├── 2ndparty ├── spencer_messages │ ├── .gitignore │ ├── LICENSE │ ├── README.md │ ├── spencer_control_msgs │ │ ├── CATKIN_IGNORE │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── LICENSE │ │ ├── msg │ │ │ └── ComponentStatus.msg │ │ └── package.xml │ ├── spencer_human_attribute_msgs │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── LICENSE │ │ ├── msg │ │ │ ├── CategoricalAttribute.msg │ │ │ ├── HumanAttributes.msg │ │ │ └── ScalarAttribute.msg │ │ └── package.xml │ ├── spencer_social_relation_msgs │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── LICENSE │ │ ├── msg │ │ │ ├── SocialActivities.msg │ │ │ ├── SocialActivity.msg │ │ │ ├── SocialRelation.msg │ │ │ └── SocialRelations.msg │ │ └── package.xml │ ├── spencer_tracking_msgs │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── LICENSE │ │ ├── msg │ │ │ ├── CompositeDetectedPerson.msg │ │ │ ├── CompositeDetectedPersons.msg │ │ │ ├── DetectedPerson.msg │ │ │ ├── DetectedPersons.msg │ │ │ ├── ImmDebugInfo.msg │ │ │ ├── ImmDebugInfos.msg │ │ │ ├── PersonTrajectory.msg │ │ │ ├── PersonTrajectoryEntry.msg │ │ │ ├── TrackedGroup.msg │ │ │ ├── TrackedGroups.msg │ │ │ ├── TrackedPerson.msg │ │ │ ├── TrackedPerson2d.msg │ │ │ ├── TrackedPersons.msg │ │ │ ├── TrackedPersons2d.msg │ │ │ └── TrackingTimingMetrics.msg │ │ ├── package.xml │ │ └── srv │ │ │ └── GetPersonTrajectories.srv │ └── spencer_vision_msgs │ │ ├── CHANGELOG.rst │ │ ├── CMakeLists.txt │ │ ├── LICENSE │ │ ├── msg │ │ ├── PersonImage.msg │ │ ├── PersonImages.msg │ │ ├── PersonROI.msg │ │ └── PersonROIs.msg │ │ └── package.xml └── spencer_tracking_rviz_plugin │ ├── .gitignore │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── icons │ └── classes │ │ ├── DetectedPersons.png │ │ ├── HumanAttributes.png │ │ ├── SocialActivities.png │ │ ├── SocialRelations.png │ │ ├── TrackedGroups.png │ │ └── TrackedPersons.png │ ├── media │ ├── animated_walking_man.mesh │ ├── animated_walking_man.skeleton │ ├── female_symbol.dae │ └── male_symbol.dae │ ├── package.xml │ ├── plugin_description.xml │ ├── screenshots │ ├── detected_persons.png │ ├── human_attributes.png │ ├── social_activities.png │ ├── social_relations.png │ ├── tracked_groups.png │ ├── tracked_persons_1.png │ ├── tracked_persons_2.png │ └── tracked_persons_3.png │ ├── scripts │ └── send_test_msgs.py │ └── src │ ├── additional_topic_subscriber.h │ ├── detected_persons_display.cpp │ ├── detected_persons_display.h │ ├── human_attributes_display.cpp │ ├── human_attributes_display.h │ ├── person_display_common.cpp │ ├── person_display_common.h │ ├── social_activities_display.cpp │ ├── social_activities_display.h │ ├── social_relations_display.cpp │ ├── social_relations_display.h │ ├── tracked_groups_display.cpp │ ├── tracked_groups_display.h │ ├── tracked_persons_cache.cpp │ ├── tracked_persons_cache.h │ ├── tracked_persons_display.cpp │ ├── tracked_persons_display.h │ └── visuals │ ├── covariance_visual.h │ ├── mesh_node.h │ ├── person_visual.cpp │ ├── person_visual.h │ └── text_node.h ├── 3rdparty ├── CMakeLists.txt └── libpedsim │ ├── .gitignore │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── include │ └── pedsim │ │ ├── ped_agent.h │ │ ├── ped_angle.h │ │ ├── ped_includes.h │ │ ├── ped_obstacle.h │ │ ├── ped_scene.h │ │ ├── ped_tree.h │ │ ├── ped_vector.h │ │ └── ped_waypoint.h │ ├── package.xml │ └── src │ ├── ped_agent.cpp │ ├── ped_angle.cpp │ ├── ped_obstacle.cpp │ ├── ped_scene.cpp │ ├── ped_tree.cpp │ ├── ped_vector.cpp │ └── ped_waypoint.cpp ├── LICENSE ├── README.md ├── Tutorial install from scratch on ubuntu.pdf ├── experimental_package ├── CMakeLists.txt ├── launch │ ├── business_area.launch │ ├── business_area_external.launch │ ├── campus.launch │ ├── city_center.launch │ ├── city_center_external.launch │ ├── multi_node_parallel.launch │ └── other │ │ ├── frontal_group_pedestrian.launch │ │ ├── frontal_simple_pedestrian.launch │ │ ├── lateral_group_pedestrian.launch │ │ └── lateral_simple_pedestrian.launch ├── models │ ├── prius │ │ ├── meshes │ │ │ ├── Hybrid.png │ │ │ ├── Hybrid_Interior.png │ │ │ ├── Wheels3.png │ │ │ ├── hybrid_body.mtl │ │ │ ├── hybrid_body.obj │ │ │ ├── steering_wheel.mtl │ │ │ ├── steering_wheel.obj │ │ │ ├── wheel.mtl │ │ │ └── wheel.obj │ │ └── urdf │ │ │ ├── group1 │ │ │ └── prius.urdf │ │ │ ├── group2 │ │ │ └── prius.urdf │ │ │ └── prius.urdf │ └── zoe │ │ ├── cad │ │ ├── velodyne │ │ │ ├── texture_velodyne.png │ │ │ └── velodyne.stl │ │ ├── wheel │ │ │ └── wheel.stl │ │ └── zoe.stl │ │ ├── meshes │ │ ├── sick │ │ │ ├── sick.dae │ │ │ └── texture_sick.png │ │ ├── texture_zoe.png │ │ ├── velodyne │ │ │ ├── texture_velodyne.png │ │ │ └── velodyne.dae │ │ └── zoe.dae │ │ └── urdf │ │ ├── group1 │ │ └── zoe.urdf │ │ ├── group2 │ │ └── zoe.urdf │ │ └── zoe.urdf ├── package.xml ├── scenarios │ ├── README.md │ ├── business_area │ │ ├── high │ │ │ ├── back.xml │ │ │ ├── bilateral.xml │ │ │ ├── frontal.xml │ │ │ ├── lateral.xml │ │ │ └── shared_space.xml │ │ └── low │ │ │ ├── back.xml │ │ │ ├── bilateral.xml │ │ │ ├── frontal.xml │ │ │ ├── lateral.xml │ │ │ └── shared_space.xml │ ├── campus │ │ ├── high │ │ │ ├── back.xml │ │ │ ├── bilateral.xml │ │ │ ├── frontal.xml │ │ │ ├── lateral.xml │ │ │ └── shared_space.xml │ │ └── low │ │ │ ├── back.xml │ │ │ ├── bilateral.xml │ │ │ ├── frontal.xml │ │ │ ├── lateral.xml │ │ │ └── shared_space.xml │ ├── city_center │ │ ├── high │ │ │ ├── back.xml │ │ │ ├── bilateral.xml │ │ │ ├── frontal.xml │ │ │ ├── lateral.xml │ │ │ └── shared_space.xml │ │ └── low │ │ │ ├── back.xml │ │ │ ├── bilateral.xml │ │ │ ├── frontal.xml │ │ │ ├── lateral.xml │ │ │ └── shared_space.xml │ └── other │ │ ├── frontal.xml │ │ └── lateral.xml └── src │ └── timer_node.cpp ├── move_base_2dnav ├── CMakeLists.txt ├── base_local_planner_params.yaml ├── costmap_common_params.yaml ├── global_costmap_params.yaml ├── local_costmap_params.yaml ├── move_base.launch └── package.xml ├── pedsim_gazebo_plugin ├── CMakeLists.txt ├── README.md ├── launch │ ├── airport.launch │ ├── scene1.launch │ └── social_contexts.launch ├── models │ ├── actor_model.config │ └── actor_model.sdf ├── package.xml ├── scripts │ ├── pedsim_to_gazbo_world.py │ └── spawn_pedsim_agents.py ├── src │ └── actor_poses_plugin.cpp └── worlds │ ├── airport.world │ ├── scene1.world │ ├── social_activities.world │ ├── social_contexts.world │ └── socialcontext.world ├── pedsim_msgs ├── CMakeLists.txt ├── msg │ ├── AgentForce.msg │ ├── AgentGroup.msg │ ├── AgentGroups.msg │ ├── AgentState.msg │ ├── AgentStates.msg │ ├── AllAgentsState.msg │ ├── LineObstacle.msg │ ├── LineObstacles.msg │ ├── SocialActivities.msg │ ├── SocialActivity.msg │ ├── SocialRelation.msg │ ├── SocialRelations.msg │ ├── TrackedGroup.msg │ ├── TrackedGroups.msg │ ├── TrackedPerson.msg │ ├── TrackedPersons.msg │ ├── Zone.msg │ └── Zones.msg └── package.xml ├── pedsim_ros ├── CMakeLists.txt └── package.xml ├── pedsim_sensors ├── CMakeLists.txt ├── include │ └── pedsim_sensors │ │ ├── obstacle_point_cloud.h │ │ ├── pedsim_sensor.h │ │ └── people_point_cloud.h ├── launch │ ├── obstacle_pcd_sensor.launch │ └── people_pcd_sensor.launch ├── package.xml └── src │ └── pedsim_sensors │ ├── obstacle_point_cloud.cpp │ └── people_point_cloud.cpp ├── pedsim_simulator ├── CMakeLists.txt ├── config │ └── PedsimSimulator.cfg ├── images │ ├── animated_walking_man.mesh │ ├── animated_walking_man.skeleton │ ├── darylbot.dae │ ├── darylbot_rotated_shifted.dae │ ├── kiosk.dae │ ├── man.3ds │ └── pedsim_av.png ├── include │ └── pedsim_simulator │ │ ├── agentstatemachine.h │ │ ├── config.h │ │ ├── element │ │ ├── agent.h │ │ ├── agentcluster.h │ │ ├── agentgroup.h │ │ ├── areawaypoint.h │ │ ├── attractionarea.h │ │ ├── obstacle.h │ │ ├── queueingwaypoint.h │ │ ├── scenarioelement.h │ │ ├── waitingqueue.h │ │ └── waypoint.h │ │ ├── force │ │ ├── alongwallforce.h │ │ ├── force.h │ │ ├── groupcoherenceforce.h │ │ ├── groupgazeforce.h │ │ ├── grouprepulsionforce.h │ │ └── randomforce.h │ │ ├── orientationhandler.h │ │ ├── rng.h │ │ ├── scenarioreader.h │ │ ├── scene.h │ │ ├── simulator.h │ │ ├── utilities.h │ │ └── waypointplanner │ │ ├── groupwaypointplanner.h │ │ ├── individualwaypointplanner.h │ │ ├── queueingplanner.h │ │ ├── shoppingplanner.h │ │ └── waypointplanner.h ├── launch │ ├── airport_activities.launch │ ├── airport_demo.launch │ ├── robot_controller.launch │ ├── simple_pedestrians.launch │ ├── simulator.launch │ └── sources_and_sinks.launch ├── package.xml ├── rviz │ ├── airport.rviz │ ├── airport_activities.rviz │ ├── social_contexts_activities.rviz │ ├── sources_and_sinks.rviz │ ├── with_robot.rviz │ ├── with_robot_zoom_grid.rviz │ ├── with_robotgroup1.rviz │ └── with_robotgroup2.rviz ├── scenarios │ ├── airport.xml │ ├── airport2.xml │ ├── airport_activities.xml │ ├── airport_activities2.xml │ ├── blank_world.xml │ ├── contexts │ │ ├── anti_flow.xml │ │ ├── flow.xml │ │ ├── queueing.xml │ │ ├── shopping.xml │ │ └── standing.xml │ ├── corridor.xml │ ├── scene1.xml │ ├── scene2.xml │ ├── scene3.xml │ ├── scene4.xml │ ├── singleagent.xml │ ├── social_contexts.xml │ └── srl_experiments │ │ └── nav_test1.xml ├── scripts │ ├── dummy_transforms.py │ ├── keyboard_teleop.py │ ├── mock_static_scene.py │ └── scenario_to_png.py └── src │ ├── agentstatemachine.cpp │ ├── config.cpp │ ├── element │ ├── agent.cpp │ ├── agentcluster.cpp │ ├── agentgroup.cpp │ ├── areawaypoint.cpp │ ├── attractionarea.cpp │ ├── obstacle.cpp │ ├── queueingwaypoint.cpp │ ├── scenarioelement.cpp │ ├── waitingqueue.cpp │ └── waypoint.cpp │ ├── force │ ├── alongwallforce.cpp │ ├── force.cpp │ ├── groupcoherenceforce.cpp │ ├── groupgazeforce.cpp │ ├── grouprepulsionforce.cpp │ └── randomforce.cpp │ ├── orientationhandler.cpp │ ├── rng.cpp │ ├── scenarioreader.cpp │ ├── scene.cpp │ ├── simulate_diff_drive_robot.cpp │ ├── simulator.cpp │ ├── simulator_node.cpp │ └── waypointplanner │ ├── groupwaypointplanner.cpp │ ├── individualwaypointplanner.cpp │ ├── queueingplanner.cpp │ 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