├── .github └── workflows │ └── build_noetic.yml ├── .gitignore ├── CMakeLists.txt ├── Doxyfile ├── LICENSE ├── README.md ├── config ├── costmap_for_rand_maps.yaml └── example_costmap_params.yaml ├── docs ├── 1.Status.md ├── 2.ROSNodeInterface.md └── algorithms_class_hr.png ├── include ├── Grid3D │ └── grid3d.hpp ├── Planners │ ├── AStar.hpp │ ├── AStarM1.hpp │ ├── AStarM2.hpp │ ├── AlgorithmBase.hpp │ ├── LazyThetaStar.hpp │ ├── LazyThetaStarM1.hpp │ ├── LazyThetaStarM1Mod.hpp │ ├── LazyThetaStarM2.hpp │ ├── ThetaStar.hpp │ ├── ThetaStarM1.hpp │ └── ThetaStarM2.hpp ├── utils │ ├── LineOfSight.hpp │ ├── SaveDataVariantToFile.hpp │ ├── geometry_utils.hpp │ ├── heuristic.hpp │ ├── metrics.hpp │ ├── misc.hpp │ ├── ros │ │ └── ROSInterfaces.hpp │ ├── time.hpp │ ├── utils.hpp │ └── world.hpp └── voro++-0.4.6 │ └── src │ ├── c_loops.cc │ ├── c_loops.hh │ ├── cell.cc │ ├── cell.hh │ ├── cmd_line.cc │ ├── common.cc │ ├── common.hh │ ├── config.hh │ ├── container.cc │ ├── container.hh │ ├── container_prd.cc │ ├── container_prd.hh │ ├── pre_container.cc │ ├── pre_container.hh │ ├── rad_option.hh │ ├── unitcell.cc │ ├── unitcell.hh │ ├── v_base.cc │ ├── v_base.hh │ ├── v_base_wl.cc │ ├── v_compute.cc │ ├── v_compute.hh │ ├── voro++.cc │ ├── voro++.hh │ ├── wall.cc │ ├── wall.hh │ ├── worklist.hh │ └── worklist_gen.pl ├── launch ├── plan_random_path.launch ├── planner.launch ├── planner2d_example.launch └── utils │ └── create_octomap.launch ├── logo.png ├── minci.png ├── package.xml ├── readme_images └── logo.png ├── resources ├── 2dmaps │ ├── big_lab.pgm │ ├── big_lab.yaml │ ├── big_lab_map_v2.pgm │ ├── big_lab_map_v2.yaml │ ├── random_maps │ │ ├── large │ │ │ ├── random0_1.pgm │ │ │ ├── random0_1.yaml │ │ │ ├── random0_2.pgm │ │ │ ├── random0_2.yaml │ │ │ ├── random0_3.pgm │ │ │ ├── random0_3.yaml │ │ │ ├── random0_4.pgm │ │ │ ├── random0_4.yaml │ │ │ ├── random0_5.pgm │ │ │ └── random0_5.yaml │ │ ├── medium │ │ │ ├── random0_1.pgm │ │ │ ├── random0_1.yaml │ │ │ ├── random0_2.pgm │ │ │ ├── random0_2.yaml │ │ │ ├── random0_3.pgm │ │ │ ├── random0_3.yaml │ │ │ ├── random0_4.pgm │ │ │ ├── random0_4.yaml │ │ │ ├── random0_5.pgm │ │ │ └── random0_5.yaml │ │ ├── small │ │ │ ├── random0_1.pgm │ │ │ ├── random0_1.yaml │ │ │ ├── random0_2.pgm │ │ │ ├── random0_2.yaml │ │ │ ├── random0_3.pgm │ │ │ ├── random0_3.yaml │ │ │ ├── random0_4.pgm │ │ │ ├── random0_4.yaml │ │ │ ├── random0_5.pgm │ │ │ └── random0_5.yaml │ │ └── sparse │ │ │ ├── random0_01.pgm │ │ │ ├── random0_01.yaml │ │ │ ├── random0_02.pgm │ │ │ ├── random0_02.yaml │ │ │ ├── random0_03.pgm │ │ │ ├── random0_03.yaml │ │ │ ├── random0_04.pgm │ │ │ ├── random0_04.yaml │ │ │ ├── random0_05.pgm │ │ │ └── random0_05.yaml │ ├── robbi_1.pgm │ ├── robbi_1.yaml │ ├── robbi_2.pgm │ ├── robbi_2.yaml │ ├── test.pgm │ ├── test.yaml │ ├── tunnel.pgm │ └── tunnel.yaml ├── 3dmaps │ ├── laberynth.bt │ ├── manufacturing.bt │ ├── maze.bt │ ├── mbzirc_challenge3.bt │ ├── two_blocks.bt │ └── wall.bt └── images │ ├── 2dexample.png │ ├── 3dexample.png │ ├── jandalucia.png │ ├── laberynth.png │ ├── logo.png │ ├── manufacturing.png │ ├── maze.png │ ├── mbzirc.png │ ├── test.png │ ├── two_blocks.png │ └── wall.png ├── rviz ├── planners.rviz └── planners_2d.rviz ├── scripts ├── compare_trajectories_rviz.py ├── generate2d_random_map.py ├── generate3d_random_map.py ├── plan_caller.py ├── simple_repub_marker.py ├── test_algorithms.py ├── test_algorithms_compare.py ├── test_algorithms_performance.py └── test_algorithms_pseudo_random_paths.py ├── setup.py ├── src ├── Planners │ ├── AStar.cpp │ ├── AStarM1.cpp │ ├── AStarM2.cpp │ ├── AlgorithmBase.cpp │ ├── LazyThetaStar.cpp │ ├── LazyThetaStarM1.cpp │ ├── LazyThetaStarM1Mod.cpp │ ├── LazyThetaStarM2.cpp │ ├── ThetaStar.cpp │ ├── ThetaStarM1.cpp │ └── ThetaStarM2.cpp ├── ROS │ └── planner_ros_node.cpp └── utils │ ├── LineOfSight.cpp │ ├── geometry_utils.cpp │ ├── heuristic.cpp │ ├── metrics.cpp │ ├── ros │ └── ROSInterfaces.cpp │ └── utils.cpp └── srv ├── 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