├── LICENSE ├── README.md └── src ├── mycontroller ├── CMakeLists.txt ├── include │ └── mycontroller │ │ ├── nmpc_station_keeping.h │ │ ├── nmpc_trajectory_tracking.h │ │ ├── single_trajectory.h │ │ └── wamv_model.h ├── launch │ ├── test_station_keeping.launch │ └── test_trajectory_tracking.launch ├── package.xml └── src │ ├── nmpc_station_keeping.cpp │ ├── nmpc_trajectory_tracking.cpp │ ├── single_trajectory.cpp │ ├── test_station_keeping.cpp │ ├── test_trajectory_tracking.cpp │ ├── wamv_model.cpp │ └── wamv_model.h ├── myplot ├── CMakeLists.txt ├── include │ └── myplot │ │ ├── comfun.h │ │ ├── single_trajectory.h │ │ └── wamv_model.h ├── package.xml └── src │ ├── comfun.cpp │ ├── single_trajectory.cpp │ ├── test_plot.cpp │ ├── test_plot_ttc.cpp │ └── wamv_model.cpp └── wamv_model ├── CMakeLists.txt ├── include └── wamv_model │ └── wamv_model.h ├── msg ├── controls.msg └── states.msg ├── package.xml └── src ├── test_wamv_model.cpp └── wamv_model.cpp /LICENSE: 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