├── FRS_generation ├── Highway_FRS2CUDA.m ├── README.md ├── combine_zono.m ├── deleteAligned_noslice.m ├── left_turning │ ├── LeftTurn_FRS2CUDA.m │ ├── compute_FRS_turning.m │ ├── dyn_turn_1_lo2hi.m │ ├── dyn_turn_1hi.m │ ├── dyn_turn_1lo.m │ ├── dyn_turn_2.m │ ├── dyn_turn_3.m │ ├── dyn_turn_4.m │ ├── dyn_turn_5.m │ ├── dyn_u_change.m │ └── veh_dyn_gen_turning.m ├── pre_process_FRS.m └── pre_process_zono.m ├── Full_Size_Vehicle_Simulation ├── .gitignore ├── Dockerfile ├── README.md ├── build-docker.sh ├── docker-home │ ├── .config │ │ └── .gittouch │ └── .matlab │ │ └── .gittouch ├── run-docker.sh └── simulator │ ├── .gitignore │ ├── activate-matlab.sh │ ├── build-cpp-opt.sh │ ├── clean-cpp-opt.sh │ ├── cpp-opt │ ├── .catkin_tools │ │ ├── CATKIN_IGNORE │ │ ├── README │ │ └── VERSION │ ├── .catkin_workspace │ ├── .clang-format │ ├── .gitignore │ ├── src │ │ ├── CMakeLists.txt │ │ ├── rover_control_msgs │ │ │ ├── CMakeLists.txt │ │ │ ├── msg │ │ │ │ ├── GenParamInfo.msg │ │ │ │ ├── MatlabPlotInfo.msg │ │ │ │ ├── OnlineDebugMsg.msg │ │ │ │ ├── PolygonArray.msg │ │ │ │ ├── RoverDebugStateStamped.msg │ │ │ │ ├── RoverUvrStamped.msg │ │ │ │ └── ZonoCenters.msg │ │ │ └── package.xml │ │ ├── rover_controller │ │ │ ├── CMakeLists.txt │ │ │ ├── cuda_include │ │ │ │ ├── cuda_interval_lib.hpp │ │ │ │ └── cuda_interval_rounded_arith.hpp │ │ │ ├── cuda_src │ │ │ │ ├── pre_slice.cu │ │ │ │ └── prob_integ.cu │ │ │ ├── docs │ │ │ │ ├── CMakeLists.txt │ │ │ │ └── Doxyfile │ │ │ ├── include │ │ │ │ ├── common.hpp │ │ │ │ ├── cuda_info.hpp │ │ │ │ ├── dyn_obs.hpp │ │ │ │ ├── fl_zono_constraint.hpp │ │ │ │ ├── fl_zono_obs_set.hpp │ │ │ │ ├── frs_io.hpp │ │ │ │ ├── frs_loader.hpp │ │ │ │ ├── frs_mega.hpp │ │ │ │ ├── frs_select_info.hpp │ │ │ │ ├── frs_text_loader.hpp │ │ │ │ ├── frs_total.hpp │ │ │ │ ├── gencon.hpp │ │ │ │ ├── individual_mu_sigma.hpp │ │ │ │ ├── ipopt_string_utils.hpp │ │ │ │ ├── manu_type.hpp │ │ │ │ ├── mu_sigma_multi.hpp │ │ │ │ ├── point_xy.hpp │ │ │ │ ├── point_xyh.hpp │ │ │ │ ├── pre_slice.hpp │ │ │ │ ├── prob_integ.hpp │ │ │ │ ├── prob_integ_io.hpp │ │ │ │ ├── process_utils.hpp │ │ │ │ ├── risk_constraint.hpp │ │ │ │ ├── risk_cost.hpp │ │ │ │ ├── risk_pdf.hpp │ │ │ │ ├── risk_problem_description.hpp │ │ │ │ ├── risk_rtd.hpp │ │ │ │ ├── risk_rtd_ipopt_problem.hpp │ │ │ │ ├── rover_state.hpp │ │ │ │ ├── simple_util.hpp │ │ │ │ ├── timing_util.hpp │ │ │ │ ├── unit_conversion.hpp │ │ │ │ ├── vehrs.hpp │ │ │ │ ├── waypoint.hpp │ │ │ │ └── waypoint_cost.hpp │ │ │ ├── mex │ │ │ │ ├── matlab_process_frses.cc │ │ │ │ └── risk_rtd_mex.cc │ │ │ ├── package.xml │ │ │ ├── ros_exec │ │ │ │ └── risk_rtd_ros.cc │ │ │ ├── src │ │ │ │ ├── cuda_info.cc │ │ │ │ ├── dyn_obs.cc │ │ │ │ ├── fl_zono_constraint.cc │ │ │ │ ├── fl_zono_obs_set.cc │ │ │ │ ├── frs_io.cc │ │ │ │ ├── frs_loader.cc │ │ │ │ ├── frs_mega.cc │ │ │ │ ├── frs_text_loader.cc │ │ │ │ ├── frs_total.cc │ │ │ │ ├── gencon.cc │ │ │ │ ├── individual_mu_sigma.cc │ │ │ │ ├── manu_type.cc │ │ │ │ ├── mu_sigma_multi.cc │ │ │ │ ├── risk_constraint.cc │ │ │ │ ├── risk_cost.cc │ │ │ │ ├── risk_rtd.cc │ │ │ │ ├── risk_rtd_ipopt_problem.cc │ │ │ │ ├── rover_state.cc │ │ │ │ ├── simple_util.cc │ │ │ │ ├── vehrs.cc │ │ │ │ └── waypoint_cost.cc │ │ │ └── test │ │ │ │ ├── cuda_prob_test.cc │ │ │ │ ├── dyn_obs_test.cc │ │ │ │ ├── fl_zono_constraint_test.cc │ │ │ │ ├── frs_io_test.cc │ │ │ │ ├── gencon_test.cc │ │ │ │ ├── individual_mu_sigma_test.cc │ │ │ │ ├── process_utils_test.cc │ │ │ │ ├── risk_rtd_ipopt_test.cc │ │ │ │ └── waypoint_cost_test.cc │ │ └── toplevel.cmake │ └── startup.m │ ├── fully_preprocess_frs.m │ ├── ninja-cpp-opt.sh │ ├── online │ ├── RADIUS_simulation_main.m │ ├── agentHelper.m │ ├── crossroads_world.m │ ├── dyn_obs_to_mu_sigma_struct.m │ ├── dyn_obs_to_mu_sigmas.m │ ├── dynamic_car_world.m │ ├── fmincon_files │ │ ├── generate_highway_trajopt_constraints.m │ │ └── highway_fmincon_cost_fun.m │ ├── get_waypoint_from_path_var_lookahead.m │ ├── get_world_bounds_as_dyn_obs.m │ ├── highway_HLP.m │ ├── min_dist_between_ego_and_dyn_obs.m │ ├── obs_pdf.m │ ├── rlsimulator.m │ ├── rlsimulator_crossroads.m │ └── zonotope_slice_cost_fun.m │ ├── run-matlab.sh │ ├── scenario-2-1_initial_condition.mat │ ├── sign_pos_neg.m │ ├── simple_highway_HLP.m │ └── zonotope_slice.m ├── LICENSE ├── README.md ├── download-dependencies.sh ├── install.m ├── split.m └── util ├── Prob_integration ├── .vs │ ├── Prob_integration │ │ └── v16 │ │ │ ├── .suo │ │ │ └── Browse.VC.db │ ├── ProjectSettings.json │ ├── VSWorkspaceState.json │ └── slnx.sqlite ├── RADIUS_AgentHelper_Highway.m ├── RADIUS_AgentHelper_LeftTurn.m ├── find_inzono_patch.m ├── polytope_PH.m └── world_to_local_mirror_pdf.m ├── RADIUS_bigpic.png ├── ROTxy.m ├── RTD_agent_2D.m ├── agent.m ├── gaussian_T_parameterized_traj_with_brake.m ├── highway_cruising_10_state_agent.m ├── my_const.mat ├── mycolormap2.mat ├── parametrized_turnning_with_brake.m ├── parse_args.m ├── plot2DGaussianBlurs.m ├── 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