├── CalculateH.m ├── CalculateH_2D.m ├── CalculatePolygonArea.m ├── Convert2DConfigToIndex.m ├── Convert6DimConfigToIndex.m ├── ConvertVariablesToPolygons.m ├── CreateCostmap.m ├── DrawRectangle.m ├── EstimateGamma0.m ├── EvaluateFitness.m ├── ExpandFrom6DimToXY.m ├── FindOpenlistIndex.m ├── Fulfill6DimFrom3Dim.m ├── GenerateAStarPath.m ├── GenerateFigure.m ├── GenerateObstacleVertexes.m ├── GenerateObstacles.m ├── GenerateRsPathForH.m ├── GenerateRsPathForSearch.m ├── GenerateVideo.p ├── GetOptimizationStatus.m ├── InitParams.m ├── Is6DNodeCloseToGoal.m ├── Is6DNodeValid.m ├── IsCurrentGammaValid.p ├── IsPolygonCollidingWithPolygon.p ├── IsTractorStateValid.m ├── IsTrailerStateValid.m ├── LICENSE ├── M0.mod ├── M1.mod ├── M1_5.mod ├── M2.mod ├── M3.mod ├── M4.mod ├── PlanHybridAStarPath.m ├── ResampleConfig.m ├── ResampleConfigSimple.m ├── RunMe.m ├── SimulateForward.m ├── SpecifyGoalConfig.m ├── WriteFilesForNLPSetting.m ├── WriteInitialGuessForNLP.m ├── WriteWaypointsForStage1.m ├── ampl.exe ├── ampltabl.dll ├── asd.p ├── dsa.p ├── ipopt.exe ├── ipopt.opt ├── libhsl.dll ├── libipoptfort.dll ├── r0.run ├── r1.run ├── r15.run ├── r2.run ├── r3.run └── r4.run /CalculateH.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/libai1943/TractorTrailerTrajectoryPlanningWithPCOC/HEAD/CalculateH.m -------------------------------------------------------------------------------- /CalculateH_2D.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/libai1943/TractorTrailerTrajectoryPlanningWithPCOC/HEAD/CalculateH_2D.m -------------------------------------------------------------------------------- /CalculatePolygonArea.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/libai1943/TractorTrailerTrajectoryPlanningWithPCOC/HEAD/CalculatePolygonArea.m 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