├── .gitignore ├── LICENSE ├── README.md ├── traj_opt ├── CMakeLists.txt ├── README.md ├── include │ ├── bernstein │ │ └── bezier_optimizer.hpp │ ├── bspline │ │ └── bspline_optimizer.h │ ├── iosqp.hpp │ ├── lbfgs.hpp │ ├── lbfgs_robust.hpp │ ├── plan_container.hpp │ ├── polynomial │ │ ├── gcopter.hpp │ │ ├── mini_snap.h │ │ ├── poly_traj_optimizer.h │ │ └── poly_traj_utils.hpp │ ├── quickhull.hpp │ └── sdqp.hpp ├── launch │ ├── try_bezier.launch │ └── try_minisnap.launch ├── package.xml ├── rviz │ ├── test_bezier.rviz │ └── test_minisnap.rviz ├── src │ ├── bezier_optimizer.cpp │ ├── bspline_optimizer.cpp │ ├── gradient_descent_optimizer.cpp │ ├── mini_snap.cpp │ └── poly_traj_optimizer.cpp └── test │ ├── test_bezier_opt.cpp │ ├── vis_bezier_opt.cpp │ └── vis_minisnap.cpp ├── traj_utils ├── CMakeLists.txt ├── include │ └── traj_utils │ │ ├── basis_converter.hpp │ │ ├── bernstein.hpp │ │ ├── corridor.hpp │ │ ├── planning_visualization.h │ │ ├── poly_traj.hpp │ │ ├── root_finder.hpp │ │ ├── uniform_bspline.h │ │ └── visualizer.hpp ├── msg │ ├── BezierTraj.msg │ ├── BsplineTraj.msg │ ├── CentralPos.msg │ ├── CentralState.msg │ ├── DataDisp.msg │ ├── GoalSet.msg │ ├── MINCOTraj.msg │ ├── MultiBsplines.msg │ └── PolyTraj.msg ├── package.xml ├── scripts │ └── test.py ├── src │ ├── bernstein.cpp │ ├── corridor.cpp │ ├── planning_visualization.cpp │ ├── uniform_bspline.cpp │ └── visualizer.cpp └── test │ └── test_bernstein.cpp └── utils ├── DecompROS ├── LICENSE ├── README.md ├── decomp_ros_msgs │ ├── CMakeLists.txt │ ├── msg │ │ ├── Ellipsoid.msg │ │ ├── EllipsoidArray.msg │ │ ├── Polyhedron.msg │ │ └── PolyhedronArray.msg │ └── package.xml └── decomp_ros_utils │ ├── CMakeLists.txt │ ├── icons │ └── classes │ │ ├── EllipsoidArray.png │ │ └── PolyhedronArray.png │ ├── include │ ├── decomp_basis │ │ ├── data_type.h │ │ └── data_utils.h │ ├── decomp_geometry │ │ ├── ellipsoid.h │ │ ├── geometric_utils.h │ │ └── polyhedron.h │ ├── decomp_ros_utils │ │ └── data_ros_utils.h │ └── decomp_util │ │ ├── decomp_base.h │ │ ├── ellipsoid_decomp.h │ │ ├── iterative_decomp.h │ │ ├── line_segment.h │ │ └── seed_decomp.h │ ├── package.xml │ ├── plugin_description.xml │ └── src │ ├── bound_visual.cpp │ ├── bound_visual.h │ ├── ellipsoid_array_display.cpp │ ├── ellipsoid_array_display.h │ ├── ellipsoid_array_visual.cpp │ ├── ellipsoid_array_visual.h │ ├── mesh_visual.cpp │ ├── mesh_visual.h │ ├── polyhedron_array_display.cpp │ ├── polyhedron_array_display.h │ ├── vector_visual.cpp │ └── vector_visual.h └── catkin_simple ├── CMakeLists.txt ├── cmake └── catkin_simple-extras.cmake.em ├── package.xml └── test └── scenarios └── hello_world ├── bar ├── include │ └── bar │ │ └── hello.h ├── msg │ └── HeaderString.msg ├── package.xml └── src │ └── hello.cpp ├── baz ├── include │ └── baz │ │ └── world.h └── package.xml └── foo ├── package.xml └── src └── main.cpp /.gitignore: -------------------------------------------------------------------------------- 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