├── .gitignore ├── LICENSE ├── Makefile ├── README.md ├── bot2-frames_cpp ├── CMakeLists.txt ├── Makefile ├── README ├── cmake │ ├── lcmtypes.cmake │ └── pods.cmake └── src │ └── bot_frames_cpp │ ├── CMakeLists.txt │ ├── bot_frames_cpp.cpp │ └── bot_frames_cpp.hpp ├── estimate_tools ├── CMakeLists.txt ├── Makefile ├── README ├── cmake │ └── pods.cmake ├── matlab │ └── echo_kf_state.m └── src │ ├── backlash_filter_tools │ ├── CMakeLists.txt │ ├── backlash_filter.cpp │ ├── backlash_filter.hpp │ ├── torque_adjustment.cpp │ └── torque_adjustment.hpp │ ├── estimate_tools │ ├── CMakeLists.txt │ ├── iir_notch.cpp │ ├── iir_notch.hpp │ ├── imu_stream.cpp │ └── imu_stream.hpp │ ├── filter_tools │ ├── AlphaFilter.cpp │ ├── AlphaFilter.hpp │ ├── CMakeLists.txt │ ├── Filter.cpp │ ├── Filter.hpp │ ├── HeavyLowPassFilter.cpp │ ├── HeavyLowPassFilter.hpp │ ├── SignalTap.cpp │ └── SignalTap.hpp │ ├── kalman_filter_tools │ ├── CMakeLists.txt │ ├── alpha_filter.cpp │ ├── alpha_filter.hpp │ ├── kalman_filter.cpp │ ├── kalman_filter.hpp │ ├── simple_kalman_filter.cpp │ └── simple_kalman_filter.hpp │ └── test │ ├── CMakeLists.txt │ ├── filtering_demo.cpp │ ├── joint_velocity_diff.cpp │ └── kalman_filter_demo.cpp ├── lidar_odometry ├── .gitignore ├── CMakeLists.txt ├── Makefile ├── README ├── cmake │ ├── lcmtypes.cmake │ └── pods.cmake └── src │ └── lidar_odometry │ ├── CMakeLists.txt │ ├── lidar-odometry-app-simple.cpp │ ├── lidar-odometry-app.cpp │ ├── lidar-odometry.cpp │ └── lidar-odometry.hpp ├── motion_estimate ├── CMakeLists.txt ├── Makefile ├── README ├── cmake │ ├── lcmtypes.cmake │ └── pods.cmake ├── python │ └── botpy │ │ ├── __init__.py │ │ └── botpy.py ├── scripts │ ├── arrow.m │ ├── bot.m │ ├── drift_per_distance.m │ ├── drift_per_distance.py │ ├── drift_per_distance_iit_format.m │ ├── drift_per_distance_to_matlab.py │ ├── filterAtlasState.py │ ├── filter_state_sniff.py │ ├── footstep_spoof.py │ ├── low_pass_filter.m │ ├── matlab_lcm_demo.m │ ├── notch_filter.m │ ├── notch_iir_filter.m │ ├── other │ │ ├── imu_analysis.m │ │ └── notch_filter_b.m │ ├── plot_lcm_points.m │ ├── plot_lcm_poses.m │ ├── printIMUBatch.py │ ├── printMessageTimes.py │ ├── print_enc_and_pot.py │ ├── print_poses.py │ ├── print_poses_plot.m │ ├── republish_atlas_state.py │ ├── republish_bdi_imu_individually.py │ ├── republish_multisense_state.py │ ├── rpg_add_lcm_path.m │ ├── runMatlabCollectionsDemo.m │ ├── se-batch-process-val-vicon.sh │ ├── se-batch-process.sh │ ├── se-simple-restart.py │ ├── se_analysis.m │ ├── se_analysis_val_vicon.m │ ├── se_analysis_val_vicon_relative.m │ ├── se_analysis_velocity.m │ ├── se_lcm_jitter.py │ ├── secondorderNotch_mfallon.m │ ├── send_a_pose.py │ ├── send_a_robot_state.py │ ├── send_a_robot_state_valkyrie.py │ ├── send_indexed_measurement.py │ ├── state-sync-simple-hyq.py │ └── state-sync-simple.py └── src │ ├── cloud_accumulate │ ├── CMakeLists.txt │ ├── cloud_accumulate.cpp │ └── cloud_accumulate.hpp │ ├── create_octomap │ ├── CMakeLists.txt │ ├── convert_octomap.cpp │ ├── convert_octomap.hpp │ ├── create_octomap.cpp │ └── publish_cloud_as_octomap.cpp │ ├── foot_contact │ ├── CMakeLists.txt │ ├── FootContact.cpp │ └── FootContact.h │ ├── foot_contact_alt │ ├── CMakeLists.txt │ ├── FootContactAlt.cpp │ └── FootContactAlt.h │ ├── fusion │ ├── CMakeLists.txt │ └── fusion.cpp │ ├── gpf-rgbd-lib │ ├── CMakeLists.txt │ ├── RgbdLikelihoodInterface.cpp │ ├── RgbdLikelihoodInterface.hpp │ ├── gen-z-plane-octomap.cpp │ ├── gpf.cpp │ ├── gpf.hpp │ ├── rbis_gpf_update.cpp │ ├── rbis_gpf_update.hpp │ ├── rgbd_gpf.cpp │ ├── rgbd_gpf_lib.cpp │ └── rgbd_gpf_lib.hpp │ ├── leg_estimate │ ├── CMakeLists.txt │ ├── LegOdoWrapper.cpp │ ├── LegOdoWrapper.hpp │ ├── common_conversions.hpp │ ├── convert_bdi_into_vicon_frame.cpp │ ├── foot_contact_classify.cpp │ ├── foot_contact_classify.hpp │ ├── init_from_bdi.cpp │ ├── leg_estimate.cpp │ ├── leg_estimate.hpp │ └── main.cpp │ ├── mav_est_fovis │ ├── CMakeLists.txt │ ├── rbis_fovis_update.cpp │ └── rbis_fovis_update.hpp │ ├── mav_est_legodo │ ├── CMakeLists.txt │ ├── rbis_legodo_common.cpp │ ├── rbis_legodo_common.hpp │ ├── rbis_legodo_update.cpp │ └── rbis_legodo_update.hpp │ ├── pose_meas │ ├── CMakeLists.txt │ ├── pose_meas.cpp │ └── pose_meas.hpp │ ├── pronto_viewer │ ├── CMakeLists.txt │ └── pronto_viewer.cpp │ ├── quick_lock │ ├── CMakeLists.txt │ ├── quick_lock.cpp │ ├── rbis_yawlock_update.cpp │ ├── rbis_yawlock_update.hpp │ ├── yawlock.cpp │ ├── yawlock.hpp │ └── yawlock_app.cpp │ ├── renderer_frames_pronto │ ├── CMakeLists.txt │ ├── bot_frames_renderers.h │ └── coord_frames_renderer.c │ └── renderer_rs │ ├── CMakeLists.txt │ ├── GlKinematicBody.cpp │ ├── GlKinematicBody.hpp │ ├── InteractableGlKinematicBody.cpp │ ├── InteractableGlKinematicBody.hpp │ ├── RobotStateListener.cpp │ ├── RobotStateListener.hpp │ ├── eigen_kdl_conversions.hpp │ ├── file_access_utils.hpp │ ├── renderer_rs.cpp │ └── renderer_rs.hpp ├── pronto-lcmtypes ├── CMakeLists.txt ├── Makefile ├── README ├── cmake │ ├── lcmtypes.cmake │ └── pods.cmake └── lcmtypes │ ├── README.txt │ ├── pronto_behavior_t.lcm │ ├── pronto_controller_foot_contact_t.lcm │ ├── pronto_controller_status_t.lcm │ ├── pronto_double_array_t.lcm │ ├── pronto_error_metrics_t.lcm │ ├── pronto_filter_state_t.lcm │ ├── pronto_foot_contact_estimate_t.lcm │ ├── pronto_indexed_measurement_t.lcm │ ├── pronto_map_measurement_function_t.lcm │ ├── pronto_optical_flow_t.lcm │ ├── pronto_plan_status_t.lcm │ ├── pronto_pose_transform_t.lcm │ ├── pronto_rigid_body_pose_cov_t.lcm │ ├── pronto_rpy_t.lcm │ └── pronto_update_t.lcm ├── pronto-utils ├── CMakeLists.txt ├── LICENSE ├── Makefile ├── README ├── cmake │ ├── lcmtypes.cmake │ └── pods.cmake ├── data │ ├── pronto_vis_normals.pcd │ └── test_pcd.pcd ├── python │ └── convert_viewer_cloud_to_pcd.py └── src │ ├── conversions │ ├── CMakeLists.txt │ ├── pronto_conversions_bot_core.hpp │ └── pronto_conversions_lcm.hpp │ ├── pronto_complementary │ ├── CMakeLists.txt │ ├── complementary.cpp │ ├── complementary.hpp │ └── complementary_test.cpp │ ├── pronto_filters │ ├── CMakeLists.txt │ ├── filter_cloudtolaser.cpp │ ├── filter_cloudtolaser.hpp │ ├── filter_colorize.hpp │ ├── filter_light.cpp │ ├── filter_light.hpp │ ├── filter_planes.cpp │ ├── filter_planes.hpp │ ├── grow_cloud.cpp │ └── grow_cloud.hpp │ ├── pronto_joint_tools │ ├── CMakeLists.txt │ └── pronto_frame_check_tools.hpp │ ├── pronto_lcm │ ├── CMakeLists.txt │ ├── pronto_lcm.cpp │ ├── pronto_lcm.hpp │ └── pronto_lcm_config.h.in │ ├── pronto_lidar_filters │ ├── CMakeLists.txt │ ├── lidar_filters.cpp │ └── lidar_filters.hpp │ ├── pronto_math │ ├── CMakeLists.txt │ ├── pronto_math.cpp │ └── pronto_math.hpp │ ├── pronto_vis │ ├── CMakeLists.txt │ ├── pronto_vis.cpp │ ├── pronto_vis.hpp │ └── pronto_vis_config.h.in │ ├── test │ ├── CMakeLists.txt │ ├── test_point_cloud.cpp │ ├── test_point_cloud_normal.cpp │ ├── test_point_cloud_pcl.cpp │ └── test_point_cloud_pcl_2.cpp │ └── tools │ ├── CMakeLists.txt │ ├── conversions_lcm.hpp │ ├── point_types.hpp │ ├── pointcloud2_tool.cpp │ └── pronto_multisense_to_frame.cpp ├── state-estimator ├── CMakeLists.txt ├── Makefile ├── README ├── cmake │ ├── lcmtypes.cmake │ ├── matlab_pods.cmake │ └── pods.cmake ├── matlab │ ├── compile_noiseParamLikelihoodMex.m │ ├── ins_noise_opt_script_mex.m │ ├── mav_state_est_loglikelihood.m │ ├── mav_state_est_param_opt.m │ └── noiseParamLikelihoodMex.cpp ├── python │ ├── CMakeLists.txt │ └── param_sweep.py └── src │ ├── CMakeLists.txt │ ├── gpf │ ├── CMakeLists.txt │ ├── LaserLikelihoodInterface.cpp │ ├── LaserLikelihoodInterface.hpp │ ├── gen-z-plane-octomap.cpp │ ├── gpf.cpp │ ├── gpf.hpp │ ├── laser_gpf.cpp │ ├── laser_gpf_lib.cpp │ ├── laser_gpf_lib.hpp │ ├── rbis_gpf_update.cpp │ └── rbis_gpf_update.hpp │ ├── map_measurement │ ├── CMakeLists.txt │ ├── gen-map-measurement-func.cpp │ ├── map-meas-server.cpp │ ├── map_measurement_function.cpp │ └── map_measurement_function.hpp │ ├── mav_state_est │ ├── CMakeLists.txt │ ├── lcm_front_end.cpp │ ├── lcm_front_end.hpp │ ├── mav_state_est.cpp │ ├── mav_state_est.hpp │ ├── rbis.cpp │ ├── rbis.hpp │ ├── rbis_initializer.cpp │ ├── rbis_initializer.hpp │ ├── rbis_update_interface.cpp │ ├── rbis_update_interface.hpp │ ├── sensor_handlers.cpp │ ├── sensor_handlers.hpp │ ├── update_history.cpp │ └── update_history.hpp │ ├── mav_state_estimator.cpp │ ├── noise_id │ ├── CMakeLists.txt │ ├── noise_id.cpp │ ├── noise_id.hpp │ └── roll_forward.cpp │ ├── renderers │ ├── CMakeLists.txt │ ├── map_measurement_renderer.cpp │ ├── mav_state_est_renderer.cpp │ └── mav_state_est_renderers.h │ ├── testers │ ├── CMakeLists.txt │ └── test_laser_project_with_motion.cpp │ └── vicon_simple_state_estimator.cpp ├── tobuild.txt └── visualization ├── CMakeLists.txt ├── Makefile ├── README ├── cmake ├── lcmtypes.cmake └── pods.cmake ├── include └── visualization │ ├── Point3d.hpp │ ├── Pose3d.hpp │ ├── Rot3d.hpp │ ├── collections.hpp │ ├── collections_math.hpp │ ├── pointcloud.hpp │ ├── util.hpp │ └── viewer.hpp ├── lcmtypes ├── .gitignore ├── vs_collection_config_t.lcm ├── vs_color_t.lcm ├── vs_cov_collection_t.lcm ├── vs_cov_t.lcm ├── vs_link_collection_t.lcm ├── vs_link_t.lcm ├── vs_object_collection_t.lcm ├── vs_object_t.lcm ├── vs_point3d_list_collection_t.lcm ├── vs_point3d_list_t.lcm ├── vs_point3d_t.lcm ├── vs_property_t.lcm ├── vs_reset_collections_t.lcm ├── vs_text_collection_t.lcm └── vs_text_t.lcm ├── scripts ├── README ├── convert_stills_to_avi.sh ├── lcmviewer-ppms2avi ├── lcmviewer-ppms2ffv1avi ├── lcmviewer-ppms2files ├── lcmviewer-ppms2fmp4.sh ├── lcmviewer-ppms2mpeg4 └── lcmviewer-ppms2msavi └── src ├── collections_renderer ├── CMakeLists.txt ├── collections_renderer.cpp ├── collections_renderer.hpp └── viewer.cpp └── collections_viewer ├── CMakeLists.txt ├── collections_example.cpp ├── collections_example_simple.cpp └── collections_viewer.cpp /.gitignore: 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