├── .circleci └── config.yml ├── .clang-format ├── .dockerignore ├── .github └── workflows │ └── main.yml ├── .gitignore ├── .gitmodules ├── 3rd_party_licenses.md ├── CMakeLists.txt ├── Dockerfile ├── DoxygenLayout.xml ├── LICENSE ├── README.md ├── bin ├── benchmark_template.json ├── image_mazes │ ├── freiburg.png │ └── intel-lab.png ├── log │ └── .gitkeep ├── moving_ai_scenarios │ ├── Berlin_0_256.map │ ├── Berlin_0_256.map.scen │ ├── Boston_1_1024.map │ ├── Boston_1_1024.map.scen │ ├── Boston_2_512.map │ ├── Boston_2_512.map.scen │ ├── Denver_1_256.map │ ├── Denver_1_256.map.scen │ ├── NewYork_1_512.map │ ├── NewYork_1_512.map.scen │ └── README.md ├── polygon_mazes │ ├── car.svg │ ├── parking1.svg │ ├── parking2.svg │ ├── parking3.svg │ ├── warehouse.svg │ ├── warehouse2.svg │ └── warehouse_robot.svg └── sbpl_mprim │ ├── README.md │ ├── all_file.mprim │ ├── genmprim.m │ ├── genmprim_unicycle.m │ ├── genmprim_unicycle_circular_non_uniform.m │ ├── genmprim_unicycleplussideways.m │ ├── genmprim_unicycleplussidewaysplusbackturn.m │ ├── genmprim_unicycleplussidewaysplusbackturnplusdiag.m │ ├── mprim_unic_sideback.mprim │ ├── mprim_unic_sidebackdiag.mprim │ ├── non_uniform_res0025_rad1_err005.mprim │ ├── non_uniform_res01_rad3_err005.mprim │ ├── pr2.mprim │ ├── pr2_10cm.mprim │ ├── pr2_all_2.5cm_20turncost.mprim │ ├── pr2_unicycle_10cm.mprim │ ├── pr2sides.mprim │ ├── prim_1.mprim │ ├── unicycle_0.0625.mprim │ ├── unicycle_0.125.mprim │ ├── unicycle_0.25.mprim │ ├── unicycle_1.mprim │ ├── unicycle_backonlystraight.mprim │ └── unicycle_noturninplace.mprim ├── docker_connect.sh ├── doxygen.conf ├── experiments ├── anytime.cpp ├── benchmark.cpp ├── benchmark_corridors.cpp ├── compute_distances.cpp ├── generate_corridor_radii_benchmarks.cpp ├── generate_obstacle_ratio_benchmarks.cpp ├── generate_turning_radii_benchmarks.cpp ├── movingai_cities_scenarios.cpp ├── parking.cpp ├── posq_testing.cpp ├── sbpl_testing.cpp ├── show_polygon_mazes.cpp ├── smoothing.cpp └── thetastar_testing.cpp ├── mainpage.dox ├── python ├── .gitignore ├── Benchmark Moving AI.ipynb ├── Benchmark Polygon Worlds.ipynb ├── Collision Detection.ipynb ├── Corridors.ipynb ├── Cross Statistics.ipynb ├── Experiment Random, Halton, State-Lattice.ipynb ├── FP Planners.ipynb ├── Frontend.ipynb ├── Image Grid Maze.ipynb ├── Metrics.ipynb ├── Optimization Objective.ipynb ├── Planner Statistics.ipynb ├── Polygon Maze Generation.ipynb ├── Polygon Mazes.ipynb ├── Polygon Worlds Testing.ipynb ├── README.md ├── Random vs Deterministic.ipynb ├── SBPL Debugging.ipynb ├── Sampling vs. Anytime.ipynb ├── Smoothing.ipynb ├── Steering and Forward Propagation.ipynb ├── Timing Details.ipynb ├── Trajectories.ipynb ├── __init__.py ├── benchmark_corridor.py ├── color.py ├── definitions.py ├── json_table.py ├── mpb.py ├── plot_aggregate.py ├── plot_convergence.py ├── plot_env.py ├── plot_stats.py ├── plot_trajectory.py ├── plot_trajectory_convergence.py ├── plots │ └── collage.svg ├── polygon_maze_generator.py ├── requirements.txt ├── retrieve.py ├── retrieveAllData.py ├── settings.py ├── table.py ├── trajectory.py └── utils.py └── src ├── base ├── Environment.h ├── EnvironmentStateValidityChecker.h ├── PathStatistics.hpp ├── PlannerConfigurator.hpp ├── PlannerSettings.h ├── Primitives.h ├── TimedResult.hpp ├── environments │ ├── GridMaze.h │ ├── PolygonMaze.h │ └── src │ │ ├── GridMaze.cpp │ │ └── PolygonMaze.cpp └── src │ ├── Environment.cpp │ ├── EnvironmentStateValidityChecker.cpp │ ├── PlannerSettings.cpp │ └── Primitives.cpp ├── fp_models ├── ForwardPropagation.h ├── kinematic_car │ └── kinematic_car.hpp └── kinematic_single_track │ └── kinematic_single_track.hpp ├── gui ├── QtVisualizer.cpp ├── QtVisualizer.h └── Table.hpp ├── metrics ├── AOLMetric.h ├── ClearingMetric.h ├── MaxCurvatureMetric.h ├── NormalizedCurvatureMetric.h ├── PathLengthMetric.h ├── TrajectoryMetric.h └── speed_dependent │ ├── JerkMetric.h │ ├── PeaksMetric.h │ ├── README.md │ └── SpeedArcLengthMetric.h ├── planners ├── AStar.hpp ├── AbstractPlanner.cpp ├── AbstractPlanner.h ├── OMPLAnytimePathShortening.hpp ├── OMPLControlPlanner.hpp ├── OMPLPlanner.hpp ├── OMPLSimplifier.hpp ├── sbpl │ ├── SbplPlanner.cpp │ └── SbplPlanner.h ├── smooth_thetastar │ ├── README.md │ ├── SmoothThetaStar.cpp │ ├── SmoothThetaStar.h │ └── smooth_stl_thetastar.h └── thetastar │ ├── ThetaStar.cpp │ ├── ThetaStar.h │ ├── gnode.h │ ├── gnode_base.cpp │ ├── gnode_base.h │ └── stl_thetastar.h ├── smoothers ├── chomp │ ├── CHOMP.cpp │ └── CHOMP.h ├── grips │ ├── GRIPS.cpp │ └── GRIPS.h └── ompl │ └── OmplSmoother.hpp ├── steer_functions ├── .gitignore ├── POSQ │ ├── POSQ.hpp │ ├── POSQStateSpace.cpp │ └── POSQStateSpace.h └── Steering.h └── utils ├── Log.cpp ├── Log.h ├── OptimizationObjective.cpp ├── OptimizationObjective.h ├── PathEvaluation.hpp ├── PlannerUtils.hpp ├── ScenarioLoader.cpp ├── ScenarioLoader.h ├── Stopwatch.hpp ├── SvgPolygonLoader.hpp └── make_video.sh 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