├── .gitignore ├── .make ├── README.html ├── README.md ├── beautify-settings.mk ├── beautify.mk ├── build.mk ├── mappings.imp ├── problem-template.mk ├── stack.mk ├── template.mk └── uncrustify.cfg ├── .ros-scripts ├── .rosinstall ├── build_boost_148.sh ├── build_vrep_plugin.sh ├── get_boost_148.sh ├── patch_boost_148.sh └── run.sh ├── CMakeLists.txt ├── Makefile ├── README.html ├── README.md ├── docs ├── .scripts │ ├── make-links.sh │ └── make-ref-links.sh ├── Doxyfile ├── Makefile ├── Making_A_New_Model.html ├── Making_A_New_Model.md ├── Overview.html ├── Overview.md ├── ROS_VREP_Guide.html ├── ROS_VREP_Guide.md ├── doxygen_links │ ├── Build_System.md │ ├── New_Model.md │ ├── Overview.md │ ├── Quick_Start.md │ └── Ros_Tag.md └── style.css ├── launch └── tag.launch ├── license ├── BSD.txt ├── GPL-2.0.txt ├── MIT.txt └── license.txt ├── msg └── VrepInfo.msg ├── package.xml ├── problems ├── Makefile ├── conttag │ ├── Makefile │ ├── default.cfg │ └── maps │ │ ├── map.txt │ │ └── map_tag.txt ├── homecare │ ├── Makefile │ ├── changes │ │ └── change.txt │ ├── default.cfg │ └── maps │ │ ├── pathMap.txt │ │ └── typeMap.txt ├── pushbox │ ├── Makefile │ ├── default.cfg │ └── maps │ │ └── map_free_paper.txt ├── rocksample │ ├── Makefile │ ├── changes │ │ ├── changes-11-11.txt │ │ ├── changes-7-8.txt │ │ ├── changes.txt │ │ └── changes2.txt │ ├── default-11-11.cfg │ ├── default.cfg │ └── maps │ │ ├── map-11-11.txt │ │ ├── map-7-1.txt │ │ ├── map-7-2.txt │ │ ├── map-7-3.txt │ │ ├── map-7-8-obstacles.txt │ │ └── map-7-8.txt └── tag │ ├── Makefile │ ├── changes │ ├── mid-wall.txt │ └── tag-changes.txt │ ├── default.cfg │ ├── maps │ └── map.txt │ └── vrep_scenes │ └── tag.ttt ├── src ├── LinkedHashSet.hpp ├── Makefile ├── RandomAccessSet.hpp ├── check_headers.sh ├── defs.hpp ├── global.cpp ├── global.hpp ├── options │ ├── Makefile │ ├── inih │ │ ├── LICENSE.txt │ │ ├── Makefile │ │ ├── README.txt │ │ ├── ini.c │ │ └── ini.h │ ├── option_parser.cpp │ ├── option_parser.hpp │ └── tclap │ │ ├── AUTHORS │ │ ├── Arg.h │ │ ├── ArgException.h │ │ ├── ArgTraits.h │ │ ├── COPYING │ │ ├── CmdLine.h │ │ ├── CmdLineInterface.h │ │ ├── CmdLineOutput.h │ │ ├── Constraint.h │ │ ├── DocBookOutput.h │ │ ├── HelpVisitor.h │ │ ├── IgnoreRestVisitor.h │ │ ├── MultiArg.h │ │ ├── MultiSwitchArg.h │ │ ├── OptionalUnlabeledTracker.h │ │ ├── StandardTraits.h │ │ ├── StdOutput.h │ │ ├── SwitchArg.h │ │ ├── UnlabeledMultiArg.h │ │ ├── UnlabeledValueArg.h │ │ ├── ValueArg.h │ │ ├── ValuesConstraint.h │ │ ├── VersionVisitor.h │ │ ├── Visitor.h │ │ ├── XorHandler.h │ │ └── ZshCompletionOutput.h ├── problems │ ├── Makefile │ ├── conttag │ │ ├── ContTagAction.hpp │ │ ├── ContTagModel.cpp │ │ ├── ContTagModel.hpp │ │ ├── ContTagObservation.hpp │ │ ├── ContTagOptions.hpp │ │ ├── ContTagPosition.hpp │ │ ├── ContTagState.hpp │ │ ├── ContTagTextSerializer.cpp │ │ ├── ContTagTextSerializer.hpp │ │ ├── Makefile │ │ ├── map2d.hpp │ │ ├── simulate.cpp │ │ └── solve.cpp │ ├── homecare │ │ ├── HomecareAction.cpp │ │ ├── HomecareAction.hpp │ │ ├── HomecareModel.cpp │ │ ├── HomecareModel.hpp │ │ ├── HomecareObservation.cpp │ │ ├── HomecareObservation.hpp │ │ ├── HomecareOptions.hpp │ │ ├── HomecareState.cpp │ │ ├── HomecareState.hpp │ │ ├── HomecareTextSerializer.cpp │ │ ├── HomecareTextSerializer.hpp │ │ ├── Makefile │ │ ├── simulate.cpp │ │ ├── solve.cpp │ │ └── stest.cpp │ ├── pushbox │ │ ├── Action2d.hpp │ │ ├── BearingObservation.hpp │ │ ├── Makefile │ │ ├── Map2d.hpp │ │ ├── Position2d.hpp │ │ ├── PushBoxModel.cpp │ │ ├── PushBoxModel.hpp │ │ ├── PushBoxOptions.hpp │ │ ├── PushBoxTextSerializer.cpp │ │ ├── PushBoxTextSerializer.hpp │ │ ├── StateRobotWithOpponent2d.hpp │ │ ├── TruncatedNormalDistribution.hpp │ │ ├── simulate.cpp │ │ └── solve.cpp │ ├── rocksample │ │ ├── LegalActionsPool.cpp │ │ ├── LegalActionsPool.hpp │ │ ├── Makefile │ │ ├── PreferredActionsPool.cpp │ │ ├── PreferredActionsPool.hpp │ │ ├── RockSampleAction.cpp │ │ ├── RockSampleAction.hpp │ │ ├── RockSampleMdpSolver.cpp │ │ ├── RockSampleMdpSolver.hpp │ │ ├── RockSampleModel.cpp │ │ ├── RockSampleModel.hpp │ │ ├── RockSampleObservation.cpp │ │ ├── RockSampleObservation.hpp │ │ ├── RockSampleOptions.hpp │ │ ├── RockSampleState.cpp │ │ ├── RockSampleState.hpp │ │ ├── RockSampleTextSerializer.cpp │ │ ├── RockSampleTextSerializer.hpp │ │ ├── position_history.cpp │ │ ├── position_history.hpp │ │ ├── simulate.cpp │ │ ├── smart_history.cpp │ │ ├── smart_history.hpp │ │ ├── solve.cpp │ │ └── stest.cpp │ ├── shared │ │ ├── GridPosition.hpp │ │ ├── Makefile │ │ ├── ModelWithProgramOptions.hpp │ │ ├── SharedOptions.hpp │ │ ├── geometry │ │ │ ├── Makefile │ │ │ ├── Point2D.cpp │ │ │ ├── Point2D.hpp │ │ │ ├── RTree.cpp │ │ │ ├── RTree.hpp │ │ │ ├── Rectangle2D.cpp │ │ │ ├── Rectangle2D.hpp │ │ │ ├── Vector2D.cpp │ │ │ ├── Vector2D.hpp │ │ │ ├── utilities.cpp │ │ │ └── utilities.hpp │ │ ├── parsers.cpp │ │ ├── parsers.hpp │ │ ├── policy_iteration.cpp │ │ ├── policy_iteration.hpp │ │ ├── ros │ │ │ ├── ScanToPcl.cpp │ │ │ ├── TapirNode.hpp │ │ │ ├── VrepHelper.cpp │ │ │ └── VrepHelper.hpp │ │ ├── simulate.hpp │ │ ├── solve.hpp │ │ └── stest.hpp │ └── tag │ │ ├── Makefile │ │ ├── TagAction.cpp │ │ ├── TagAction.hpp │ │ ├── TagMdpSolver.cpp │ │ ├── TagMdpSolver.hpp │ │ ├── TagModel.cpp │ │ ├── TagModel.hpp │ │ ├── TagObservation.cpp │ │ ├── TagObservation.hpp │ │ ├── TagOptions.hpp │ │ ├── TagState.cpp │ │ ├── TagState.hpp │ │ ├── TagTextSerializer.cpp │ │ ├── TagTextSerializer.hpp │ │ ├── ros │ │ ├── TagNode.cpp │ │ └── TagNode.hpp │ │ ├── simulate.cpp │ │ ├── solve.cpp │ │ └── stest.cpp └── solver │ ├── ActionNode.cpp │ ├── ActionNode.hpp │ ├── Agent.cpp │ ├── Agent.hpp │ ├── BeliefNode.cpp │ ├── BeliefNode.hpp │ ├── BeliefTree.cpp │ ├── BeliefTree.hpp │ ├── Histories.cpp │ ├── Histories.hpp │ ├── HistoryEntry.cpp │ ├── HistoryEntry.hpp │ ├── HistorySequence.cpp │ ├── HistorySequence.hpp │ ├── Makefile │ ├── Simulator.cpp │ ├── Simulator.hpp │ ├── Solver.cpp │ ├── Solver.hpp │ ├── StateInfo.cpp │ ├── StateInfo.hpp │ ├── StatePool.cpp │ ├── StatePool.hpp │ ├── abstract-problem │ ├── Action.hpp │ ├── DiscretizedPoint.cpp │ ├── DiscretizedPoint.hpp │ ├── HistoricalData.hpp │ ├── Makefile │ ├── Model.cpp │ ├── Model.hpp │ ├── ModelChange.hpp │ ├── Observation.hpp │ ├── Options.hpp │ ├── Point.hpp │ ├── State.hpp │ ├── TransitionParameters.hpp │ ├── Vector.cpp │ ├── Vector.hpp │ ├── VectorState.hpp │ └── heuristics │ │ ├── HeuristicFunction.hpp │ │ ├── Makefile │ │ ├── RolloutHeuristic.cpp │ │ └── RolloutHeuristic.hpp │ ├── belief-estimators │ ├── Makefile │ ├── estimators.cpp │ └── estimators.hpp │ ├── cached_values.hpp │ ├── changes │ ├── ChangeFlags.hpp │ ├── DefaultHistoryCorrector.cpp │ ├── DefaultHistoryCorrector.hpp │ ├── HistoryCorrector.hpp │ └── Makefile │ ├── indexing │ ├── FlaggingVisitor.cpp │ ├── FlaggingVisitor.hpp │ ├── Makefile │ ├── RTree.cpp │ ├── RTree.hpp │ ├── SpatialIndexVisitor.cpp │ ├── SpatialIndexVisitor.hpp │ └── StateIndex.hpp │ ├── mappings │ ├── Makefile │ ├── actions │ │ ├── ActionMapping.hpp │ │ ├── ActionMappingEntry.hpp │ │ ├── ActionPool.hpp │ │ ├── Makefile │ │ ├── continuous_actions.cpp │ │ ├── continuous_actions.hpp │ │ ├── discretized_actions.cpp │ │ ├── discretized_actions.hpp │ │ ├── enumerated_actions.cpp │ │ └── enumerated_actions.hpp │ └── observations │ │ ├── Makefile │ │ ├── ObservationMapping.hpp │ │ ├── ObservationMappingEntry.hpp │ │ ├── ObservationPool.hpp │ │ ├── approximate_observations.cpp │ │ ├── approximate_observations.hpp │ │ ├── discrete_observations.cpp │ │ ├── discrete_observations.hpp │ │ ├── enumerated_observations.cpp │ │ └── enumerated_observations.hpp │ ├── search │ ├── Makefile │ ├── MultipleStrategiesExp3.cpp │ ├── MultipleStrategiesExp3.hpp │ ├── SearchStatus.hpp │ ├── action-choosers │ │ ├── Makefile │ │ ├── choosers.cpp │ │ ├── choosers.hpp │ │ ├── gps_choosers.cpp │ │ └── gps_choosers.hpp │ ├── search_interface.cpp │ ├── search_interface.hpp │ └── 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