├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── include ├── display.h ├── douglas_peucker.hpp ├── grad_traj_optimizer.h └── qp_generator.h ├── launch ├── click.launch ├── random.launch ├── text_input.launch └── traj_rviz.launch ├── lib └── libnlopt.so.0.9.0 ├── package.xml ├── pic ├── click.gif ├── random.gif ├── text1.png ├── text2.png └── video.png ├── rviz └── traj.rviz ├── src ├── example_click.cpp ├── example_random.cpp ├── example_text_input.cpp ├── qp_generator.cpp └── rdp_example.cpp └── third_party ├── arc_utilities ├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── __init__.py ├── include │ └── arc_utilities │ │ ├── abb_irb1600_145_fk_fast.hpp │ │ ├── aligned_eigen_types.hpp │ │ ├── arc_exceptions.hpp │ │ ├── arc_helpers.hpp │ │ ├── base64_helpers.hpp │ │ ├── dijkstras.hpp │ │ ├── dynamic_spatial_hashed_voxel_grid.hpp │ │ ├── eigen_helpers.hpp │ │ ├── eigen_helpers_conversions.hpp │ │ ├── filesystem.hpp │ │ ├── first_order_deformation.h │ │ ├── get_neighbours.hpp │ │ ├── iiwa_14_fk_fast.hpp │ │ ├── iiwa_7_fk_fast.hpp │ │ ├── log.hpp │ │ ├── maybe.hpp │ │ ├── pretty_print.hpp │ │ ├── ros_helpers.hpp │ │ ├── serialization.hpp │ │ ├── serialization_eigen.hpp │ │ ├── serialization_ros.hpp │ │ ├── shortcut_smoothing.hpp │ │ ├── simple_astar_planner.hpp │ │ ├── simple_dtw.hpp │ │ ├── simple_hausdorff_distance.hpp │ │ ├── simple_hierarchical_clustering.hpp │ │ ├── simple_kmeans_clustering.hpp │ │ ├── simple_prm_planner.hpp │ │ ├── simple_rrt_planner.hpp │ │ ├── timing.hpp │ │ ├── voxel_grid.hpp │ │ └── zlib_helpers.hpp ├── package.xml ├── setup.py └── src │ ├── __init__.py │ ├── arc_utilities │ ├── __init__.py │ ├── base64_helpers.cpp │ ├── color_mapping.py │ ├── extra_functions_to_be_put_in_the_right_place.py │ ├── first_order_deformation.cpp │ ├── numpy_conversions.py │ ├── ros_helpers.py │ ├── transformation_helper.py │ └── zlib_helpers.cpp │ ├── test_arc_utilities.cpp │ ├── test_averaging.cpp │ ├── test_closest_point.cpp │ ├── test_dijkstras.cpp │ ├── test_eigen_math.cpp │ ├── test_hierarchical_clustering.cpp │ ├── test_shortcut_smoothing.cpp │ └── timing.cpp └── sdf_tools ├── CMakeLists.txt ├── LICENSE ├── README.md ├── include └── sdf_tools │ ├── CollisionMap.h │ ├── ComputeSDF.h │ ├── ComputeSDFRequest.h │ ├── ComputeSDFResponse.h │ ├── SDF.h │ ├── TaggedObjectCollisionMap.h │ ├── collision_map.hpp │ ├── dynamic_spatial_hashed_collision_map.hpp │ ├── sdf.hpp │ ├── sdf_builder.hpp │ └── tagged_object_collision_map.hpp ├── msg ├── CollisionMap.msg ├── SDF.msg └── TaggedObjectCollisionMap.msg ├── package.xml ├── src ├── image_2d_sdf_node.cpp ├── sdf_generation_node.cpp ├── sdf_tools │ ├── collision_map.cpp │ ├── dynamic_spatial_hashed_collision_map.cpp │ ├── sdf.cpp │ ├── sdf_builder.cpp │ └── tagged_object_collision_map.cpp ├── sdf_tools_tutorial.cpp └── test_voxel_grid.cpp └── srv └── ComputeSDF.srv /.gitignore: -------------------------------------------------------------------------------- 1 | .vscode 2 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