├── .gitattributes ├── .gitignore ├── .gitmodules ├── LICENSE ├── Readme.md ├── install_fastsam_deps.bash ├── install_puma_deps.bash ├── panther_compression ├── .gitignore ├── =2.0.0 ├── Readme.md ├── call_student_and_expert.py ├── compression │ ├── __init__.py │ ├── envs │ │ └── MyEnvironment.py │ ├── policies │ │ ├── ExpertPolicy.py │ │ ├── StudentPolicy.py │ │ └── StudentPolicy_noProbability.py │ ├── setup.py │ └── utils │ │ ├── eval.py │ │ ├── load.py │ │ ├── other.py │ │ ├── plot.py │ │ ├── train.py │ │ └── visualizer.py ├── concatenate_bags.py ├── definitions.py ├── generate_training_curves.ipynb ├── get_policies_reward.py ├── gurobi.log ├── investigate_why_expert_violate_obst_avoidance.py ├── investigate_why_student_yaw_is_big.py ├── novale2.py ├── play_training_bags.sh ├── plot_stuff.py ├── policy_compression_train.py ├── read_npz.py ├── read_one_npz.py ├── run.sh ├── rviz_cfgs │ └── rviz_compression.rviz ├── test_dataset.py ├── test_infeasibility_ipopt.py ├── test_lstm_pt.py ├── test_lstm_tf.py ├── test_obstacle_manager.py ├── test_pwp.py ├── test_transformer.py ├── test_validation_set.py ├── test_yaw.py ├── tests.py ├── trained_policies │ ├── README.md │ ├── loss │ │ ├── test20.png │ │ ├── test21.png │ │ ├── test22.png │ │ ├── test23.png │ │ └── test24.png │ ├── old │ │ ├── Hung_dynamic_obstacles.pt │ │ ├── Hung_epsilon_0.05.pt │ │ ├── RWTAc_epsilon_0.00.pt │ │ ├── RWTAc_epsilon_0.05.pt │ │ ├── RWTAc_epsilon_0.15.pt │ │ ├── RWTAc_epsilon_0.25.pt │ │ ├── RWTAc_epsilon_0.35.pt │ │ ├── RWTAr_epsilon_0.00.pt │ │ ├── RWTAr_epsilon_0.05.pt │ │ ├── RWTAr_epsilon_0.15.pt │ │ ├── RWTAr_epsilon_0.25.pt │ │ └── RWTAr_epsilon_0.35.pt │ ├── policies │ │ ├── test19.pt │ │ ├── test20.pt │ │ ├── test21.pt │ │ ├── test22.pt │ │ ├── test23.pt │ │ └── test24.pt │ └── yamls │ │ ├── test1.yaml │ │ ├── test10.yaml │ │ ├── test11.yaml │ │ ├── test12.yaml │ │ ├── test13.yaml │ │ ├── test14.yaml │ │ ├── test15.yaml │ │ ├── test16.yaml │ │ ├── test17.yaml │ │ ├── test18.yaml │ │ ├── test19.yaml │ │ ├── test2.yaml │ │ ├── test20.yaml │ │ ├── test21.yaml │ │ ├── test22.yaml │ │ ├── test23.yaml │ │ ├── test24.yaml │ │ ├── test3.yaml │ │ ├── test4.yaml │ │ ├── test5.yaml │ │ ├── test6.yaml │ │ ├── test7.yaml │ │ ├── test8.yaml │ │ └── test9.yaml └── visualize_collected_trajectories.ipynb ├── panther_gazebo ├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── launch │ ├── spawn_quadrotor.launch │ ├── spawn_quadrotor_with_asus.launch │ └── spawn_quadrotor_with_realsense.launch ├── meshes │ ├── asus_camera │ │ ├── asus_camera_simple.dae │ │ └── asus_camera_simple.stl │ ├── quadrotor │ │ ├── blender │ │ │ ├── quadrotor_base.blend │ │ │ └── quadrotor_base_2.blend │ │ ├── quadrotor.dae │ │ ├── quadrotor_base.dae │ │ ├── quadrotor_base.stl │ │ ├── quadrotor_base_2.dae │ │ └── quadrotor_base_2.stl │ └── t265 │ │ └── realsense_t265.stl ├── package.xml └── urdf │ ├── asus_camera.urdf.xacro │ ├── fake_realsense_camera.urdf.xacro │ ├── quadrotor.gazebo.xacro │ ├── quadrotor.urdf.xacro │ ├── quadrotor_base.urdf.xacro │ ├── quadrotor_with_asus.gazebo.xacro │ ├── quadrotor_with_asus.urdf.xacro │ ├── quadrotor_with_realsense.gazebo.xacro │ └── quadrotor_with_realsense.urdf.xacro ├── panther_msgs ├── CMakeLists.txt ├── msg │ ├── CoeffPoly.msg │ ├── Drift.msg │ ├── DynTraj.msg │ ├── GoalReached.msg │ ├── IsReady.msg │ ├── Log.msg │ ├── Logtp.msg │ ├── PieceWisePolTraj.msg │ └── WhoPlans.msg └── package.xml ├── puma ├── .gitignore ├── .vscode │ └── c_cpp_properties.json ├── CMakeLists.txt ├── cmake_finders │ └── FindCASADI.cmake ├── docker │ ├── Dockerfile │ ├── Makefile │ └── puma.sh ├── imgs │ ├── deep_panther.gif │ ├── hw-gif.gif │ ├── pads-const-xy-circle-gif.gif │ ├── pads-linear-venn-gif.gif │ └── random-linear-puma-gif.gif ├── include │ ├── LICENSE_termcolor │ ├── bspline_utils.hpp │ ├── cgal_utils.hpp │ ├── exprtk.hpp │ ├── mparser.hpp │ ├── octopus_search.hpp │ ├── panther.hpp │ ├── panther_ros.hpp │ ├── panther_types.hpp │ ├── solver_ipopt.hpp │ ├── solver_params.hpp │ ├── termcolor.hpp │ ├── timer.hpp │ ├── tracker_predictor.hpp │ └── utils.hpp ├── launch │ ├── drone_marker_publisher.launch │ ├── fastsam.launch │ ├── goal_reached_checker.launch │ ├── goal_reached_checker_ua.launch │ ├── hw_base_station.launch │ ├── hw_goal.launch │ ├── hw_obstacle.launch │ ├── hw_onboard.launch │ ├── octopus_search.launch │ ├── perfect_controller.launch │ ├── pose_corrupter.launch │ ├── pub_goal.launch │ ├── sim_base_station.launch │ ├── sim_base_station_fastsam.launch │ ├── sim_goal.launch │ ├── sim_onboard.launch │ ├── simulation.launch │ ├── static_transforms.launch │ ├── static_transforms_for_hw_testing_in_sim.launch │ ├── t265.launch │ ├── term_goal_sender.launch │ ├── test_tracker_predictor.launch │ ├── time_keeper.launch │ └── tracker_predictor.launch ├── matlab │ ├── MyCasadiClampedUniformSpline.m │ ├── MyClampedUniformSpline.m │ ├── casadi_generated_files │ │ ├── compute_cost.casadi │ │ ├── compute_cost_ua.casadi │ │ ├── compute_dyn_limits_constraints_violation.casadi │ │ ├── compute_dyn_limits_constraints_violation_ua.casadi │ │ ├── compute_trans_and_yaw_dyn_limits_constraints_violation.casadi │ │ ├── compute_trans_and_yaw_dyn_limits_constraints_violation_ua.casadi │ │ ├── fit3d.casadi │ │ ├── fit_yaw.casadi │ │ ├── fit_yaw_ua.casadi │ │ ├── get_mean_variance_pred_10.casadi │ │ ├── get_mean_variance_pred_100.casadi │ │ ├── get_mean_variance_pred_11.casadi │ │ ├── get_mean_variance_pred_12.casadi │ │ ├── get_mean_variance_pred_13.casadi │ │ ├── get_mean_variance_pred_14.casadi │ │ ├── get_mean_variance_pred_15.casadi │ │ ├── get_mean_variance_pred_16.casadi │ │ ├── get_mean_variance_pred_17.casadi │ │ ├── get_mean_variance_pred_18.casadi │ │ ├── get_mean_variance_pred_19.casadi │ │ ├── get_mean_variance_pred_20.casadi │ │ ├── get_mean_variance_pred_21.casadi │ │ ├── get_mean_variance_pred_22.casadi │ │ ├── get_mean_variance_pred_23.casadi │ │ ├── get_mean_variance_pred_24.casadi │ │ ├── get_mean_variance_pred_25.casadi │ │ ├── get_mean_variance_pred_26.casadi │ │ ├── get_mean_variance_pred_27.casadi │ │ ├── get_mean_variance_pred_28.casadi │ │ ├── get_mean_variance_pred_29.casadi │ │ ├── get_mean_variance_pred_30.casadi │ │ ├── get_mean_variance_pred_31.casadi │ │ ├── get_mean_variance_pred_32.casadi │ │ ├── get_mean_variance_pred_33.casadi │ │ ├── get_mean_variance_pred_34.casadi │ │ ├── get_mean_variance_pred_35.casadi │ │ ├── get_mean_variance_pred_36.casadi │ │ ├── get_mean_variance_pred_37.casadi │ │ ├── get_mean_variance_pred_38.casadi │ │ ├── get_mean_variance_pred_39.casadi │ │ ├── get_mean_variance_pred_4.casadi │ │ ├── get_mean_variance_pred_40.casadi │ │ ├── get_mean_variance_pred_41.casadi │ │ ├── get_mean_variance_pred_42.casadi │ │ ├── get_mean_variance_pred_43.casadi │ │ ├── get_mean_variance_pred_44.casadi │ │ ├── get_mean_variance_pred_45.casadi │ │ ├── get_mean_variance_pred_46.casadi │ │ ├── get_mean_variance_pred_47.casadi │ │ ├── get_mean_variance_pred_48.casadi │ │ ├── get_mean_variance_pred_49.casadi │ │ ├── get_mean_variance_pred_5.casadi │ │ ├── get_mean_variance_pred_50.casadi │ │ ├── get_mean_variance_pred_51.casadi │ │ ├── get_mean_variance_pred_52.casadi │ │ ├── get_mean_variance_pred_53.casadi │ │ ├── get_mean_variance_pred_54.casadi │ │ ├── get_mean_variance_pred_55.casadi │ │ ├── get_mean_variance_pred_56.casadi │ │ ├── get_mean_variance_pred_57.casadi │ │ ├── get_mean_variance_pred_58.casadi │ │ ├── get_mean_variance_pred_59.casadi │ │ ├── get_mean_variance_pred_6.casadi │ │ ├── get_mean_variance_pred_60.casadi │ │ ├── get_mean_variance_pred_61.casadi │ │ ├── get_mean_variance_pred_62.casadi │ │ ├── get_mean_variance_pred_63.casadi │ │ ├── get_mean_variance_pred_64.casadi │ │ ├── get_mean_variance_pred_65.casadi │ │ ├── get_mean_variance_pred_66.casadi │ │ ├── get_mean_variance_pred_67.casadi │ │ ├── get_mean_variance_pred_68.casadi │ │ ├── get_mean_variance_pred_69.casadi │ │ ├── get_mean_variance_pred_7.casadi │ │ ├── get_mean_variance_pred_70.casadi │ │ ├── get_mean_variance_pred_71.casadi │ │ ├── get_mean_variance_pred_72.casadi │ │ ├── get_mean_variance_pred_73.casadi │ │ ├── get_mean_variance_pred_74.casadi │ │ ├── get_mean_variance_pred_75.casadi │ │ ├── get_mean_variance_pred_76.casadi │ │ ├── get_mean_variance_pred_77.casadi │ │ ├── get_mean_variance_pred_78.casadi │ │ ├── get_mean_variance_pred_79.casadi │ │ ├── get_mean_variance_pred_8.casadi │ │ ├── get_mean_variance_pred_80.casadi │ │ ├── get_mean_variance_pred_81.casadi │ │ ├── get_mean_variance_pred_82.casadi │ │ ├── get_mean_variance_pred_83.casadi │ │ ├── get_mean_variance_pred_84.casadi │ │ ├── get_mean_variance_pred_85.casadi │ │ ├── get_mean_variance_pred_86.casadi │ │ ├── get_mean_variance_pred_87.casadi │ │ ├── get_mean_variance_pred_88.casadi │ │ ├── get_mean_variance_pred_89.casadi │ │ ├── get_mean_variance_pred_9.casadi │ │ ├── get_mean_variance_pred_90.casadi │ │ ├── get_mean_variance_pred_91.casadi │ │ ├── get_mean_variance_pred_92.casadi │ │ ├── get_mean_variance_pred_93.casadi │ │ ├── get_mean_variance_pred_94.casadi │ │ ├── get_mean_variance_pred_95.casadi │ │ ├── get_mean_variance_pred_96.casadi │ │ ├── get_mean_variance_pred_97.casadi │ │ ├── get_mean_variance_pred_98.casadi │ │ ├── get_mean_variance_pred_99.casadi │ │ ├── get_optimal_yaw_for_fixed_pos.casadi │ │ ├── get_uncertainty.casadi │ │ ├── index_instruction.txt │ │ ├── index_instruction_ua.txt │ │ ├── op.casadi │ │ ├── op_ua.casadi │ │ ├── panther_compute_cost.casadi │ │ ├── panther_compute_dyn_limits_constraints_violation.casadi │ │ ├── panther_compute_trans_and_yaw_dyn_limits_constraints_violation.casadi │ │ ├── panther_fit3d.casadi │ │ ├── panther_fit_yaw.casadi │ │ ├── panther_get_optimal_yaw_for_fixed_pos.casadi │ │ ├── panther_index_instruction.txt │ │ ├── panther_op.casadi │ │ ├── panther_visibility.casadi │ │ ├── params_casadi.yaml │ │ ├── params_casadi_prediction.yaml │ │ ├── visibility.casadi │ │ └── visibility_ua.casadi │ ├── convertExpresionWithMX2SX.m │ ├── doSetup.m │ ├── getViolationConstraints.m │ ├── hopf_visualization │ │ ├── colormapline.m │ │ ├── untitled.m │ │ └── visualizing_hopf.m │ ├── main.m │ ├── more_utils │ │ ├── Cone.m │ │ ├── catstruct │ │ │ ├── catstruct.m │ │ │ └── license.txt │ │ ├── containsSymCasadi.m │ │ ├── convertMX2Matlab.m │ │ ├── cprintf │ │ │ ├── cprintf.m │ │ │ ├── cprintf.png │ │ │ └── license.txt │ │ ├── double2DM.m │ │ ├── getCoeffPolyCasadi.m │ │ ├── getR.m │ │ ├── getSimpsonCoeff.m │ │ ├── getVertexesMovingObstacle.m │ │ ├── invPose.m │ │ ├── isMinusInfCasadi.m │ │ ├── isPlusInfCasadi.m │ │ ├── multquat.m │ │ ├── plot3dcircleXY.m │ │ ├── plotCone.m │ │ ├── qabcFromAccel.m │ │ ├── shiftToEnsureNoMoreThan2Pi.m │ │ ├── substituteCellArray.m │ │ ├── sym2casadi.m │ │ ├── toRotMat.m │ │ └── vertexesOfBox.m │ ├── optimalb1FromPosPosFeatureAndAccel.m │ ├── other │ │ ├── example_sin_class.m │ │ ├── example_with_polynomials.m │ │ ├── explanation_normalization.svg │ │ ├── fit_to_angular_data.m │ │ ├── getPosMovingObstacle.m │ │ ├── minimum_time.m │ │ ├── parker.m │ │ ├── prediction_old.m │ │ ├── proposal │ │ │ ├── analysis_for_plots_proposal_numPAterms.m │ │ │ ├── analysis_for_plots_proposal_segments.m │ │ │ ├── different_PA_terms.mat │ │ │ └── different_segments.mat │ │ ├── scaling.lyx │ │ ├── scaling.m │ │ ├── test_shift_poly.m │ │ ├── trying_probability.m │ │ ├── untitled2.m │ │ └── untitled3.m │ ├── plot_closed_form_yaw_fixed_spatial_path.m │ ├── prediction.m │ ├── test_uncertainty.m │ └── test_vel_ctrl_points_order.m ├── meshes │ ├── ConcreteDamage01b │ │ ├── author.txt │ │ ├── car.dae │ │ ├── fireextinguisher.dae │ │ ├── flashlight.dae │ │ ├── microwave.dae │ │ ├── model.dae │ │ ├── model │ │ │ ├── ConcAggr.jpg │ │ │ ├── ConcBase.jpg │ │ │ ├── RustBase.jpg │ │ │ ├── brick.jpg │ │ │ ├── brick2.jpg │ │ │ ├── brick3.jpg │ │ │ ├── texture1.jpg │ │ │ ├── texture10.jpg │ │ │ ├── texture3.jpg │ │ │ ├── texture4.jpg │ │ │ ├── texture5.jpg │ │ │ ├── texture6.jpeg │ │ │ ├── texture8.jpg │ │ │ ├── texture9.jpeg │ │ │ ├── texture9.jpg │ │ │ ├── wood1.jpg │ │ │ └── wood4.jpg │ │ ├── model2.dae │ │ ├── model3.dae │ │ ├── model4.dae │ │ ├── notebook.dae │ │ └── table.dae │ ├── box.urdf │ └── empty.world ├── other │ ├── data_extraction │ │ ├── fov_detector.py │ │ ├── get_hw_gt_objects.py │ │ ├── get_raw_and_undistorted_images_from_bags.py │ │ ├── make_video_from_pngs.py │ │ ├── merge_bags.py │ │ ├── offline_generate_segmentation_images.py │ │ ├── plot_2d_data_animation.py │ │ ├── plot_animation.py │ │ ├── plot_data.py │ │ ├── plot_frame_alignment.py │ │ ├── plot_hw_2d_data_animation.py │ │ ├── plot_hw_frame_alignment.py │ │ ├── plot_hw_map.py │ │ ├── plot_hw_map_animation.py │ │ ├── plot_map.py │ │ ├── plot_map_animation.py │ │ ├── plot_ua_planner.py │ │ ├── process_data.py │ │ ├── process_frame_alignment.py │ │ ├── process_hw_frame_alignment.py │ │ ├── process_ua_planner.py │ │ ├── tune_scaling_factor.py │ │ └── undistort_images.py │ ├── demos │ │ ├── frame_alignment_demo.py │ │ ├── uncertainty_aware_planner_demo.py │ │ └── uncertainty_aware_planner_on_frame_alignment_demo.py │ ├── hw │ │ ├── hw_fa_fly.sh │ │ ├── hw_fly.sh │ │ ├── ip_route_setup.sh │ │ └── safety_monitor.py │ ├── sim │ │ ├── benchmarking.py │ │ ├── goal_reached_checker.py │ │ ├── goal_reached_checker_ua.py │ │ ├── pub_goal.py │ │ ├── run_many_sims.py │ │ ├── run_sims_for_frame_alignment.py │ │ ├── run_ua_frame_alignment_sims.py │ │ └── run_ua_sims.py │ └── yamls │ │ └── primer-2a3o.yaml ├── package.xml ├── param │ ├── obstacle1.yaml │ ├── predictor.yaml │ └── puma.yaml ├── rqt_cfgs │ ├── demo_interface.perspective │ └── obs_demo_interface.perspective ├── rviz_cfgs │ ├── octopus_search.rviz │ ├── panther.rviz │ ├── panther_hw.rviz │ └── panther_old.rviz ├── scripts │ ├── commands.py │ ├── drifty_estimate.py │ ├── drone_marker_publisher.py │ ├── dynamic_corridor.py │ ├── fastsam.py │ ├── fastsam_launcher.py │ ├── floor_objects_env.py │ ├── hw_goal.py │ ├── models │ │ ├── .gitattributes │ │ └── FastSAM-x.pt │ ├── obstacle.py │ ├── obstacles │ │ └── hw_generate_traj_params.py │ ├── offline_generate_segmentation_images.py │ ├── panther_obs_commands.py │ ├── perfect_controller.py │ ├── pose_corrupter.py │ ├── position_exchange.py │ ├── publish_in_gazebo.py │ ├── table.lyx │ ├── term_goal_sender.py │ ├── test_sim_camera.launch │ ├── time_keeper.py │ ├── tune_resolution.py │ └── utils.py ├── setup.py └── src │ ├── bspline_utils.cpp │ ├── cgal_utils.cpp │ ├── disable_physics.cpp │ ├── examples │ ├── test_bspline_utils.cpp │ ├── test_gurobi.cpp │ ├── test_octopus_search.cpp │ ├── test_predictor.cpp │ ├── test_tracker_predictor.cpp │ └── test_utils.cpp │ ├── move_model.cpp │ ├── mparser.cpp │ ├── octopus_search.cpp │ ├── panther.cpp │ ├── panther.egg-info │ ├── PKG-INFO │ ├── SOURCES.txt │ ├── dependency_links.txt │ └── top_level.txt │ ├── panther_node.cpp │ ├── panther_ros.cpp │ ├── py_panther.cpp │ ├── solver_ipopt.cpp │ ├── solver_ipopt_guess.cpp │ ├── solver_ipopt_utils.cpp │ ├── test.py │ ├── test1_call_student.cpp │ ├── test2_call_student.cpp │ ├── test3_call_student.cpp │ ├── test_mparser.cpp │ ├── tracker_predictor.cpp │ ├── tracker_predictor_node.cpp │ ├── utils.cpp │ └── yaw_guess_generator.cpp └── thirdparty ├── DecompROS ├── .gitmodules ├── DecompUtil │ ├── .gitignore │ ├── CMakeLists.txt │ ├── Doxyfile │ ├── LICENSE │ ├── README.md │ ├── data │ │ ├── example1.png │ │ ├── example2.png │ │ ├── example3.png │ │ ├── example4.png │ │ └── obstacles.txt │ ├── decomp_utilConfig.cmake │ ├── decomp_utilConfigVersion.cmake │ ├── docs │ │ ├── annotated.html │ │ ├── arrowdown.png │ │ ├── arrowright.png │ │ ├── bc_s.png │ │ ├── bdwn.png │ │ ├── classDecompBase-members.html │ │ ├── classDecompBase.html │ │ ├── classDecompBase.png │ │ ├── classEllipsoidDecomp-members.html │ │ ├── classEllipsoidDecomp.html │ │ ├── classEllipsoidDecomp.png │ │ ├── classIterativeDecomp-members.html │ │ ├── classIterativeDecomp.html │ │ ├── classIterativeDecomp.png │ │ ├── classLineSegment-members.html │ │ ├── classLineSegment.html │ │ ├── classLineSegment.png │ │ ├── classSeedDecomp-members.html │ │ ├── classSeedDecomp.html │ │ ├── classSeedDecomp.png │ │ ├── classes.html │ │ ├── closed.png │ │ ├── data__type_8h.html │ │ ├── data__type_8h_source.html │ │ ├── data__utils_8h.html │ │ ├── data__utils_8h_source.html │ │ ├── decomp__base_8h.html │ │ ├── decomp__base_8h_source.html │ │ ├── dir_0156596343f07f423e58f27e9acfceb9.html │ │ ├── dir_0ea7c0ecff050f14fbfcb8a22f95278f.html │ │ ├── dir_13e138d54eb8818da29c3992edef070a.html │ │ ├── dir_2c1ec4cfaf5ed43ec260b4f91f837847.html │ │ ├── dir_4fef79e7177ba769987a8da36c892c5f.html │ │ ├── dir_63772b626f2709090f0bdca0f40827b4.html │ │ ├── dir_75993fee8576b97e3d9a8476c1772d17.html │ │ ├── dir_a41afb44cd77021f04ef0298981be91e.html │ │ ├── dir_a573004c1aa1ac4f8bc48460229ea7de.html │ │ ├── dir_d44c64559bbebec7f509842c48db8b23.html │ │ ├── doc.png │ │ ├── doxygen.css │ │ ├── doxygen.png │ │ ├── dynsections.js │ │ ├── ellipsoid_8h.html │ │ ├── ellipsoid_8h_source.html │ │ ├── ellipsoid__decomp_8h.html │ │ ├── ellipsoid__decomp_8h_source.html │ │ ├── files.html │ │ ├── folderclosed.png │ │ ├── folderopen.png │ │ ├── form_0.png │ │ ├── form_1.png │ │ ├── form_2.png │ │ ├── formula.repository │ │ ├── functions.html │ │ ├── functions_func.html │ │ ├── functions_vars.html │ │ ├── geometric__utils_8h.html │ │ ├── geometric__utils_8h_source.html │ │ ├── globals.html │ │ ├── globals_defs.html │ │ ├── globals_func.html │ │ ├── globals_type.html │ │ ├── globals_vars.html │ │ ├── hierarchy.html │ │ ├── index.html │ │ ├── iterative__decomp_8h.html │ │ ├── iterative__decomp_8h_source.html │ │ ├── jquery.js │ │ ├── line__segment_8h.html │ │ ├── line__segment_8h_source.html │ │ ├── nav_f.png │ │ ├── nav_g.png │ │ ├── nav_h.png │ │ ├── open.png │ │ ├── polyhedron_8h_source.html │ │ ├── search │ │ │ ├── all_0.html │ │ │ ├── all_0.js │ │ │ ├── all_1.html │ │ │ ├── all_1.js │ │ │ ├── all_10.html │ │ │ ├── all_10.js │ │ │ ├── all_2.html │ │ │ ├── all_2.js │ │ │ ├── all_3.html │ │ │ ├── all_3.js │ │ │ ├── all_4.html │ │ │ ├── all_4.js │ │ │ ├── all_5.html │ │ │ ├── all_5.js │ │ │ ├── all_6.html │ │ │ ├── all_6.js │ │ │ ├── all_7.html │ │ │ ├── all_7.js │ │ │ ├── all_8.html │ │ │ ├── all_8.js │ │ │ ├── all_9.html │ │ │ ├── all_9.js │ │ │ ├── all_a.html │ │ │ ├── all_a.js │ │ │ ├── all_b.html │ │ │ ├── all_b.js │ │ │ ├── all_c.html │ │ │ ├── all_c.js │ │ │ ├── all_d.html │ │ │ ├── all_d.js │ │ │ ├── all_e.html │ │ │ ├── all_e.js │ │ │ ├── all_f.html │ │ │ ├── all_f.js │ │ │ ├── classes_0.html │ │ │ ├── classes_0.js │ │ │ ├── classes_1.html │ │ │ ├── classes_1.js │ │ │ ├── classes_2.html │ │ │ ├── classes_2.js │ │ │ ├── classes_3.html │ │ │ ├── classes_3.js │ │ │ ├── classes_4.html │ │ │ ├── classes_4.js │ │ │ ├── classes_5.html │ │ │ ├── classes_5.js │ │ │ ├── classes_6.html │ │ │ ├── classes_6.js │ │ │ ├── close.png │ │ │ ├── defines_0.html │ │ │ ├── defines_0.js │ │ │ ├── defines_1.html │ │ │ ├── defines_1.js │ │ │ ├── files_0.html │ │ │ ├── files_0.js │ │ │ ├── files_1.html │ │ │ ├── files_1.js │ │ │ ├── files_2.html │ │ │ ├── files_2.js │ │ │ ├── files_3.html │ │ │ ├── files_3.js │ │ │ ├── files_4.html │ │ │ ├── files_4.js │ │ │ ├── files_5.html │ │ │ ├── files_5.js │ │ │ ├── functions_0.html │ │ │ ├── functions_0.js │ │ │ ├── functions_1.html │ │ │ ├── functions_1.js │ │ │ ├── functions_2.html │ │ │ ├── functions_2.js │ │ │ ├── functions_3.html │ │ │ ├── functions_3.js │ │ │ ├── functions_4.html │ │ │ ├── functions_4.js │ │ │ ├── functions_5.html │ │ │ ├── functions_5.js │ │ │ ├── functions_6.html │ │ │ ├── functions_6.js │ │ │ ├── functions_7.html │ │ │ ├── functions_7.js │ │ │ ├── functions_8.html │ │ │ ├── functions_8.js │ │ │ ├── functions_9.html │ │ │ ├── functions_9.js │ │ │ ├── functions_a.html │ │ │ ├── functions_a.js │ │ │ ├── functions_b.html │ │ │ ├── functions_b.js │ │ │ ├── functions_c.html │ │ │ ├── functions_c.js │ │ │ ├── mag_sel.png │ │ │ ├── nomatches.html │ │ │ ├── pages_0.html │ │ │ ├── pages_0.js │ │ │ ├── search.css │ │ │ ├── search.js │ │ │ ├── search_l.png │ │ │ ├── search_m.png │ │ │ ├── search_r.png │ │ │ ├── searchdata.js │ │ │ ├── typedefs_0.html │ │ │ ├── typedefs_0.js │ │ │ ├── typedefs_1.html │ │ │ ├── typedefs_1.js │ │ │ ├── typedefs_2.html │ │ │ ├── typedefs_2.js │ │ │ ├── typedefs_3.html │ │ │ ├── typedefs_3.js │ │ │ ├── typedefs_4.html │ │ │ ├── typedefs_4.js │ │ │ ├── variables_0.html │ │ │ ├── variables_0.js │ │ │ ├── variables_1.html │ │ │ ├── variables_1.js │ │ │ ├── variables_2.html │ │ │ ├── variables_2.js │ │ │ ├── variables_3.html │ │ │ ├── variables_3.js │ │ │ ├── variables_4.html │ │ │ ├── variables_4.js │ │ │ ├── variables_5.html │ │ │ └── variables_5.js │ │ ├── seed__decomp_8h.html │ │ ├── seed__decomp_8h_source.html │ │ ├── splitbar.png │ │ ├── structEllipsoid-members.html │ │ ├── structEllipsoid.html │ │ ├── structHyperplane-members.html │ │ ├── structHyperplane.html │ │ ├── structLinearConstraint-members.html │ │ ├── structLinearConstraint.html │ │ ├── structPolyhedron-members.html │ │ ├── structPolyhedron.html │ │ ├── sync_off.png │ │ ├── sync_on.png │ │ ├── tab_a.png │ │ ├── tab_b.png │ │ ├── tab_h.png │ │ ├── tab_s.png │ │ ├── tabs.css │ │ └── txt__reader_8hpp_source.html │ ├── include │ │ ├── decomp_basis │ │ │ ├── data_type.h │ │ │ └── data_utils.h │ │ ├── decomp_geometry │ │ │ ├── ellipsoid.h │ │ │ ├── geometric_utils.h │ │ │ └── polyhedron.h │ │ └── decomp_util │ │ │ ├── decomp_base.h │ │ │ ├── ellipsoid_decomp.h │ │ │ ├── iterative_decomp.h │ │ │ ├── line_segment.h │ │ │ └── seed_decomp.h │ ├── package.xml │ ├── test │ │ ├── test_ellipsoid_decomp.cpp │ │ ├── test_iterative_decomp.cpp │ │ ├── test_line_segment.cpp │ │ ├── test_seed_decomp.cpp │ │ └── txt_reader.hpp │ └── wercker.yml ├── LICENSE ├── README.md ├── decomp_ros_msgs │ ├── CMakeLists.txt │ ├── msg │ │ ├── Ellipsoid.msg │ │ ├── EllipsoidArray.msg │ │ ├── Polyhedron.msg │ │ └── PolyhedronArray.msg │ └── package.xml ├── decomp_ros_utils │ ├── CMakeLists.txt │ ├── icons │ │ └── classes │ │ │ ├── EllipsoidArray.png │ │ │ └── PolyhedronArray.png │ ├── include │ │ └── decomp_ros_utils │ │ │ └── data_ros_utils.h │ ├── package.xml │ ├── plugin_description.xml │ └── src │ │ ├── bound_visual.cpp │ │ ├── bound_visual.h │ │ ├── ellipsoid_array_display.cpp │ │ ├── ellipsoid_array_display.h │ │ ├── ellipsoid_array_visual.cpp │ │ ├── ellipsoid_array_visual.h │ │ ├── mesh_visual.cpp │ │ ├── mesh_visual.h │ │ ├── polyhedron_array_display.cpp │ │ ├── polyhedron_array_display.h │ │ ├── vector_visual.cpp │ │ └── vector_visual.h ├── decomp_test_node │ ├── CMakeLists.txt │ ├── data │ │ ├── example1.png │ │ ├── example2.png │ │ ├── iss_obs.bag │ │ ├── path2d.txt │ │ ├── path3d.txt │ │ ├── seeds.txt │ │ └── simple.bag │ ├── launch │ │ ├── rviz.launch │ │ 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