├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── chapter 10 └── cpp_simulation │ ├── .gitignore │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── include │ ├── controller_lib │ │ └── pid_controller.hpp │ ├── filter_lib │ │ ├── averagefilter.hpp │ │ ├── avg_filter.hpp │ │ ├── avg_med_filter.hpp │ │ ├── first_order_filter.hpp │ │ ├── kalman.hpp │ │ ├── limit_filter.hpp │ │ └── median_filter.hpp │ └── plot_lib │ │ ├── draw2d.hpp │ │ ├── draw3d.hpp │ │ └── matplotlibcpp.h │ └── src │ ├── filter_2D_avg.cpp │ ├── filter_2D_avg_med.cpp │ ├── filter_2D_first_order.cpp │ ├── filter_2D_limit.cpp │ ├── filter_2D_median.cpp │ ├── filter_average.cpp │ ├── filter_extend_kalman.cpp │ ├── filter_kalman_p.cpp │ ├── filter_kalman_pa.cpp │ ├── filter_particle_filter.cpp │ └── filter_unscented_kalman.cpp ├── chapter 11 ├── A_star │ └── A_star.py ├── DWA │ └── DWA.py ├── Dijkstra │ └── Dijkstra.py ├── RRT │ └── RRT.py ├── RRT_star │ └── RRT_star.py └── path_planning │ ├── .clang-format │ ├── .clang-tidy │ ├── .gitignore │ ├── .gitmodules │ ├── .travis.yml │ ├── CMakeLists.txt │ ├── README.md │ ├── appveyor.yml │ ├── cmake │ ├── Cache.cmake │ ├── CompilerWarnings.cmake │ ├── PreventInSourceBuilds.cmake │ ├── ProjectSpecificOptions.cmake │ ├── Sanitizers.cmake │ ├── StandardProjectSettings.cmake │ ├── StaticAnalyzers.cmake │ └── gtest.cmake │ ├── codecov.yml │ ├── docs │ ├── .buildinfo │ ├── .nojekyll │ ├── _sources │ │ ├── algorithms.rst.txt │ │ ├── api │ │ │ ├── classAStar.rst.txt │ │ │ ├── classAnt.rst.txt │ │ │ ├── classAntColony.rst.txt │ │ │ ├── classDStarLite.rst.txt │ │ │ ├── classDijkstra.rst.txt │ │ │ ├── classGeneticAlgorithm.rst.txt │ │ │ ├── classJumpPointSearch.rst.txt │ │ │ ├── classLPAStar.rst.txt │ │ │ ├── classLazyPQ.rst.txt │ │ │ ├── classNode.rst.txt │ │ │ ├── classNodeIdAsHash.rst.txt │ │ │ ├── classPlanner.rst.txt │ │ │ ├── classRRT.rst.txt │ │ │ ├── classRRTStar.rst.txt │ │ │ ├── class_view_hierarchy.rst.txt │ │ │ ├── classstd_1_1greater_3_01NodeKeyPair_01_4.rst.txt │ │ │ ├── classstd_1_1hash_3_01NodeKeyPair_01_4.rst.txt │ │ │ ├── classstd_1_1hash_3_01Node_01_4.rst.txt │ │ │ ├── define_utils_8hpp_1a6f699060902f800f12aaae150f3a708e.rst.txt │ │ │ ├── define_utils_8hpp_1a79d10e672abb49ad63eeaa8aaef57c38.rst.txt │ │ │ ├── define_utils_8hpp_1a7b3b25cba33b07c303f3060fe41887f6.rst.txt │ │ │ ├── define_utils_8hpp_1a87b537f5fa5c109d3c05c13d6b18f382.rst.txt │ │ │ ├── define_utils_8hpp_1a8d23feea868a983c8c2b661e1e16972f.rst.txt │ │ │ ├── define_utils_8hpp_1ab702106cf3b3e96750b6845ded4e0299.rst.txt │ │ │ ├── define_utils_8hpp_1abf681265909adf3d3e8116c93c0ba179.rst.txt │ │ │ ├── define_utils_8hpp_1acfbc006ea433ad708fdee3e82996e721.rst.txt │ │ │ ├── define_utils_8hpp_1ad243f93c16bc4c1d3e0a13b84421d760.rst.txt │ │ │ ├── dir_include.rst.txt │ │ │ ├── dir_lib.rst.txt │ │ │ ├── dir_main.rst.txt │ │ │ ├── dir_path_planning.rst.txt │ │ │ ├── dir_src.rst.txt │ │ │ ├── dir_utils.rst.txt │ │ │ ├── file_README.md.rst.txt │ │ │ ├── file_include_path_planning_a_star.hpp.rst.txt │ │ │ ├── file_include_path_planning_ant_colony.hpp.rst.txt │ │ │ ├── file_include_path_planning_d_star_lite.hpp.rst.txt │ │ │ ├── file_include_path_planning_dijkstra.hpp.rst.txt │ │ │ ├── file_include_path_planning_genetic_algorithm.hpp.rst.txt │ │ │ ├── file_include_path_planning_jump_point_search.hpp.rst.txt │ │ │ ├── file_include_path_planning_lpa_star.hpp.rst.txt │ │ │ ├── file_include_path_planning_main.hpp.rst.txt │ │ │ ├── file_include_path_planning_planner.hpp.rst.txt │ │ │ ├── file_include_path_planning_rrt.hpp.rst.txt │ │ │ ├── file_include_path_planning_rrt_star.hpp.rst.txt │ │ │ ├── file_lib_utils_include_utils_utils.hpp.rst.txt │ │ │ ├── file_lib_utils_src_utils.cpp.rst.txt │ │ │ ├── file_main_main.cpp.rst.txt │ │ │ ├── file_src_a_star.cpp.rst.txt │ │ │ ├── file_src_ant_colony.cpp.rst.txt │ │ │ ├── file_src_d_star_lite.cpp.rst.txt │ │ │ ├── file_src_dijkstra.cpp.rst.txt │ │ │ ├── file_src_genetic_algorithm.cpp.rst.txt │ │ │ ├── file_src_jump_point_search.cpp.rst.txt │ │ │ ├── file_src_lpa_star.cpp.rst.txt │ │ │ ├── file_src_rrt.cpp.rst.txt │ │ │ ├── file_src_rrt_star.cpp.rst.txt │ │ │ ├── file_view_hierarchy.rst.txt │ │ │ ├── function_main_8cpp_1ae66f6b31b5ad750f1fe042a706a4e3d4.rst.txt │ │ │ ├── function_main_8hpp_1ae66f6b31b5ad750f1fe042a706a4e3d4.rst.txt │ │ │ ├── function_utils_8cpp_1a11e065987c86e2f9329fdc29629e5265.rst.txt │ │ │ ├── function_utils_8cpp_1a3314a5898aaa777e954abfa9f3996d41.rst.txt │ │ │ ├── function_utils_8cpp_1a48dbe0e3b6273a8ffb14d1adc77411db.rst.txt │ │ │ ├── function_utils_8cpp_1a667f2f0837580a493eedc1e53baa45e0.rst.txt │ │ │ ├── function_utils_8cpp_1a9ecfa4541dd95cf3ae2e5300446abfec.rst.txt │ │ │ ├── function_utils_8cpp_1ad8afc8a6d98fae87fffe3ad0621eaf4b.rst.txt │ │ │ ├── function_utils_8cpp_1ad9c6ace1d22b2bc5ab9b803876478c3d.rst.txt │ │ │ ├── function_utils_8hpp_1a11e065987c86e2f9329fdc29629e5265.rst.txt │ │ │ ├── function_utils_8hpp_1a2aa1050b67b2ce09706bd0a96ce941d5.rst.txt │ │ │ ├── function_utils_8hpp_1a2fe92d436aed1da68157913148e98e51.rst.txt │ │ │ ├── function_utils_8hpp_1a3314a5898aaa777e954abfa9f3996d41.rst.txt │ │ │ ├── function_utils_8hpp_1a48dbe0e3b6273a8ffb14d1adc77411db.rst.txt │ │ │ ├── function_utils_8hpp_1a667f2f0837580a493eedc1e53baa45e0.rst.txt │ │ │ ├── function_utils_8hpp_1ad8afc8a6d98fae87fffe3ad0621eaf4b.rst.txt │ │ │ ├── function_utils_8hpp_1aec7b281b1b2b9561e207883aa2512a6d.rst.txt │ │ │ ├── library_root.rst.txt │ │ │ ├── namespace_std.rst.txt │ │ │ ├── program_listing_file_README.md.rst.txt │ │ │ ├── program_listing_file_include_path_planning_a_star.hpp.rst.txt │ │ │ ├── program_listing_file_include_path_planning_ant_colony.hpp.rst.txt │ │ │ ├── program_listing_file_include_path_planning_d_star_lite.hpp.rst.txt │ │ │ ├── program_listing_file_include_path_planning_dijkstra.hpp.rst.txt │ │ │ ├── program_listing_file_include_path_planning_genetic_algorithm.hpp.rst.txt │ │ │ ├── program_listing_file_include_path_planning_jump_point_search.hpp.rst.txt │ │ │ ├── program_listing_file_include_path_planning_lpa_star.hpp.rst.txt │ │ │ ├── program_listing_file_include_path_planning_main.hpp.rst.txt │ │ │ ├── program_listing_file_include_path_planning_planner.hpp.rst.txt │ │ │ ├── program_listing_file_include_path_planning_rrt.hpp.rst.txt │ │ │ ├── program_listing_file_include_path_planning_rrt_star.hpp.rst.txt │ │ │ ├── program_listing_file_lib_utils_include_utils_utils.hpp.rst.txt │ │ │ ├── program_listing_file_lib_utils_src_utils.cpp.rst.txt │ │ │ ├── program_listing_file_main_main.cpp.rst.txt │ │ │ ├── program_listing_file_src_a_star.cpp.rst.txt │ │ │ ├── program_listing_file_src_ant_colony.cpp.rst.txt │ │ │ ├── program_listing_file_src_d_star_lite.cpp.rst.txt │ │ │ ├── program_listing_file_src_dijkstra.cpp.rst.txt │ │ │ ├── program_listing_file_src_genetic_algorithm.cpp.rst.txt │ │ │ ├── program_listing_file_src_jump_point_search.cpp.rst.txt │ │ │ ├── program_listing_file_src_lpa_star.cpp.rst.txt │ │ │ ├── program_listing_file_src_rrt.cpp.rst.txt │ │ │ ├── program_listing_file_src_rrt_star.cpp.rst.txt │ │ │ ├── structAnt.rst.txt │ │ │ ├── structCompareNodeKeyPairCoordinates.rst.txt │ │ │ ├── structCompareNodeKeyPairCoordinatesAndKeys.rst.txt │ │ │ ├── structCompareNodeKeyPairKeys.rst.txt │ │ │ ├── structKey.rst.txt │ │ │ ├── structNodeKeyPair.rst.txt │ │ │ ├── structcompare__coordinates.rst.txt │ │ │ ├── structcompare__cost.rst.txt │ │ │ ├── structpair__hash.rst.txt │ │ │ ├── unabridged_api.rst.txt │ │ │ ├── variable_d__star__lite_8cpp_1a07126d3308228406671bd7e8d57f1d5a.rst.txt │ │ │ ├── variable_genetic__algorithm_8cpp_1a1a90247d803bd7e8f511935381a4d74e.rst.txt │ │ │ ├── variable_genetic__algorithm_8cpp_1a5a32ba657f745e5bbdbcf277a3ea364e.rst.txt │ │ │ ├── variable_lpa__star_8cpp_1a07126d3308228406671bd7e8d57f1d5a.rst.txt │ │ │ ├── variable_lpa__star_8cpp_1ac5de1508be41d2871871f512d90d2ec3.rst.txt │ │ │ ├── variable_rrt_8cpp_1a7d1725bd185512383fce87a926e518bf.rst.txt │ │ │ ├── variable_rrt_8cpp_1aad6745e2cd8d6ee98bce35020d09cf49.rst.txt │ │ │ ├── variable_rrt_8cpp_1adf2d22e6604f79d3fb5290aa8e5d7ae1.rst.txt │ │ │ ├── variable_rrt__star_8cpp_1a7d1725bd185512383fce87a926e518bf.rst.txt │ │ │ ├── variable_rrt__star_8cpp_1aad6745e2cd8d6ee98bce35020d09cf49.rst.txt │ │ │ ├── variable_rrt__star_8cpp_1adf2d22e6604f79d3fb5290aa8e5d7ae1.rst.txt │ │ │ └── variable_utils_8cpp_1a88ee0fdd1247f7aa11f62295483547a5.rst.txt │ │ ├── index.rst.txt │ │ └── overview.rst.txt │ ├── _static │ │ ├── ajax-loader.gif │ │ ├── basic.css │ │ ├── collapsible-lists │ │ │ ├── LICENSE.md │ │ │ ├── css │ │ │ │ ├── button-closed.png │ │ │ │ ├── button-open.png │ │ │ │ ├── button.png │ │ │ │ ├── list-item-contents.png │ │ │ │ ├── list-item-last-open.png │ │ │ │ ├── list-item-last.png │ │ │ │ ├── list-item-open.png │ │ │ │ ├── list-item-root.png │ │ │ │ ├── list-item.png │ │ │ │ └── tree_view.css │ │ │ └── js │ │ │ │ ├── CollapsibleLists.compressed.js │ │ │ │ └── apply-collapsible-lists.js │ │ ├── comment-bright.png │ │ ├── comment-close.png │ │ ├── comment.png │ │ ├── css │ │ │ ├── badge_only.css │ │ │ └── theme.css │ │ ├── doctools.js │ │ ├── documentation_options.js │ │ ├── down-pressed.png │ │ ├── down.png │ │ ├── file.png │ │ ├── fonts │ │ │ ├── Inconsolata-Bold.ttf │ │ │ ├── Inconsolata-Regular.ttf │ │ │ ├── Inconsolata.ttf │ │ │ ├── Lato-Bold.ttf │ │ │ ├── Lato-Regular.ttf │ │ │ ├── Lato │ │ │ │ ├── lato-bold.eot │ │ │ │ ├── lato-bold.ttf │ │ │ │ ├── lato-bold.woff │ │ │ │ ├── lato-bold.woff2 │ │ │ │ ├── lato-bolditalic.eot │ │ │ │ ├── lato-bolditalic.ttf │ │ │ │ ├── lato-bolditalic.woff │ │ │ │ ├── lato-bolditalic.woff2 │ │ │ │ ├── lato-italic.eot │ │ │ │ ├── lato-italic.ttf │ │ │ │ ├── lato-italic.woff │ │ │ │ ├── lato-italic.woff2 │ │ │ │ ├── lato-regular.eot │ │ │ │ ├── lato-regular.ttf │ │ │ │ ├── lato-regular.woff │ │ │ │ └── lato-regular.woff2 │ │ │ ├── RobotoSlab-Bold.ttf │ │ │ ├── RobotoSlab-Regular.ttf │ │ │ ├── RobotoSlab │ │ │ │ ├── roboto-slab-v7-bold.eot │ │ │ │ ├── roboto-slab-v7-bold.ttf │ │ │ │ ├── roboto-slab-v7-bold.woff │ │ │ │ ├── roboto-slab-v7-bold.woff2 │ │ │ │ ├── roboto-slab-v7-regular.eot │ │ │ │ ├── roboto-slab-v7-regular.ttf │ │ │ │ ├── roboto-slab-v7-regular.woff │ │ │ │ └── roboto-slab-v7-regular.woff2 │ │ │ ├── fontawesome-webfont.eot │ │ │ ├── fontawesome-webfont.svg │ │ │ ├── fontawesome-webfont.ttf │ │ │ ├── fontawesome-webfont.woff │ │ │ └── fontawesome-webfont.woff2 │ │ ├── jquery-3.2.1.js │ │ ├── jquery.js │ │ ├── js │ │ │ ├── modernizr.min.js │ │ │ └── theme.js │ │ ├── language_data.js │ │ ├── minus.png │ │ ├── plus.png │ │ ├── pygments.css │ │ ├── searchtools.js │ │ ├── underscore-1.3.1.js │ │ ├── underscore.js │ │ ├── up-pressed.png │ │ ├── up.png │ │ └── websupport.js │ ├── algorithms.html │ ├── api │ │ ├── classAStar.html │ │ ├── classAnt.html │ │ ├── classAntColony.html │ │ ├── classDStarLite.html │ │ ├── classDijkstra.html │ │ ├── classGeneticAlgorithm.html │ │ ├── classJumpPointSearch.html │ │ ├── classLPAStar.html │ │ ├── classLazyPQ.html │ │ ├── classNode.html │ │ ├── classNodeIdAsHash.html │ │ ├── classPlanner.html │ │ ├── classRRT.html │ │ ├── classRRTStar.html │ │ ├── class_view_hierarchy.html │ │ ├── classstd_1_1greater_3_01NodeKeyPair_01_4.html │ │ ├── classstd_1_1hash_3_01NodeKeyPair_01_4.html │ │ ├── classstd_1_1hash_3_01Node_01_4.html │ │ ├── define_utils_8hpp_1a6f699060902f800f12aaae150f3a708e.html │ │ ├── define_utils_8hpp_1a79d10e672abb49ad63eeaa8aaef57c38.html │ │ ├── define_utils_8hpp_1a7b3b25cba33b07c303f3060fe41887f6.html │ │ ├── define_utils_8hpp_1a87b537f5fa5c109d3c05c13d6b18f382.html │ │ ├── define_utils_8hpp_1a8d23feea868a983c8c2b661e1e16972f.html │ │ ├── define_utils_8hpp_1ab702106cf3b3e96750b6845ded4e0299.html │ │ ├── define_utils_8hpp_1abf681265909adf3d3e8116c93c0ba179.html │ │ ├── define_utils_8hpp_1acfbc006ea433ad708fdee3e82996e721.html │ │ ├── define_utils_8hpp_1ad243f93c16bc4c1d3e0a13b84421d760.html │ │ ├── dir_include.html │ │ ├── dir_lib.html │ │ ├── dir_main.html │ │ ├── dir_path_planning.html │ │ ├── dir_src.html │ │ ├── dir_utils.html │ │ ├── file_README.md.html │ │ ├── file_include_path_planning_a_star.hpp.html │ │ ├── file_include_path_planning_ant_colony.hpp.html │ │ ├── file_include_path_planning_d_star_lite.hpp.html │ │ ├── file_include_path_planning_dijkstra.hpp.html │ │ ├── file_include_path_planning_genetic_algorithm.hpp.html │ │ ├── file_include_path_planning_jump_point_search.hpp.html │ │ ├── file_include_path_planning_lpa_star.hpp.html │ │ ├── file_include_path_planning_main.hpp.html │ │ ├── file_include_path_planning_planner.hpp.html │ │ ├── file_include_path_planning_rrt.hpp.html │ │ ├── file_include_path_planning_rrt_star.hpp.html │ │ ├── file_lib_utils_include_utils_utils.hpp.html │ │ ├── file_lib_utils_src_utils.cpp.html │ │ ├── file_main_main.cpp.html │ │ ├── file_src_a_star.cpp.html │ │ ├── file_src_ant_colony.cpp.html │ │ ├── file_src_d_star_lite.cpp.html │ │ ├── file_src_dijkstra.cpp.html │ │ ├── file_src_genetic_algorithm.cpp.html │ │ ├── file_src_jump_point_search.cpp.html │ │ ├── file_src_lpa_star.cpp.html │ │ ├── file_src_rrt.cpp.html │ │ ├── file_src_rrt_star.cpp.html │ │ ├── file_view_hierarchy.html │ │ ├── function_main_8cpp_1ae66f6b31b5ad750f1fe042a706a4e3d4.html │ │ ├── function_main_8hpp_1ae66f6b31b5ad750f1fe042a706a4e3d4.html │ │ ├── function_utils_8cpp_1a11e065987c86e2f9329fdc29629e5265.html │ │ ├── function_utils_8cpp_1a3314a5898aaa777e954abfa9f3996d41.html │ │ ├── function_utils_8cpp_1a48dbe0e3b6273a8ffb14d1adc77411db.html │ │ ├── function_utils_8cpp_1a667f2f0837580a493eedc1e53baa45e0.html │ │ ├── function_utils_8cpp_1a9ecfa4541dd95cf3ae2e5300446abfec.html │ │ ├── function_utils_8cpp_1ad8afc8a6d98fae87fffe3ad0621eaf4b.html │ │ ├── function_utils_8cpp_1ad9c6ace1d22b2bc5ab9b803876478c3d.html │ │ ├── function_utils_8hpp_1a11e065987c86e2f9329fdc29629e5265.html │ │ ├── function_utils_8hpp_1a2aa1050b67b2ce09706bd0a96ce941d5.html │ │ ├── function_utils_8hpp_1a2fe92d436aed1da68157913148e98e51.html │ │ ├── function_utils_8hpp_1a3314a5898aaa777e954abfa9f3996d41.html │ │ ├── function_utils_8hpp_1a48dbe0e3b6273a8ffb14d1adc77411db.html │ │ ├── function_utils_8hpp_1a667f2f0837580a493eedc1e53baa45e0.html │ │ ├── function_utils_8hpp_1ad8afc8a6d98fae87fffe3ad0621eaf4b.html │ │ ├── function_utils_8hpp_1aec7b281b1b2b9561e207883aa2512a6d.html │ │ ├── library_root.html │ │ ├── namespace_std.html │ │ ├── program_listing_file_README.md.html │ │ ├── program_listing_file_include_path_planning_a_star.hpp.html │ │ ├── program_listing_file_include_path_planning_ant_colony.hpp.html │ │ ├── program_listing_file_include_path_planning_d_star_lite.hpp.html │ │ ├── program_listing_file_include_path_planning_dijkstra.hpp.html │ │ ├── program_listing_file_include_path_planning_genetic_algorithm.hpp.html │ │ ├── program_listing_file_include_path_planning_jump_point_search.hpp.html │ │ ├── program_listing_file_include_path_planning_lpa_star.hpp.html │ │ ├── program_listing_file_include_path_planning_main.hpp.html │ │ ├── program_listing_file_include_path_planning_planner.hpp.html │ │ ├── program_listing_file_include_path_planning_rrt.hpp.html │ │ ├── program_listing_file_include_path_planning_rrt_star.hpp.html │ │ ├── program_listing_file_lib_utils_include_utils_utils.hpp.html │ │ ├── program_listing_file_lib_utils_src_utils.cpp.html │ │ ├── program_listing_file_main_main.cpp.html │ │ ├── program_listing_file_src_a_star.cpp.html │ │ ├── program_listing_file_src_ant_colony.cpp.html │ │ ├── program_listing_file_src_d_star_lite.cpp.html │ │ ├── program_listing_file_src_dijkstra.cpp.html │ │ ├── program_listing_file_src_genetic_algorithm.cpp.html │ │ ├── program_listing_file_src_jump_point_search.cpp.html │ │ ├── program_listing_file_src_lpa_star.cpp.html │ │ ├── program_listing_file_src_rrt.cpp.html │ │ ├── program_listing_file_src_rrt_star.cpp.html │ │ ├── structAnt.html │ │ ├── structCompareNodeKeyPairCoordinates.html │ │ ├── structCompareNodeKeyPairCoordinatesAndKeys.html │ │ ├── structCompareNodeKeyPairKeys.html │ │ ├── structKey.html │ │ ├── structNodeKeyPair.html │ │ ├── structcompare__coordinates.html │ │ ├── structcompare__cost.html │ │ ├── structpair__hash.html │ │ ├── unabridged_api.html │ │ ├── variable_d__star__lite_8cpp_1a07126d3308228406671bd7e8d57f1d5a.html │ │ ├── variable_genetic__algorithm_8cpp_1a1a90247d803bd7e8f511935381a4d74e.html │ │ ├── variable_genetic__algorithm_8cpp_1a5a32ba657f745e5bbdbcf277a3ea364e.html │ │ ├── variable_lpa__star_8cpp_1a07126d3308228406671bd7e8d57f1d5a.html │ │ ├── variable_lpa__star_8cpp_1ac5de1508be41d2871871f512d90d2ec3.html │ │ ├── variable_rrt_8cpp_1a7d1725bd185512383fce87a926e518bf.html │ │ ├── variable_rrt_8cpp_1aad6745e2cd8d6ee98bce35020d09cf49.html │ │ ├── variable_rrt_8cpp_1adf2d22e6604f79d3fb5290aa8e5d7ae1.html │ │ ├── variable_rrt__star_8cpp_1a7d1725bd185512383fce87a926e518bf.html │ │ ├── variable_rrt__star_8cpp_1aad6745e2cd8d6ee98bce35020d09cf49.html │ │ ├── variable_rrt__star_8cpp_1adf2d22e6604f79d3fb5290aa8e5d7ae1.html │ │ └── variable_utils_8cpp_1a88ee0fdd1247f7aa11f62295483547a5.html │ ├── genindex.html │ ├── index.html │ ├── objects.inv │ ├── overview.html │ ├── search.html │ └── searchindex.js │ ├── include │ └── path_planning │ │ ├── a_star.hpp │ │ ├── ant_colony.hpp │ │ ├── d_star_lite.hpp │ │ ├── dijkstra.hpp │ │ ├── genetic_algorithm.hpp │ │ ├── jump_point_search.hpp │ │ ├── lpa_star.hpp │ │ ├── planner.hpp │ │ ├── rrt.hpp │ │ └── rrt_star.hpp │ ├── lib │ ├── CMakeLists.txt │ └── utils │ │ ├── CMakeLists.txt │ │ ├── include │ │ └── utils │ │ │ └── utils.hpp │ │ └── src │ │ └── utils.cpp │ ├── main │ └── main.cpp │ ├── src │ ├── a_star.cpp │ ├── ant_colony.cpp │ ├── d_star_lite.cpp │ ├── dijkstra.cpp │ ├── genetic_algorithm.cpp │ ├── jump_point_search.cpp │ ├── lpa_star.cpp │ ├── rrt.cpp │ └── rrt_star.cpp │ └── tests │ ├── CMakeLists.txt │ ├── CMakeModules │ └── CodeCoverage.cmake │ ├── include │ └── tests │ │ └── test_utils.hpp │ └── src │ ├── parameterized_tests.cpp │ └── test_utils.cpp ├── chapter 2 ├── bag_pub │ ├── CMakeLists.txt │ ├── package.xml │ ├── scripts │ │ └── bag_pub.py │ └── src │ │ ├── test │ │ └── test.cpp ├── learning_Synchronizer │ ├── CMakeLists.txt │ ├── msg │ │ └── Person.msg │ ├── package.xml │ └── src │ │ ├── AT.cpp │ │ ├── ApproximateTime.cpp │ │ ├── ExactTime.cpp │ │ ├── TimeSynchronizer.cpp │ │ ├── publisher1.cpp │ │ └── publisher2.cpp ├── learning_action │ ├── CMakeLists.txt │ ├── action │ │ └── Count.action │ ├── package.xml │ ├── scripts │ │ ├── count_client.py │ │ └── count_server.py │ └── src │ │ ├── count_client.cpp │ │ ├── count_client1.cpp │ │ └── count_server.cpp ├── learning_launch │ ├── CMakeLists.txt │ ├── launch │ │ └── turtlemimic.launch │ └── package.xml ├── learning_plugin │ ├── CMakeLists.txt │ ├── include │ │ └── learning_plugin │ │ │ ├── polygon_base.h │ │ │ └── polygon_plugins.h │ ├── package.xml │ ├── polygon_plugins.xml │ └── src │ │ ├── polygon_loader.cpp │ │ └── polygon_plugins.cpp ├── learning_service │ ├── CMakeLists.txt │ ├── package.xml │ ├── scripts │ │ ├── add_client.py │ │ ├── add_server.py │ │ ├── turtle_spawn.py │ │ └── turtle_vel_cmd.py │ ├── src │ │ ├── add_client.cpp │ │ ├── add_server.cpp │ │ ├── turtle_spawn.cpp │ │ └── turtle_vel_cmd.cpp │ └── srv │ │ └── Add.srv ├── learning_topic │ ├── CMakeLists.txt │ ├── msg │ │ └── Student.msg │ ├── package.xml │ ├── scripts │ │ ├── student_publisher.py │ │ ├── student_subscriber.py │ │ ├── turtle_publisher.py │ │ └── turtle_subscriber.py │ └── src │ │ ├── student_publisher.cpp │ │ ├── student_subscriber.cpp │ │ ├── turtle_publisher.cpp │ │ └── turtle_subscriber.cpp ├── parameter │ ├── CMakeLists.txt │ ├── cfg │ │ └── Tutorials.cfg │ ├── package.xml │ ├── scripts │ │ └── param_config.py │ └── src │ │ ├── dynamic_parameter.cpp │ │ └── param_config.cpp └── rviz_teleop_commander │ ├── CMakeLists.txt │ ├── package.xml │ ├── plugin_description.xml │ └── src │ ├── teleop_pad.cpp │ └── teleop_pad.h ├── chapter 9 ├── README.md ├── apriltag_ws │ └── src │ │ ├── CMakeLists.txt │ │ ├── apriltag │ │ ├── .gitignore │ │ ├── CMake │ │ │ └── apriltagConfig.cmake.in │ │ ├── CMakeLists.txt │ │ ├── LICENSE.md │ │ ├── Makefile │ │ ├── README.md │ │ ├── apriltag.c │ │ ├── apriltag.h │ │ ├── apriltag.pc.in │ │ ├── apriltag_detect.docstring │ │ ├── apriltag_math.h │ │ ├── apriltag_pose.c │ │ ├── apriltag_pose.h │ │ ├── apriltag_py_type.docstring │ │ ├── apriltag_pywrap.c │ │ ├── apriltag_quad_thresh.c │ │ ├── common │ │ │ ├── debug_print.h │ │ │ ├── doubles.h │ │ │ ├── doubles_floats_impl.h │ │ │ ├── floats.h │ │ │ ├── g2d.c │ │ │ ├── g2d.h │ │ │ ├── getopt.c │ │ │ ├── getopt.h │ │ │ ├── homography.c │ │ │ ├── homography.h │ │ │ ├── image_types.h │ │ │ ├── image_u8.c │ │ │ ├── image_u8.h │ │ │ ├── image_u8x3.c │ │ │ ├── image_u8x3.h │ │ │ ├── image_u8x4.c │ │ │ ├── image_u8x4.h │ │ │ ├── matd.c │ │ │ ├── matd.h │ │ │ ├── math_util.h │ │ │ ├── pam.c │ │ │ ├── pam.h │ │ │ ├── pjpeg-idct.c │ │ │ ├── pjpeg.c │ │ │ ├── pjpeg.h │ │ │ ├── pnm.c │ │ │ ├── pnm.h │ │ │ ├── postscript_utils.h │ │ │ ├── pthreads_cross.cpp │ │ │ ├── pthreads_cross.h │ │ │ ├── string_util.c │ │ │ ├── string_util.h │ │ │ ├── svd22.c │ │ │ ├── svd22.h │ │ │ ├── time_util.c │ │ │ ├── time_util.h │ │ │ ├── timeprofile.h │ │ │ ├── unionfind.c │ │ │ ├── unionfind.h │ │ │ ├── workerpool.c │ │ │ ├── workerpool.h │ │ │ ├── zarray.c │ │ │ ├── zarray.h │ │ │ ├── zhash.c │ │ │ ├── zhash.h │ │ │ ├── zmaxheap.c │ │ │ └── zmaxheap.h │ │ ├── example │ │ │ ├── .gitignore │ │ │ ├── Makefile │ │ │ ├── README │ │ │ ├── apriltag_demo.c │ │ │ └── opencv_demo.cc │ │ ├── install.sh │ │ ├── package.xml │ │ ├── python_build_flags.py │ │ ├── tag16h5.c │ │ ├── tag16h5.h │ │ ├── tag25h9.c │ │ ├── tag25h9.h │ │ ├── tag36h10.c │ │ ├── tag36h10.h │ │ ├── tag36h11.c │ │ ├── tag36h11.h │ │ ├── tagCircle21h7.c │ │ ├── tagCircle21h7.h │ │ ├── tagCircle49h12.c │ │ ├── tagCircle49h12.h │ │ ├── tagCustom48h12.c │ │ ├── tagCustom48h12.h │ │ ├── tagStandard41h12.c │ │ ├── tagStandard41h12.h │ │ ├── tagStandard52h13.c │ │ └── tagStandard52h13.h │ │ └── apriltag_ros │ │ ├── .gitignore │ │ ├── .travis.yml │ │ ├── LICENSE │ │ ├── README.md │ │ └── apriltag_ros │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── config │ │ ├── settings.yaml │ │ └── tags.yaml │ │ ├── docs │ │ └── tag_size_guide.svg │ │ ├── include │ │ └── apriltag_ros │ │ │ ├── common_functions.h │ │ │ ├── continuous_detector.h │ │ │ └── single_image_detector.h │ │ ├── launch │ │ ├── continuous_detection.launch │ │ ├── single_image_client.launch │ │ └── single_image_server.launch │ │ ├── msg │ │ ├── AprilTagDetection.msg │ │ └── AprilTagDetectionArray.msg │ │ ├── nodelet_plugins.xml │ │ ├── package.xml │ │ ├── scripts │ │ ├── analyze_image │ │ └── calibrate_bundle.m │ │ ├── src │ │ ├── apriltag_ros_continuous_node.cpp │ │ ├── apriltag_ros_single_image_client_node.cpp │ │ ├── apriltag_ros_single_image_server_node.cpp │ │ ├── common_functions.cpp │ │ ├── continuous_detector.cpp │ │ └── single_image_detector.cpp │ │ └── srv │ │ └── AnalyzeSingleImage.srv ├── darknet_ros │ ├── .github │ │ ├── ISSUE_TEMPLATE │ │ │ ├── bug_report.md │ │ │ ├── compilation-and-runtime-issue.md │ │ │ └── feature_request.md │ │ └── workflows │ │ │ └── catkin-build.yml │ ├── .gitmodules │ ├── LICENSE │ ├── README.md │ ├── darknet │ │ ├── .gitignore │ │ ├── LICENSE │ │ ├── LICENSE.fuck │ │ ├── LICENSE.gen │ │ ├── LICENSE.gpl │ │ ├── LICENSE.meta │ │ ├── LICENSE.mit │ │ ├── LICENSE.v1 │ │ ├── Makefile │ │ ├── README.md │ │ ├── examples │ │ │ ├── art.c │ │ │ ├── attention.c │ │ │ ├── captcha.c │ │ │ ├── cifar.c │ │ │ ├── classifier.c │ │ │ ├── coco.c │ │ │ ├── darknet.c │ │ │ ├── detector-scipy-opencv.py │ │ │ ├── detector.c │ │ │ ├── detector.py │ │ │ ├── dice.c │ │ │ ├── go.c │ │ │ ├── instance-segmenter.c │ │ │ ├── lsd.c │ │ │ ├── nightmare.c │ │ │ ├── regressor.c │ │ │ ├── rnn.c │ │ │ ├── rnn_vid.c │ │ │ ├── segmenter.c │ │ │ ├── super.c │ │ │ ├── swag.c │ │ │ ├── tag.c │ │ │ ├── voxel.c │ │ │ ├── writing.c │ │ │ └── yolo.c │ │ ├── include │ │ │ └── darknet.h │ │ ├── python │ │ │ ├── darknet.py │ │ │ └── proverbot.py │ │ ├── scripts │ │ │ ├── dice_label.sh │ │ │ ├── gen_tactic.sh │ │ │ ├── get_coco_dataset.sh │ │ │ ├── imagenet_label.sh │ │ │ └── voc_label.py │ │ └── src │ │ │ ├── activation_kernels.cu │ │ │ ├── activation_layer.c │ │ │ ├── activation_layer.h │ │ │ ├── activations.c │ │ │ ├── activations.h │ │ │ ├── avgpool_layer.c │ │ │ ├── avgpool_layer.h │ │ │ ├── avgpool_layer_kernels.cu │ │ │ ├── batchnorm_layer.c │ │ │ ├── batchnorm_layer.h │ │ │ ├── blas.c │ │ │ ├── blas.h │ │ │ ├── blas_kernels.cu │ │ │ ├── box.c │ │ │ ├── box.h │ │ │ ├── classifier.h │ │ │ ├── col2im.c │ │ │ ├── col2im.h │ │ │ ├── col2im_kernels.cu │ │ │ ├── compare.c │ │ │ ├── connected_layer.c │ │ │ ├── connected_layer.h │ │ │ ├── convolutional_kernels.cu │ │ │ ├── convolutional_layer.c │ │ │ ├── convolutional_layer.h │ │ │ ├── cost_layer.c │ │ │ ├── cost_layer.h │ │ │ ├── crnn_layer.c │ │ │ ├── crnn_layer.h │ │ │ ├── crop_layer.c │ │ │ ├── crop_layer.h │ │ │ ├── crop_layer_kernels.cu │ │ │ ├── cuda.c │ │ │ ├── cuda.h │ │ │ ├── data.c │ │ │ ├── data.h │ │ │ ├── deconvolutional_kernels.cu │ │ │ ├── deconvolutional_layer.c │ │ │ ├── deconvolutional_layer.h │ │ │ ├── demo.c │ │ │ ├── demo.h │ │ │ ├── detection_layer.c │ │ │ ├── detection_layer.h │ │ │ ├── dropout_layer.c │ │ │ ├── dropout_layer.h │ │ │ ├── dropout_layer_kernels.cu │ │ │ ├── gemm.c │ │ │ ├── gemm.h │ │ │ ├── gru_layer.c │ │ │ ├── gru_layer.h │ │ │ ├── im2col.c │ │ │ ├── im2col.h │ │ │ ├── im2col_kernels.cu │ │ │ ├── image.c │ │ │ ├── image.h │ │ │ ├── image_opencv.cpp │ │ │ ├── iseg_layer.c │ │ │ ├── iseg_layer.h │ │ │ ├── l2norm_layer.c │ │ │ ├── l2norm_layer.h │ │ │ ├── layer.c │ │ │ ├── layer.h │ │ │ ├── list.c │ │ │ ├── list.h │ │ │ ├── local_layer.c │ │ │ ├── local_layer.h │ │ │ ├── logistic_layer.c │ │ │ ├── logistic_layer.h │ │ │ ├── lstm_layer.c │ │ │ ├── lstm_layer.h │ │ │ ├── matrix.c │ │ │ ├── matrix.h │ │ │ ├── maxpool_layer.c │ │ │ ├── maxpool_layer.h │ │ │ ├── maxpool_layer_kernels.cu │ │ │ ├── network.c │ │ │ ├── network.h │ │ │ ├── normalization_layer.c │ │ │ ├── normalization_layer.h │ │ │ ├── option_list.c │ │ │ ├── option_list.h │ │ │ ├── parser.c │ │ │ ├── parser.h │ │ │ ├── region_layer.c │ │ │ ├── region_layer.h │ │ │ ├── reorg_layer.c │ │ │ ├── reorg_layer.h │ │ │ ├── rnn_layer.c │ │ │ ├── rnn_layer.h │ │ │ ├── route_layer.c │ │ │ ├── route_layer.h │ │ │ ├── shortcut_layer.c │ │ │ ├── shortcut_layer.h │ │ │ ├── softmax_layer.c │ │ │ ├── softmax_layer.h │ │ │ ├── stb_image.h │ │ │ ├── stb_image_write.h │ │ │ ├── tree.c │ │ │ ├── tree.h │ │ │ ├── upsample_layer.c │ │ │ ├── upsample_layer.h │ │ │ ├── utils.c │ │ │ ├── utils.h │ │ │ ├── yolo_layer.c │ │ │ └── yolo_layer.h │ ├── darknet_ros │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── config │ │ │ ├── ros.yaml │ │ │ ├── yolov2-tiny-voc.yaml │ │ │ ├── yolov2-tiny.yaml │ │ │ ├── yolov2-voc.yaml │ │ │ ├── yolov2.yaml │ │ │ ├── yolov3-voc.yaml │ │ │ └── yolov3.yaml │ │ ├── doc │ │ │ ├── quadruped_anymal_and_person.JPG │ │ │ ├── test_detection.png │ │ │ └── test_detection_anymal.png │ │ ├── include │ │ │ └── darknet_ros │ │ │ │ ├── YoloObjectDetector.hpp │ │ │ │ └── image_interface.hpp │ │ ├── launch │ │ │ ├── darknet_ros.launch │ │ │ ├── darknet_ros_gdb.launch │ │ │ ├── darknet_ros_nodelet.launch │ │ │ ├── darknet_ros_valgrind.launch │ │ │ └── yolo_v3.launch │ │ ├── nodelet_plugins.xml │ │ ├── package.xml │ │ ├── src │ │ │ ├── YoloObjectDetector.cpp │ │ │ ├── image_interface.cpp │ │ │ ├── yolo_object_detector_node.cpp │ │ │ └── yolo_object_detector_nodelet.cpp │ │ ├── test │ │ │ ├── ObjectDetection.cpp │ │ │ ├── object_detection.test │ │ │ ├── test_main.cpp │ │ │ └── yolov2.yaml │ │ └── yolo_network_config │ │ │ ├── cfg │ │ │ ├── yolov2-tiny-voc.cfg │ │ │ ├── yolov2-tiny.cfg │ │ │ ├── yolov2-voc.cfg │ │ │ ├── yolov2.cfg │ │ │ ├── yolov3-voc.cfg │ │ │ └── yolov3.cfg │ │ │ └── weights │ │ │ ├── .gitignore │ │ │ └── how_to_download_weights.txt │ ├── darknet_ros_msgs │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── action │ │ │ └── CheckForObjects.action │ │ ├── msg │ │ │ ├── BoundingBox.msg │ │ │ ├── BoundingBoxes.msg │ │ │ └── ObjectCount.msg │ │ └── package.xml │ └── jenkins-pipeline ├── hog_haar_person_detection │ ├── .gitignore │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ └── haarcascade_frontalface_alt.xml │ ├── launch │ │ └── hog_haar_person_detection.launch │ ├── msg │ │ ├── BoundingBox.msg │ │ ├── Faces.msg │ │ └── Pedestrians.msg │ ├── package.xml │ └── src │ │ └── hog_haar_person_detection.cpp └── ros_openpose │ ├── .clang-format │ ├── .gitignore │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── cmake │ └── Modules │ │ ├── FindGFlags.cmake │ │ └── FindGlog.cmake │ ├── files │ ├── keypoints_hand.jpg │ ├── keypoints_pose_25.jpg │ ├── only_person_azurekinect.rviz │ ├── only_person_realsense.rviz │ ├── only_person_zed2.rviz │ ├── person_pointcloud_azurekinect.rviz │ ├── person_pointcloud_kinect.rviz │ ├── person_pointcloud_realsense.rviz │ ├── person_pointcloud_zed2.rviz │ └── ros_openpose.gif │ ├── get_openpose_version.sh │ ├── include │ └── ros_openpose │ │ └── cameraReader.hpp │ ├── launch │ ├── config_azurekinect.launch │ ├── config_kinect.launch │ ├── config_nodepth.launch │ ├── config_realsense.launch │ ├── config_zed2.launch │ ├── core.launch │ └── run.launch │ ├── msg │ ├── BodyPart.msg │ ├── Frame.msg │ ├── Person.msg │ └── Pixel.msg │ ├── package.xml │ ├── scripts │ ├── echo.py │ ├── ros_openpose_synchronous.py │ └── visualizer.py │ └── src │ ├── cameraReader.cpp │ ├── rosOpenposeAsync.cpp │ ├── rosOpenposeSync.cpp │ └── testCameraReader.cpp └── pic └── 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