├── .gitignore ├── README.md ├── colpred_nmpc ├── __init__.py ├── colpred │ ├── __init__.py │ ├── collision_checker.py │ ├── depth_state_check.py │ ├── losses.py │ ├── resnet8.py │ └── vae.py ├── config.py ├── controller.py ├── depth_fill.py ├── depth_inflate.py ├── model │ ├── __init__.py │ ├── double_int.py │ ├── quad_avel.py │ └── unicycle.py ├── ocp.py ├── ros_wrapper.py ├── simulation.py └── utils.py ├── config ├── camera.yaml ├── d455.yaml ├── lmf.yaml ├── quad_gazebo.yaml ├── ros_params.yaml └── ros_sim_params.yaml ├── gazebo ├── box.world ├── box_pillars.world ├── corridor_pillar.world └── pillar.world ├── logs └── .gitkeep ├── requirements.txt ├── scripts ├── depth_state_check_test.py ├── depth_state_check_train.py ├── inflate_images.py └── nmpc_ros.py └── setup.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/.gitignore -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/README.md -------------------------------------------------------------------------------- /colpred_nmpc/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/colpred_nmpc/__init__.py -------------------------------------------------------------------------------- /colpred_nmpc/colpred/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/colpred_nmpc/colpred/__init__.py -------------------------------------------------------------------------------- /colpred_nmpc/colpred/collision_checker.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/colpred_nmpc/colpred/collision_checker.py -------------------------------------------------------------------------------- /colpred_nmpc/colpred/depth_state_check.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/colpred_nmpc/colpred/depth_state_check.py -------------------------------------------------------------------------------- /colpred_nmpc/colpred/losses.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/colpred_nmpc/colpred/losses.py -------------------------------------------------------------------------------- /colpred_nmpc/colpred/resnet8.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/colpred_nmpc/colpred/resnet8.py -------------------------------------------------------------------------------- /colpred_nmpc/colpred/vae.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/colpred_nmpc/colpred/vae.py -------------------------------------------------------------------------------- /colpred_nmpc/config.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/colpred_nmpc/config.py -------------------------------------------------------------------------------- /colpred_nmpc/controller.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/colpred_nmpc/controller.py -------------------------------------------------------------------------------- /colpred_nmpc/depth_fill.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/colpred_nmpc/depth_fill.py -------------------------------------------------------------------------------- /colpred_nmpc/depth_inflate.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/colpred_nmpc/depth_inflate.py -------------------------------------------------------------------------------- /colpred_nmpc/model/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/colpred_nmpc/model/__init__.py -------------------------------------------------------------------------------- /colpred_nmpc/model/double_int.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/colpred_nmpc/model/double_int.py -------------------------------------------------------------------------------- /colpred_nmpc/model/quad_avel.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/colpred_nmpc/model/quad_avel.py -------------------------------------------------------------------------------- /colpred_nmpc/model/unicycle.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/colpred_nmpc/model/unicycle.py -------------------------------------------------------------------------------- /colpred_nmpc/ocp.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/colpred_nmpc/ocp.py -------------------------------------------------------------------------------- /colpred_nmpc/ros_wrapper.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/colpred_nmpc/ros_wrapper.py -------------------------------------------------------------------------------- /colpred_nmpc/simulation.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/colpred_nmpc/simulation.py -------------------------------------------------------------------------------- /colpred_nmpc/utils.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/colpred_nmpc/utils.py -------------------------------------------------------------------------------- /config/camera.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/config/camera.yaml -------------------------------------------------------------------------------- /config/d455.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/config/d455.yaml -------------------------------------------------------------------------------- /config/lmf.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/config/lmf.yaml -------------------------------------------------------------------------------- /config/quad_gazebo.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/config/quad_gazebo.yaml -------------------------------------------------------------------------------- /config/ros_params.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/config/ros_params.yaml -------------------------------------------------------------------------------- /config/ros_sim_params.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/config/ros_sim_params.yaml -------------------------------------------------------------------------------- /gazebo/box.world: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/gazebo/box.world -------------------------------------------------------------------------------- /gazebo/box_pillars.world: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/gazebo/box_pillars.world -------------------------------------------------------------------------------- /gazebo/corridor_pillar.world: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/gazebo/corridor_pillar.world -------------------------------------------------------------------------------- /gazebo/pillar.world: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/gazebo/pillar.world -------------------------------------------------------------------------------- /logs/.gitkeep: -------------------------------------------------------------------------------- 1 | -------------------------------------------------------------------------------- /requirements.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/requirements.txt -------------------------------------------------------------------------------- /scripts/depth_state_check_test.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/scripts/depth_state_check_test.py -------------------------------------------------------------------------------- /scripts/depth_state_check_train.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/scripts/depth_state_check_train.py -------------------------------------------------------------------------------- /scripts/inflate_images.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/scripts/inflate_images.py -------------------------------------------------------------------------------- /scripts/nmpc_ros.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/scripts/nmpc_ros.py -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ntnu-arl/colpred_nmpc/HEAD/setup.py --------------------------------------------------------------------------------