├── CMakeLists.txt ├── Makefile ├── README.md ├── cmake ├── DespotConfig.cmake.in └── FindTinyXML.cmake ├── doc ├── cpp_model_doc │ ├── Tutorial on Using DESPOT with cpp model.md │ └── images │ │ └── rockmap.jpg ├── eclipse_guide.md ├── pomdpx_model_doc │ └── DESPOT tutorial on using pomdpx model.pdf └── usage.txt ├── examples ├── cpp_models │ ├── adventurer │ │ ├── CMakeLists.txt │ │ ├── Makefile │ │ └── src │ │ │ ├── adventurer.cpp │ │ │ ├── adventurer.h │ │ │ └── main.cpp │ ├── asymmetric_tiger │ │ ├── CMakeLists.txt │ │ ├── Makefile │ │ ├── sampling_weight.dat │ │ └── src │ │ │ ├── main.cpp │ │ │ ├── tiger.cpp │ │ │ └── tiger.h │ ├── bridge │ │ ├── CMakeLists.txt │ │ ├── Makefile │ │ └── src │ │ │ ├── bridge.cpp │ │ │ ├── bridge.h │ │ │ └── main.cpp │ ├── chain │ │ ├── CMakeLists.txt │ │ ├── Makefile │ │ └── src │ │ │ ├── chain.cpp │ │ │ ├── chain.h │ │ │ └── main.cpp │ ├── collision_avoidance │ │ ├── Makefile │ │ ├── sampling_weight.dat │ │ └── src │ │ │ ├── collision_avoidance.cpp │ │ │ ├── collision_avoidance.h │ │ │ ├── collision_avoidance_state.cpp │ │ │ ├── collision_avoidance_state.h │ │ │ └── main.cpp │ ├── demining │ │ ├── Makefile │ │ ├── sampling_weight.dat │ │ └── src │ │ │ ├── closed_form_belief.cpp │ │ │ ├── closed_form_belief.h │ │ │ ├── demining.cpp │ │ │ ├── demining.h │ │ │ ├── demining_state.cpp │ │ │ ├── demining_state.h │ │ │ └── main.cpp │ ├── navigation │ │ ├── CMakeLists.txt │ │ ├── Makefile │ │ └── src │ │ │ ├── main.cpp │ │ │ ├── navigation.cpp │ │ │ └── navigation.h │ ├── pocman │ │ ├── CMakeLists.txt │ │ ├── Makefile │ │ ├── sampling_weight.dat │ │ └── src │ │ │ ├── main.cpp │ │ │ ├── pocman.cpp │ │ │ └── pocman.h │ ├── reg_demo │ │ ├── CMakeLists.txt │ │ ├── Makefile │ │ └── src │ │ │ ├── main.cpp │ │ │ ├── reg_demo.cpp │ │ │ └── reg_demo.h │ ├── rock_sample │ │ ├── CMakeLists.txt │ │ ├── Makefile │ │ ├── sampling_weight11x11.dat │ │ ├── sampling_weight15x15.dat │ │ ├── sampling_weight7x8.dat │ │ └── src │ │ │ ├── base │ │ │ ├── base_rock_sample.cpp │ │ │ └── base_rock_sample.h │ │ │ ├── fvrs │ │ │ ├── fvrs.cpp │ │ │ ├── fvrs.h │ │ │ └── main.cpp │ │ │ └── rock_sample │ │ │ ├── main.cpp │ │ │ ├── rock_sample.cpp │ │ │ └── rock_sample.h │ ├── simple_rock_sample │ │ ├── CMakeLists.txt │ │ ├── Makefile │ │ └── src │ │ │ ├── main.cpp │ │ │ ├── simple_rock_sample.cpp │ │ │ └── simple_rock_sample.h │ ├── tag │ │ ├── CMakeLists.txt │ │ ├── Makefile │ │ └── src │ │ │ ├── base │ │ │ ├── base_tag.cpp │ │ │ └── base_tag.h │ │ │ ├── laser_tag │ │ │ ├── laser_tag.cpp │ │ │ ├── laser_tag.h │ │ │ └── main.cpp │ │ │ ├── noisy_laser_tag │ │ │ ├── main.cpp │ │ │ ├── noisy_laser_tag.cpp │ │ │ └── noisy_laser_tag.h │ │ │ └── tag │ │ │ ├── main.cpp │ │ │ ├── tag.cpp │ │ │ └── tag.h │ └── tiger │ │ ├── CMakeLists.txt │ │ ├── Makefile │ │ └── src │ │ ├── main.cpp │ │ ├── tiger.cpp │ │ └── tiger.h └── pomdpx_models │ ├── CMakeLists.txt │ ├── Makefile │ ├── data │ ├── Tiger.pomdpx │ └── tag.pomdpx │ └── src │ └── main.cpp ├── include └── despot │ ├── config.h │ ├── core │ ├── builtin_lower_bounds.h │ ├── builtin_policy.h │ ├── builtin_upper_bounds.h │ ├── globals.h │ ├── history.h │ ├── mdp.h │ ├── node.h │ ├── particle_belief.h │ ├── pomdp_world.h │ └── solver.h │ ├── interface │ ├── belief.h │ ├── default_policy.h │ ├── lower_bound.h │ ├── pomdp.h │ ├── upper_bound.h │ └── world.h │ ├── logger.h │ ├── planner.h │ ├── plannerbase.h │ ├── pomdpx │ ├── parser │ │ ├── function.h │ │ ├── parser.h │ │ └── variable.h │ └── pomdpx.h │ ├── random_streams.h │ ├── solver │ ├── aems.h │ ├── baseline_solver.h │ ├── despot.h │ └── pomcp.h │ └── util │ ├── coord.h │ ├── dirichlet.h │ ├── exec_tracker.h │ ├── floor.h │ ├── gamma.h │ ├── grid.h │ ├── logging.h │ ├── memorypool.h │ ├── optionparser.h │ ├── random.h │ ├── seeds.h │ ├── timer.h │ ├── tinyxml │ ├── tinystr.h │ └── tinyxml.h │ └── util.h ├── license ├── APACHE LICENSE-2.0.txt ├── GPL-2.0.txt ├── License └── zlib.txt └── src ├── core ├── 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