├── .gitignore ├── COPYING.md ├── README.md ├── mpc_local_planner ├── .clang-format ├── CHANGELOG.rst ├── CMakeLists.txt ├── cfg │ ├── mpc_collision.cfg │ ├── mpc_controller.cfg │ ├── mpc_footprint.cfg │ ├── rviz_test_mpc_optim.rviz │ └── test_mpc_optim_node.yaml ├── include │ └── mpc_local_planner │ │ ├── controller.h │ │ ├── mpc_local_planner_ros.h │ │ ├── optimal_control │ │ ├── fd_collocation_se2.h │ │ ├── final_state_conditions_se2.h │ │ ├── finite_differences_grid_se2.h │ │ ├── finite_differences_variable_grid_se2.h │ │ ├── full_discretization_grid_base_se2.h │ │ ├── min_time_via_points_cost.h │ │ ├── quadratic_cost_se2.h │ │ ├── stage_inequality_se2.h │ │ └── vector_vertex_se2.h │ │ ├── systems │ │ ├── base_robot_se2.h │ │ ├── kinematic_bicycle_model.h │ │ ├── robot_dynamics_interface.h │ │ ├── simple_car.h │ │ └── unicycle_robot.h │ │ └── utils │ │ ├── conversion.h │ │ ├── math_utils.h │ │ ├── publisher.h │ │ └── time_series_se2.h ├── launch │ └── test_mpc_optim_node.launch ├── mpc_local_planner_plugin.xml ├── package.xml ├── scripts │ └── plot_optimal_control_results.py └── src │ ├── controller.cpp │ ├── mpc_local_planner_ros.cpp │ ├── optimal_control │ ├── final_state_conditions_se2.cpp │ ├── finite_differences_grid_se2.cpp │ ├── finite_differences_variable_grid_se2.cpp │ ├── full_discretization_grid_base_se2.cpp │ ├── min_time_via_points_cost.cpp │ ├── quadratic_cost_se2.cpp │ └── stage_inequality_se2.cpp │ ├── test_mpc_optim_node.cpp │ └── utils │ ├── conversion.cpp │ ├── publisher.cpp │ └── time_series_se2.cpp ├── mpc_local_planner_examples ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── cfg │ ├── amcl_params.yaml │ ├── carlike │ │ ├── costmap_common_params.yaml │ │ ├── global_costmap_params.yaml │ │ ├── local_costmap_params.yaml │ │ └── mpc_local_planner_params.yaml │ ├── diff_drive │ │ ├── costmap_common_params.yaml │ │ ├── costmap_converter_params.yaml │ │ ├── global_costmap_params.yaml │ │ ├── local_costmap_params.yaml │ │ ├── mpc_local_planner_params_minimum_time.yaml │ │ └── mpc_local_planner_params_quadratic_form.yaml │ ├── rviz_navigation.rviz │ └── rviz_navigation_cc.rviz ├── launch │ ├── carlike_minimum_time.launch │ ├── diff_drive_minimum_time.launch │ ├── diff_drive_minimum_time_costmap_conversion.launch │ └── diff_drive_quadratic_form.launch ├── maps │ ├── corridor.png │ ├── corridor.yaml │ ├── empty_box.png │ ├── empty_box.yaml │ ├── maze.png │ └── maze.yaml ├── package.xml └── stage │ ├── corridor.world │ ├── empty_box.world │ ├── maze_carlike.world │ ├── maze_diff_drive.world │ ├── maze_omnidir.world │ └── robots │ ├── carlike_robot.inc │ ├── diff_drive_robot.inc │ ├── diff_drive_robot_gps.inc │ ├── obstacle.inc │ └── omnidir_robot.inc └── mpc_local_planner_msgs ├── CHANGELOG.rst ├── CMakeLists.txt ├── msg ├── OptimalControlResult.msg └── StateFeedback.msg └── package.xml /.gitignore: -------------------------------------------------------------------------------- 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