├── .devcontainer ├── Dockerfile ├── devcontainer.json └── reinstall-cmake.sh ├── .gitignore ├── CMakeLists.txt ├── LICENSE.md ├── gif ├── a_star.gif ├── csp.png ├── dijkstra.gif ├── dwa.gif ├── ekf.gif ├── frenet.gif ├── lqr_full.gif ├── lqr_steering.gif ├── mpc.gif ├── mptg.gif ├── pf.gif ├── rrt.gif └── slp.gif ├── include ├── cpprobotics_types.h ├── csv_reader.h ├── cubic_spline.h ├── frenet_path.h ├── motion_model.h ├── quartic_polynomial.h ├── quintic_polynomial.h ├── rrt.h ├── rrt_star.h ├── trajectory_optimizer.h └── visualization.h ├── lookuptable.csv ├── readme.md └── src ├── a_star.cpp ├── cubic_spline_planner.cpp ├── dijkstra.cpp ├── dynamic_window_approach.cpp ├── extended_kalman_filter.cpp ├── frenet_optimal_trajectory.cpp ├── lqr_speed_steer_control.cpp ├── lqr_steer_control.cpp ├── model_predictive_control.cpp ├── model_predictive_trajectory_generator.cpp ├── particle_filter.cpp ├── rrt.cpp ├── rrt_star.cpp └── state_lattice_planner.cpp /.devcontainer/Dockerfile: 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