├── .gitignore ├── .travis.yml ├── LICENSE ├── doc ├── banner.svg ├── gifs │ ├── 3dquadrotor.gif │ ├── ICRA_example1_minobs.gif │ ├── ICRA_example1_minobs_dubins.gif │ ├── ICRA_example1_shift.gif │ ├── ICRA_example2_minobs.gif │ ├── agv.gif │ ├── anchor2D.gif │ ├── bicycle.gif │ ├── cannonballs.gif │ ├── formation_dubins.gif │ ├── formation_quad_rotatingwall.gif │ ├── formation_quad_ufo.gif │ ├── holonomic_3d.gif │ ├── lvd_load.gif │ ├── lvd_unload.gif │ ├── maze.gif │ ├── multiproblem_circ.gif │ ├── multiproblem_rect.gif │ ├── narrowpassage.gif │ ├── p2p_holonomic.gif │ ├── p2p_holonomic_blocking.gif │ ├── plate.gif │ ├── platform_landing.gif │ ├── racetrack.gif │ ├── revolving_door.gif │ ├── revolving_door_diffdrive.gif │ ├── trailer.gif │ └── warehouse.gif └── logo.svg ├── examples ├── GCode_examples │ ├── Star.nc │ ├── Star_Yverdon.nc │ ├── anchor2D.nc │ ├── benchmark_stair.nc │ ├── gcodeproblem_anchor.py │ ├── gcodeproblem_benchmark_stair.py │ ├── gcodeproblem_multi_z.py │ ├── gcodeproblem_racetrack.py │ ├── gcodeproblem_rsq5.py │ ├── gcodeproblem_star.py │ ├── racetrack.nc │ ├── rsq5.nc │ └── rsq5_multi.nc ├── annoying_obstacle.py ├── compare_buildoptions.py ├── compare_buildoptions_distributed.py ├── compare_distributed_optimization_quadrotors.py ├── compare_distributed_vs_central_quadrotors.py ├── deployer_example.py ├── environment.pickle ├── formation_dubins.py ├── formation_holonomic.py ├── formation_holonomic_central.py ├── formation_holonomic_export.py ├── formation_holonomic_multiproblem.py ├── formation_quadrotor.py ├── formation_quadrotor_rotating_wall.py ├── gui_examples │ ├── svg │ │ ├── drawing.svg │ │ ├── maze_big.svg │ │ └── maze_small.svg │ ├── vast_environment_example1.pickle │ ├── vast_environment_example1.py │ ├── vast_environment_example1_dubins.py │ ├── vast_environment_example2.pickle │ ├── vast_environment_example2.py │ ├── vast_environment_example_maze.pickle │ └── vast_environment_example_maze.py ├── p2p_3dquadrotor.py ├── p2p_agv.py ├── p2p_agv2.py ├── p2p_bicycle.py ├── p2p_dubins.py ├── p2p_holonomic.py ├── p2p_holonomic_3d.py ├── p2p_holonomic_balls.py ├── p2p_holonomic_blocking.py ├── p2p_holonomic_disturbances.py ├── p2p_holonomic_export.py ├── p2p_holonomic_interveh_avoidance.py ├── p2p_holonomic_multiproblem.py ├── p2p_holonomic_obstraj_export.py ├── p2p_holonomic_octroom.py ├── p2p_holonomic_orient.py ├── p2p_holonomic_solvertest.py ├── p2p_holonomic_warehouse.py ├── p2p_quadrotor.py ├── p2p_trailer.py ├── platform_landing.py ├── questions.py ├── rendezvous_holonomic_export.py ├── revolving_door.py ├── revolving_door_diffdrive.py ├── revolving_door_quadrotor.py ├── ros_example │ ├── readme.md │ └── src │ │ ├── CMakeLists.txt │ │ ├── p3dx_description │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ └── rviz.launch │ │ ├── meshes │ │ │ ├── Coordinates │ │ │ ├── back_rim.stl │ │ │ ├── back_sonar.stl │ │ │ ├── center_hubcap.stl │ │ │ ├── center_wheel.stl │ │ │ ├── chassis.stl │ │ │ ├── front_rim.stl │ │ │ ├── front_sonar.stl │ │ │ ├── left_hubcap.stl │ │ │ ├── left_wheel.stl │ │ │ ├── lms100.dae │ │ │ ├── right_hubcap.stl │ │ │ ├── right_wheel.stl │ │ │ ├── swivel.stl │ │ │ └── top.stl │ │ ├── package.xml │ │ └── urdf │ │ │ ├── materials.xacro │ │ │ ├── pioneer3dx.gazebo │ │ │ ├── pioneer3dx.xacro │ │ │ ├── pioneer3dx.xml │ │ │ └── pioneer3dx_wheel.xacro │ │ ├── p3dx_gazebo │ │ ├── CMakeLists.txt │ │ ├── launch │ │ │ ├── gazebo.launch │ │ │ └── one_robot.launch │ │ ├── package.xml │ │ └── worlds │ │ │ └── p3dx.world │ │ └── p3dx_motionplanner │ │ ├── CMakeLists.txt │ │ ├── launch │ │ └── motionplanner.launch │ │ ├── msg │ │ ├── FleetTrajectories.msg │ │ ├── Obstacle.msg │ │ ├── P3DXPose.msg │ │ ├── P3DXTrajectory.msg │ │ ├── Room.msg │ │ ├── Settings.msg │ │ └── Trigger.msg │ │ ├── package.xml │ │ └── src │ │ ├── controller.py │ │ └── motionplanner.py ├── schedulerproblem_example1.py ├── schedulerproblem_example2.py ├── schedulerproblem_example_dubins.py ├── testAstar.py ├── test_multiframe.py └── tutorial_example.py ├── omgtools ├── __init__.py ├── basics │ ├── __init__.py │ ├── geometry.py │ ├── optilayer.py │ ├── shape.py │ ├── spline.py │ └── spline_extra.py ├── environment │ ├── __init__.py │ ├── environment.py │ ├── frame.py │ └── obstacle.py ├── execution │ ├── __init__.py │ ├── deployer.py │ ├── plotlayer.py │ └── simulator.py ├── export │ ├── __init__.py │ ├── export.py │ ├── export_admm.py │ ├── export_formation.py │ ├── export_p2p.py │ ├── export_rendezvous.py │ ├── point2point │ │ ├── Makefile │ │ ├── Point2Point.cpp │ │ ├── Point2Point.hpp │ │ ├── admm │ │ │ ├── ADMMPoint2Point.cpp │ │ │ ├── ADMMPoint2Point.hpp │ │ │ ├── formation │ │ │ │ ├── FormationPoint2Point.cpp │ │ │ │ └── FormationPoint2Point.hpp │ │ │ └── rendezvous │ │ │ │ ├── RendezVous.cpp │ │ │ │ └── RendezVous.hpp │ │ ├── example.cpp │ │ └── instructions.txt │ ├── tests │ │ ├── formation │ │ │ └── test.cpp │ │ ├── point2point │ │ │ └── test.cpp │ │ └── rendezvous │ │ │ └── test.cpp │ └── vehicles │ │ ├── Holonomic.cpp │ │ ├── Holonomic.hpp │ │ ├── Vehicle.cpp │ │ └── Vehicle.hpp ├── gui │ ├── __init__.py │ ├── gcode_block.py │ ├── gcode_reader.py │ ├── gui.py │ └── svg_reader.py ├── problems │ ├── __init__.py │ ├── admm.py │ ├── distributedproblem.py │ ├── dualdecomposition.py │ ├── dualmethod.py │ ├── formation.py │ ├── formation_central.py │ ├── formation_dualdec.py │ ├── gcodeproblem.py │ ├── gcodeschedulerproblem.py │ ├── globalplanner.py │ ├── multiframeproblem.py │ ├── point2point.py │ ├── problem.py │ ├── rendezvous.py │ └── schedulerproblem.py └── vehicles │ ├── __init__.py │ ├── agv.py │ ├── bicycle.py │ ├── dubins.py │ ├── fleet.py │ ├── holonomic.py │ ├── holonomic1d.py │ ├── holonomic3d.py │ ├── holonomicorient.py │ ├── quadrotor.py │ ├── quadrotor3d.py │ ├── quadrotor3d_simple.py │ ├── tool.py │ ├── trailer.py │ └── vehicle.py ├── readme.md ├── setup.py └── tests └── test_examples.py /.gitignore: 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