├── applydocs.bash ├── calib │ ├── arm_camera_calib.m │ └── mat2rpy.m ├── clang_format_file.bash ├── generate_documentation_coverage.bash ├── generate_dot_files.py.in ├── generate_event_file.py ├── generate_test_coverage.bash.in ├── rqt_aerial_autonomy_gui ├── setup │ ├── hooks │ │ ├── pre-commit │ │ └── pre-push │ └── setup.sh └── test_coverage.py ├── setup.py ├── src ├── aerial_autonomy │ ├── __init__.py │ ├── aerial_autonomy_gui.py │ └── ros_event_trigger.py ├── common │ ├── async_timer.cpp │ ├── controller_status.cpp │ ├── conversions.cpp │ ├── math.cpp │ ├── mpc_trajectory_visualizer.cpp │ ├── string_utils.cpp │ └── system_handler_node_utils.cpp ├── controller_connectors │ ├── arm_sine_controller_connector.cpp │ ├── base_mpc_controller_quad_connector.cpp │ ├── base_relative_pose_visual_servoing_connector.cpp │ ├── builtin_pose_controller_arm_connector.cpp │ ├── builtin_velocity_controller_drone_connector.cpp │ ├── joystick_velocity_controller_drone_connector.cpp │ ├── manual_rpyt_controller_drone_connector.cpp │ ├── mpc_controller_airm_connector.cpp │ ├── mpc_controller_quad_connector.cpp │ ├── position_controller_drone_connector.cpp │ ├── qrotor_backstepping_controller_connector.cpp │ ├── relative_pose_visual_servoing_controller_drone_connector.cpp │ ├── rpyt_based_position_controller_drone_connector.cpp │ ├── rpyt_based_reference_connector.cpp │ ├── rpyt_relative_pose_visual_servoing_connector.cpp │ ├── velocity_based_position_controller_drone_connector.cpp │ ├── visual_servoing_controller_arm_connector.cpp │ └── visual_servoing_controller_drone_connector.cpp ├── controller_tuners │ ├── mpc_controller_tuner.cpp │ ├── qrotor_backstepping_controller_tuner.cpp │ └── quad_mpc_controller_tuner.cpp ├── controllers │ ├── arm_sine_controller.cpp │ ├── constant_heading_depth_controller.cpp │ ├── ddp_airm_mpc_controller.cpp │ ├── ddp_casadi_mpc_controller.cpp │ ├── ddp_quad_mpc_controller.cpp │ ├── joystick_velocity_controller.cpp │ ├── manual_rpyt_controller.cpp │ ├── qrotor_backstepping_controller.cpp │ ├── quad_particle_reference_controller.cpp │ ├── quad_polynomial_reference_controller.cpp │ ├── relative_pose_controller.cpp │ ├── rpyt_based_position_controller.cpp │ ├── rpyt_based_reference_controller.cpp │ ├── rpyt_based_relative_pose_controller.cpp │ ├── rpyt_based_velocity_controller.cpp │ ├── velocity_based_position_controller.cpp │ └── velocity_based_relative_pose_controller.cpp ├── estimators │ ├── acceleration_bias_estimator.cpp │ ├── thrust_gain_estimator.cpp │ └── tracking_vector_estimator.cpp ├── log │ ├── data_stream.cpp │ ├── log.cpp │ └── mocap_logger.cpp ├── sensors │ ├── odometry_from_pose_sensor.cpp │ └── pose_sensor.cpp ├── system_handler_nodes │ ├── airm_mpc_node.cpp │ ├── joystick_uav_node.cpp │ ├── sensor_place_node.cpp │ ├── uav_arm_sysid_node.cpp │ ├── uav_arm_system_node.cpp │ ├── uav_system_node.cpp │ └── uav_vision_system_node.cpp ├── tests │ └── event_publish_node.cpp ├── trackers │ ├── alvar_tracker.cpp │ ├── base_tracker.cpp │ ├── closest_tracking_strategy.cpp │ ├── id_tracking_strategy.cpp │ ├── roi_base_tracker.cpp │ ├── roi_to_plane_converter.cpp │ ├── roi_to_position_converter.cpp │ ├── simple_multi_tracker.cpp │ ├── simple_tracker.cpp │ ├── simple_tracking_strategy.cpp │ └── simulated_ros_tracker.cpp └── types │ ├── polynomial_reference_trajectory.cpp │ ├── quad_particle_reference_trajectory.cpp │ ├── sensor_status.cpp │ └── spiral_reference_trajectory.cpp └── tests ├── actions_guards ├── arm_functor_tests.cpp ├── mpc_functor_tests.cpp ├── pick_place_functor_tests.cpp ├── sensor_place_functor_tests.cpp ├── shorting_action_sequence_tests.cpp ├── uav_basic_functor_tests.cpp └── visual_servoing_functor_tests.cpp ├── common ├── async_timer_tests.cpp ├── atomic_tests.cpp ├── controller_status_tests.cpp ├── conversions_tests.cpp ├── html_utils_tests.cpp ├── iterable_enum_tests.cpp ├── log_config.pbtxt ├── math_tests.cpp ├── mpc_trajectory_visualizer_tests.cpp ├── mpc_trajectory_visualizer_tests.test ├── proto_utils_tests.cpp ├── qrotor_backstepping_trajectory_visualizer_tests.cpp ├── qrotor_backstepping_trajectory_visualizer_tests.test ├── string_utils_tests.cpp ├── system_handler_node_utils_tests.cpp ├── system_handler_node_utils_tests.test ├── thread_safe_state_machine_tests.cpp ├── type_map_tests.cpp └── unordered_heterogeneous_map_tests.cpp ├── controller_connectors ├── builtin_velocity_controller_drone_connector_tests.cpp ├── controller_connector_tests.cpp ├── ddp_airm_mpc_connector_tests.cpp ├── ddp_quad_mpc_connector_tests.cpp ├── joystick_velocity_controller_drone_connector_tests.cpp ├── manual_rpyt_controller_drone_connector_tests.cpp ├── position_controller_drone_connector_tests.cpp ├── qrotor_backstepping_controller_connector_tests.cpp ├── relative_pose_visual_servoing_drone_connector_tests.cpp ├── rpyt_based_position_controller_drone_connector_tests.cpp ├── rpyt_based_reference_connector_tests.cpp ├── rpyt_relative_pose_visual_servoing_connector_tests.cpp ├── visual_servoing_arm_connector_tests.cpp ├── visual_servoing_drone_connector_tests.cpp └── visual_servoing_reference_connector_tests.cpp ├── controllers ├── arm_sine_controller_tests.cpp ├── constant_heading_depth_controller_tests.cpp ├── ddp_airm_mpc_controller_tests.cpp ├── ddp_quad_mpc_controller_tests.cpp ├── qrotor_backstepping_controller_tests.cpp ├── relative_pose_controller_tests.cpp ├── rpyt_based_position_controller_tests.cpp ├── rpyt_based_reference_controller_tests.cpp ├── rpyt_based_relative_pose_controller_tests.cpp ├── rpyt_based_velocity_controller_tests.cpp ├── velocity_based_position_controller_tests.cpp └── velocity_based_relative_pose_controller_tests.cpp ├── estimators ├── acceleration_bias_estimator_tests.cpp ├── thrust_gain_estimator_tests.cpp └── tracking_vector_estimator_tests.cpp ├── event_manager_tests └── event_manager_tests.cpp ├── filters └── exponential_filter_tests.cpp ├── log ├── data_stream_tests.cpp └── log_tests.cpp ├── logic_states ├── base_state_tests.cpp └── timed_state_tests.cpp ├── robot_systems ├── arm_system_tests.cpp ├── uav_arm_system_tests.cpp ├── uav_arm_system_tests.test ├── uav_system_tests.cpp ├── uav_vision_system_tests.cpp └── uav_vision_system_tests.test ├── sensors ├── velocity_sensor_tests.cpp └── velocity_sensor_tests.test ├── state_machines ├── joystick_state_machine_tests.cpp ├── mpc_state_machine_tests.cpp ├── pick_place_state_machine_tests.cpp ├── sensor_place_state_machine_tests.cpp ├── state_machine_gui_connector_event_tests.cpp ├── state_machine_gui_connector_event_tests.test ├── state_machine_gui_connector_pose_tests.cpp ├── state_machine_gui_connector_pose_tests.test ├── state_machine_gui_connector_velocity_tests.cpp ├── state_machine_gui_connector_velocity_tests.test ├── uav_arm_sysid_state_machine_tests.cpp ├── uav_state_machine_tests.cpp └── visual_servoing_state_machine_tests.cpp ├── system_handlers ├── uav_arm_system_handler_tests.cpp ├── uav_arm_system_handler_tests.test ├── uav_system_handler_tests.cpp ├── uav_system_handler_tests.test ├── uav_vision_system_handler_tests.cpp └── uav_vision_system_handler_tests.test ├── trackers ├── alvar_tracker_tests.cpp ├── alvar_tracker_tests.test ├── roi_to_plane_converter_tests.cpp ├── roi_to_plane_converter_tests.test ├── roi_to_position_converter_tests.cpp ├── roi_to_position_converter_tests.test ├── simple_multi_tracker_tests.cpp └── simple_tracker_tests.cpp └── types ├── airm_spiral_reference_trajectory_tests.cpp ├── data ├── path_matlab.csv ├── states_matlab.csv ├── t_matlab.csv └── tau_vec_matlab.csv ├── minimum_snap_trajectory_tests.cpp ├── polynomial_reference_trajectory_tests.cpp ├── quad_particle_reference_trajectory_tests.cpp └── reference_trajectory_tests.cpp /.clang-format: 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