├── .gitignore ├── .idea ├── markdown-navigator.xml ├── misc.xml ├── modules.xml └── trajectory_tracking.iml ├── CMakeLists.txt ├── LICENSE ├── README.md ├── images ├── equations │ ├── circular_trajectory.png │ ├── linear_trajectory.png │ └── squared_trajectory.png ├── results │ ├── euler │ │ ├── circular │ │ │ ├── circular_trajectory_euler_theta_trajectory.png │ │ │ ├── circular_trajectory_euler_vc_wc.png │ │ │ └── circular_trajectory_euler_x_y.png │ │ ├── linear │ │ │ ├── linear_trajectory_euler_theta_trajectory.png │ │ │ ├── linear_trajectory_euler_vc_wc.png │ │ │ └── linear_trajectory_euler_x_y.png │ │ └── squared │ │ │ ├── squared_trajectory_euler_theta_trajectory.png │ │ │ ├── squared_trajectory_euler_vc_wc.png │ │ │ └── squared_trajectory_euler_x_y.png │ └── pid │ │ ├── circular │ │ ├── circular_trajectory_pid_theta_trajectory.png │ │ ├── circular_trajectory_pid_vc_wc.png │ │ └── circular_trajectory_pid_x_y.png │ │ ├── linear │ │ ├── linear_trajectory_pid_theta_trajectory.png │ │ ├── linear_trajectory_pid_vc_wc.png │ │ └── linear_trajectory_pid_x_y.png │ │ └── squared │ │ ├── squared_trajectory_pid_theta_trajectory.png │ │ ├── squared_trajectory_pid_vc_wc.png │ │ └── squared_trajectory_pid_x_y.png └── simulation │ ├── robot.jpg │ └── room.jpg ├── launch └── turtlebot_world.launch ├── package.xml ├── src ├── context_manager │ ├── __init__.py │ └── db_context_manager.py ├── control.py ├── controller │ ├── __init__.py │ ├── controller.py │ ├── euler_controller.py │ └── pid_controller.py ├── plotter │ ├── __init__.py │ ├── __main__.py │ ├── comparison_plotter.py │ ├── constants.py │ ├── plotter.py │ ├── printer.py │ └── simulation_plotter.py ├── test │ ├── __init__.py │ ├── test_orientation.py │ └── trajectory │ │ ├── __init__.py │ │ ├── test_circular_trajectory.py │ │ ├── test_epitrochoid_trajectory.py │ │ ├── test_lemniscate_trajectory.py │ │ ├── test_linear_trajectory.py │ │ ├── test_lissajous_trajectory.py │ │ ├── test_squared_trajectory.py │ │ └── test_trajectory.py ├── trajectory │ ├── __init__.py │ ├── __main__.py │ ├── builder.py │ ├── circular_trajectory.py │ ├── epitrochoid_trajectory.py │ ├── lemniscate_trajectory.py │ ├── linear_trajectory.py │ ├── lissajous_trajectory.py │ ├── menu.py │ ├── squared_trajectory.py │ └── trajectory.py ├── twist.py └── util │ ├── __init__.py │ ├── angle.py │ ├── builder.py │ ├── constants.py │ └── results.py ├── srv └── TrajectoryPoint.srv ├── txt_results ├── Error.m ├── IAE.m ├── ISE.m ├── ITAE.m ├── ITSE.m ├── Performance.m ├── PerformanceMeasurement.m ├── Simulation.m ├── SimulationData.m ├── controller_performance.m └── pid │ ├── circular │ ├── t.txt │ ├── theta.txt │ ├── theta_ref.txt │ ├── v_c.txt │ ├── w_c.txt │ ├── x.txt │ ├── x_ref.txt │ ├── y.txt │ └── y_ref.txt │ └── squared │ ├── t.txt │ ├── theta.txt │ ├── theta_ref.txt │ ├── v_c.txt │ ├── w_c.txt │ ├── x.txt │ ├── x_ref.txt │ ├── y.txt │ └── y_ref.txt └── worlds ├── room.world └── squared_room.world /.gitignore: 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