├── README.md ├── data └── scale_mat │ ├── childroom.txt │ ├── gibson_Convoy.txt │ ├── gibson_Rosser.txt │ ├── hm3d_00804.txt │ ├── hm3d_00829.txt │ ├── hm3d_00883.txt │ └── room.txt ├── environment.yml ├── imgs └── teaser.png ├── monosdfServer_unity ├── __pycache__ │ ├── run_nerf.cpython-39.pyc │ └── run_nerf_helpers.cpython-39.pyc ├── childroom_im_grids.conf ├── core │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-310.pyc │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-38.pyc │ │ ├── __init__.cpython-39.pyc │ │ ├── common.cpython-310.pyc │ │ ├── common.cpython-37.pyc │ │ ├── common.cpython-38.pyc │ │ ├── extract_monocular_cues.cpython-310.pyc │ │ ├── extract_monocular_cues.cpython-37.pyc │ │ ├── extract_monocular_cues.cpython-38.pyc │ │ ├── load_blender.cpython-39.pyc │ │ ├── monosdf.cpython-310.pyc │ │ ├── monosdf.cpython-37.pyc │ │ ├── monosdf.cpython-38.pyc │ │ ├── monosdf_forrender.cpython-37.pyc │ │ ├── nerf.cpython-38.pyc │ │ ├── nerf.cpython-39.pyc │ │ ├── nerf_configs.cpython-39.pyc │ │ ├── opt.cpython-37.pyc │ │ ├── opt.cpython-39.pyc │ │ ├── ray_utils.cpython-37.pyc │ │ ├── ray_utils.cpython-39.pyc │ │ ├── renderer.cpython-37.pyc │ │ ├── renderer.cpython-39.pyc │ │ ├── run_nerf.cpython-38.pyc │ │ ├── run_nerf.cpython-39.pyc │ │ ├── run_nerf_forrender.cpython-37.pyc │ │ ├── run_nerf_forrender.cpython-38.pyc │ │ ├── run_nerf_forrender.cpython-39.pyc │ │ ├── run_nerf_helpers.cpython-38.pyc │ │ ├── run_nerf_helpers.cpython-39.pyc │ │ ├── run_nerf_helpers_TS.cpython-39.pyc │ │ ├── run_nerf_helpers_frorender.cpython-37.pyc │ │ ├── run_nerf_helpers_frorender.cpython-38.pyc │ │ ├── run_nerf_helpers_frorender.cpython-39.pyc │ │ ├── sh.cpython-37.pyc │ │ ├── sh.cpython-39.pyc │ │ ├── tensorBase.cpython-37.pyc │ │ ├── tensorBase.cpython-39.pyc │ │ ├── tensorf.cpython-37.pyc │ │ ├── tensorf.cpython-39.pyc │ │ ├── tensorf_forrender.cpython-37.pyc │ │ ├── uncerRF.cpython-37.pyc │ │ ├── uncerRF.cpython-39.pyc │ │ ├── utils.cpython-37.pyc │ │ ├── utils.cpython-39.pyc │ │ ├── views.cpython-310.pyc │ │ ├── views.cpython-37.pyc │ │ ├── views.cpython-37.pyc.140115515276720 │ │ ├── views.cpython-38.pyc │ │ └── views.cpython-39.pyc │ ├── admin.py │ ├── apps.py │ ├── common.py │ ├── data │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-310.pyc │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── task_configs.cpython-310.pyc │ │ │ ├── task_configs.cpython-37.pyc │ │ │ ├── task_configs.cpython-38.pyc │ │ │ ├── transforms.cpython-310.pyc │ │ │ ├── transforms.cpython-37.pyc │ │ │ └── transforms.cpython-38.pyc │ │ ├── augmentation.py │ │ ├── masks.py │ │ ├── omnidata_dataset.py │ │ ├── refocus_augmentation.py │ │ ├── splits.py │ │ ├── splits │ │ │ ├── metadata_images_split_scene_v1.csv │ │ │ ├── test_hypersim_orig.csv │ │ │ ├── train_hypersim_orig.csv │ │ │ ├── train_val_test_blendedMVS.csv │ │ │ ├── train_val_test_debug.csv │ │ │ ├── train_val_test_full.csv │ │ │ ├── train_val_test_fullplus.csv │ │ │ ├── train_val_test_gso.csv │ │ │ ├── train_val_test_hypersim.csv │ │ │ ├── train_val_test_medium.csv │ │ │ ├── train_val_test_replica.csv │ │ │ ├── train_val_test_tiny.csv │ │ │ └── val_hypersim_orig.csv │ │ ├── task_configs.py │ │ ├── taskonomy_dataset.py │ │ └── transforms.py │ ├── datasets │ │ ├── __pycache__ │ │ │ ├── scene_dataset.cpython-37.pyc │ │ │ └── scene_dataset.cpython-38.pyc │ │ └── scene_dataset.py │ ├── extract_monocular_cues.py │ ├── hashencoder │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── backend.cpython-37.pyc │ │ │ ├── backend.cpython-38.pyc │ │ │ ├── hashgrid.cpython-37.pyc │ │ │ └── hashgrid.cpython-38.pyc │ │ ├── backend.py │ │ ├── hashgrid.py │ │ └── src │ │ │ ├── bindings.cpp │ │ │ ├── hashencoder.cu │ │ │ └── hashencoder.h │ ├── migrations │ │ └── __init__.py │ ├── model │ │ ├── __pycache__ │ │ │ ├── density.cpython-37.pyc │ │ │ ├── density.cpython-38.pyc │ │ │ ├── embedder.cpython-37.pyc │ │ │ ├── embedder.cpython-38.pyc │ │ │ ├── loss.cpython-310.pyc │ │ │ ├── loss.cpython-37.pyc │ │ │ ├── loss.cpython-38.pyc │ │ │ ├── network.cpython-37.pyc │ │ │ ├── network.cpython-38.pyc │ │ │ ├── network_bak.cpython-37.pyc │ │ │ ├── ray_sampler.cpython-37.pyc │ │ │ └── ray_sampler.cpython-38.pyc │ │ ├── density.py │ │ ├── embedder.py │ │ ├── loss.py │ │ ├── network.py │ │ └── ray_sampler.py │ ├── modules │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-310.pyc │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── __init__.cpython-38.pyc │ │ │ ├── channel_attention.cpython-310.pyc │ │ │ ├── channel_attention.cpython-37.pyc │ │ │ ├── channel_attention.cpython-38.pyc │ │ │ ├── unet.cpython-310.pyc │ │ │ ├── unet.cpython-37.pyc │ │ │ └── unet.cpython-38.pyc │ │ ├── channel_attention.py │ │ ├── midas │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-310.pyc │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ ├── __init__.cpython-38.pyc │ │ │ │ ├── base_model.cpython-310.pyc │ │ │ │ ├── base_model.cpython-37.pyc │ │ │ │ ├── base_model.cpython-38.pyc │ │ │ │ ├── blocks.cpython-310.pyc │ │ │ │ ├── blocks.cpython-37.pyc │ │ │ │ ├── blocks.cpython-38.pyc │ │ │ │ ├── dpt_depth.cpython-310.pyc │ │ │ │ ├── dpt_depth.cpython-37.pyc │ │ │ │ ├── dpt_depth.cpython-38.pyc │ │ │ │ ├── vit.cpython-310.pyc │ │ │ │ ├── vit.cpython-37.pyc │ │ │ │ └── vit.cpython-38.pyc │ │ │ ├── base_model.py │ │ │ ├── blocks.py │ │ │ ├── dpt_depth.py │ │ │ ├── midas_net.py │ │ │ ├── midas_net_custom.py │ │ │ ├── transforms.py │ │ │ └── vit.py │ │ └── unet.py │ ├── monosdf.py │ ├── utils │ │ ├── __pycache__ │ │ │ ├── general.cpython-310.pyc │ │ │ ├── general.cpython-37.pyc │ │ │ ├── general.cpython-38.pyc │ │ │ ├── plots.cpython-310.pyc │ │ │ ├── plots.cpython-37.pyc │ │ │ ├── plots.cpython-38.pyc │ │ │ ├── rend_util.cpython-310.pyc │ │ │ ├── rend_util.cpython-37.pyc │ │ │ └── rend_util.cpython-38.pyc │ │ ├── general.py │ │ ├── plots.py │ │ └── rend_util.py │ └── views.py ├── gibson_Convoy_im_grids.conf ├── gibson_Rosser_im_grids.conf ├── hm3d_00804_im_grids.conf ├── hm3d_00829_im_grids.conf ├── hm3d_00848_im_grids.conf ├── interface2.py ├── manage.py ├── monosdf_renderall.py ├── nerfServer │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-310.pyc │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-38.pyc │ │ ├── __init__.cpython-39.pyc │ │ ├── settings.cpython-310.pyc │ │ ├── settings.cpython-37.pyc │ │ ├── settings.cpython-38.pyc │ │ ├── settings.cpython-39.pyc │ │ ├── urls.cpython-310.pyc │ │ ├── urls.cpython-37.pyc │ │ ├── urls.cpython-38.pyc │ │ ├── urls.cpython-39.pyc │ │ ├── wsgi.cpython-37.pyc │ │ ├── wsgi.cpython-38.pyc │ │ └── wsgi.cpython-39.pyc │ ├── asgi.py │ ├── logs │ │ └── tensorf │ │ │ └── test │ │ │ └── test_0_1 │ │ │ └── events.out.tfevents.1658906284.star-AS-4124GS-TNR.38500.0 │ ├── settings.py │ ├── urls.py │ └── wsgi.py ├── render │ ├── __init__.py │ ├── __pycache__ │ │ ├── __init__.cpython-310.pyc │ │ ├── __init__.cpython-37.pyc │ │ ├── __init__.cpython-38.pyc │ │ ├── __init__.cpython-39.pyc │ │ ├── common.cpython-310.pyc │ │ ├── common.cpython-37.pyc │ │ ├── common.cpython-38.pyc │ │ ├── extract_monocular_cues.cpython-37.pyc │ │ ├── load_blender.cpython-39.pyc │ │ ├── monosdf.cpython-37.pyc │ │ ├── monosdf_forrender.cpython-37.pyc │ │ ├── monosdf_forrender.cpython-38.pyc │ │ ├── nerf.cpython-38.pyc │ │ ├── nerf.cpython-39.pyc │ │ ├── nerf_configs.cpython-39.pyc │ │ ├── opt.cpython-37.pyc │ │ ├── opt.cpython-39.pyc │ │ ├── ray_utils.cpython-37.pyc │ │ ├── ray_utils.cpython-39.pyc │ │ ├── renderer.cpython-37.pyc │ │ ├── renderer.cpython-39.pyc │ │ ├── run_nerf.cpython-38.pyc │ │ ├── run_nerf.cpython-39.pyc │ │ ├── run_nerf_forrender.cpython-37.pyc │ │ ├── run_nerf_forrender.cpython-38.pyc │ │ ├── run_nerf_forrender.cpython-39.pyc │ │ ├── run_nerf_helpers.cpython-38.pyc │ │ ├── run_nerf_helpers.cpython-39.pyc │ │ ├── run_nerf_helpers_TS.cpython-39.pyc │ │ ├── run_nerf_helpers_frorender.cpython-37.pyc │ │ ├── run_nerf_helpers_frorender.cpython-38.pyc │ │ ├── run_nerf_helpers_frorender.cpython-39.pyc │ │ ├── sh.cpython-37.pyc │ │ ├── sh.cpython-39.pyc │ │ ├── tensorBase.cpython-37.pyc │ │ ├── tensorBase.cpython-39.pyc │ │ ├── tensorf.cpython-37.pyc │ │ ├── tensorf.cpython-39.pyc │ │ ├── tensorf_forrender.cpython-37.pyc │ │ ├── uncerRF.cpython-37.pyc │ │ ├── uncerRF.cpython-39.pyc │ │ ├── utils.cpython-37.pyc │ │ ├── utils.cpython-39.pyc │ │ ├── views.cpython-37.pyc │ │ ├── views.cpython-37.pyc.140115515276720 │ │ ├── views.cpython-38.pyc │ │ └── views.cpython-39.pyc │ ├── admin.py │ ├── apps.py │ ├── common.py │ ├── data │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── task_configs.cpython-37.pyc │ │ │ └── transforms.cpython-37.pyc │ │ ├── augmentation.py │ │ ├── masks.py │ │ ├── omnidata_dataset.py │ │ ├── refocus_augmentation.py │ │ ├── splits.py │ │ ├── splits │ │ │ ├── metadata_images_split_scene_v1.csv │ │ │ ├── test_hypersim_orig.csv │ │ │ ├── train_hypersim_orig.csv │ │ │ ├── train_val_test_blendedMVS.csv │ │ │ ├── train_val_test_debug.csv │ │ │ ├── train_val_test_full.csv │ │ │ ├── train_val_test_fullplus.csv │ │ │ ├── train_val_test_gso.csv │ │ │ ├── train_val_test_hypersim.csv │ │ │ ├── train_val_test_medium.csv │ │ │ ├── train_val_test_replica.csv │ │ │ ├── train_val_test_tiny.csv │ │ │ └── val_hypersim_orig.csv │ │ ├── task_configs.py │ │ ├── taskonomy_dataset.py │ │ └── transforms.py │ ├── datasets │ │ ├── __pycache__ │ │ │ └── scene_dataset.cpython-37.pyc │ │ └── scene_dataset.py │ ├── extract_monocular_cues.py │ ├── hashencoder │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── backend.cpython-37.pyc │ │ │ └── hashgrid.cpython-37.pyc │ │ ├── backend.py │ │ ├── hashgrid.py │ │ └── src │ │ │ ├── bindings.cpp │ │ │ ├── hashencoder.cu │ │ │ └── hashencoder.h │ ├── migrations │ │ └── __init__.py │ ├── model │ │ ├── __pycache__ │ │ │ ├── density.cpython-37.pyc │ │ │ ├── embedder.cpython-37.pyc │ │ │ ├── loss.cpython-37.pyc │ │ │ ├── network.cpython-37.pyc │ │ │ ├── network_bak.cpython-37.pyc │ │ │ └── ray_sampler.cpython-37.pyc │ │ ├── density.py │ │ ├── embedder.py │ │ ├── loss.py │ │ ├── network.py │ │ └── ray_sampler.py │ ├── modules │ │ ├── __init__.py │ │ ├── __pycache__ │ │ │ ├── __init__.cpython-37.pyc │ │ │ ├── channel_attention.cpython-37.pyc │ │ │ └── unet.cpython-37.pyc │ │ ├── channel_attention.py │ │ ├── midas │ │ │ ├── __init__.py │ │ │ ├── __pycache__ │ │ │ │ ├── __init__.cpython-37.pyc │ │ │ │ ├── base_model.cpython-37.pyc │ │ │ │ ├── blocks.cpython-37.pyc │ │ │ │ ├── dpt_depth.cpython-37.pyc │ │ │ │ └── vit.cpython-37.pyc │ │ │ ├── base_model.py │ │ │ ├── blocks.py │ │ │ ├── dpt_depth.py │ │ │ ├── midas_net.py │ │ │ ├── midas_net_custom.py │ │ │ ├── transforms.py │ │ │ └── vit.py │ │ └── unet.py │ ├── monosdf_forrender.py │ └── utils │ │ ├── __pycache__ │ │ ├── general.cpython-37.pyc │ │ ├── general.cpython-38.pyc │ │ ├── plots.cpython-37.pyc │ │ └── rend_util.cpython-37.pyc │ │ ├── general.py │ │ ├── plots.py │ │ └── rend_util.py ├── test_scripts.py └── tmp_build │ ├── .ninja_deps │ ├── .ninja_log │ ├── _hash_encoder.so │ ├── bindings.o │ ├── build.ninja │ └── hashencoder.cuda.o └── src ├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── fuel_planner ├── active_perception │ ├── CMakeLists.txt │ ├── include │ │ └── active_perception │ │ │ ├── frontier_finder.h │ │ │ ├── graph_node.h │ │ │ ├── graph_search.h │ │ │ ├── heading_planner.h │ │ │ ├── perception_utils.h │ │ │ ├── surface_finder.h │ │ │ └── traj_visibility.h │ ├── package.xml │ ├── resource │ │ ├── single.par │ │ ├── single.tsp │ │ └── single.txt │ ├── script │ │ └── calc_fov.py │ └── src │ │ ├── frontier_finder.cpp │ │ ├── graph_node.cpp │ │ ├── heading_planner.cpp │ │ ├── perception_utils.cpp │ │ ├── surface_finder.cpp │ │ └── traj_visibility.cpp ├── bag │ ├── debug_record.sh │ ├── explore_record.sh │ └── record.sh ├── bspline │ ├── CMakeLists.txt │ ├── include │ │ └── bspline │ │ │ └── non_uniform_bspline.h │ ├── msg │ │ └── Bspline.msg │ ├── package.xml │ └── src │ │ └── non_uniform_bspline.cpp ├── bspline_opt │ ├── CMakeLists.txt │ ├── include │ │ └── bspline_opt │ │ │ └── bspline_optimizer.h │ ├── package.xml │ ├── script │ │ ├── calc_jacobian.py │ │ ├── calc_jacobian.pyc │ │ ├── cost_function.py │ │ └── dist_to_line.py │ └── src │ │ └── bspline_optimizer.cpp ├── exploration_manager │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ └── traj.rviz │ ├── include │ │ ├── exploration_manager │ │ │ ├── expl_data.h │ │ │ ├── fast_exploration_fsm.h │ │ │ ├── fast_exploration_manager.h │ │ │ ├── json.hpp │ │ │ └── test.h │ │ └── generated │ │ │ └── fast_exploration_fsm.h │ ├── launch │ │ ├── algorithm_multi_room.xml │ │ ├── exploration_multi_room.launch │ │ ├── rviz.launch │ │ └── simulator.xml │ ├── package.xml │ ├── resource │ │ ├── curve1.txt │ │ └── curve2.txt │ ├── src │ │ ├── exploration_node.cpp │ │ ├── fast_exploration_fsm.cpp │ │ ├── fast_exploration_manager.cpp │ │ ├── fast_exploration_manager_evpp.cpp │ │ ├── fast_exploration_manager_fuel.cpp │ │ ├── fast_exploration_manager_fuel_star.cpp │ │ ├── fast_exploration_manager_rec.cpp │ │ ├── fast_exploration_manager_vpp.cpp │ │ ├── fast_exploration_manager_woswitch.cpp │ │ ├── test.cpp │ │ ├── test_bk.cpp │ │ └── test_evpp.cpp │ └── test │ │ ├── load_obj.cpp │ │ ├── test.md │ │ └── write_tsp.cpp ├── log.md ├── path_searching │ ├── CMakeLists.txt │ ├── include │ │ └── path_searching │ │ │ ├── astar.h │ │ │ ├── astar2.h │ │ │ ├── graph_search.hpp │ │ │ ├── kinodynamic_astar.h │ │ │ ├── matrix_hash.h │ │ │ └── topo_prm.h │ ├── package.xml │ └── src │ │ ├── astar.cpp │ │ ├── astar2.cpp │ │ ├── kinodynamic_astar.cpp │ │ └── topo_prm.cpp ├── plan_env │ ├── CMakeLists.txt │ ├── include │ │ └── plan_env │ │ │ ├── edt_environment.h │ │ │ ├── linear_obj_model.hpp │ │ │ ├── map_ros.h │ │ │ ├── obj_predictor.h │ │ │ ├── polynomial_traj.hpp │ │ │ ├── raycast.h │ │ │ └── sdf_map.h │ ├── package.xml │ └── src │ │ ├── edt_environment.cpp │ │ ├── map_ros.cpp │ │ ├── obj_generator.cpp │ │ ├── obj_predictor.cpp │ │ ├── raycast.cpp │ │ └── sdf_map.cpp ├── plan_manage │ ├── CMakeLists.txt │ ├── README.md │ ├── config │ │ ├── exp.rviz │ │ └── traj.rviz │ ├── include │ │ └── plan_manage │ │ │ ├── backward.hpp │ │ │ ├── kino_replan_fsm.h │ │ │ ├── local_explore_fsm.h │ │ │ ├── plan_container.hpp │ │ │ ├── planner_manager.h │ │ │ ├── topo_replan_fsm.h │ │ │ └── utils.h │ ├── launch │ │ ├── icra20 │ │ │ ├── compare_topo.launch │ │ │ └── exp_icra20.launch │ │ ├── kino_algorithm.xml │ │ ├── kino_replan.launch │ │ ├── rviz.launch │ │ ├── simulator.xml │ │ ├── topo_algorithm.xml │ │ ├── topo_replan.launch │ │ └── tro20 │ │ │ ├── experiment.launch │ │ │ ├── local_explore.launch │ │ │ ├── local_explore_alg.xml │ │ │ ├── rviz_exp.launch │ │ │ ├── simulator.launch │ │ │ └── simulator2.launch │ ├── package.xml │ ├── script │ │ ├── calc.py │ │ ├── polyfit_predict.py │ │ └── traj_opt.py │ ├── src │ │ ├── fast_planner_node.cpp │ │ ├── kino_replan_fsm.cpp │ │ ├── planner_manager.cpp │ │ ├── planner_manager_dev.cpp │ │ ├── topo_replan_fsm.cpp │ │ ├── traj_server.cpp │ │ └── traj_server_backup.cpp │ └── test │ │ ├── compare_topo.cpp │ │ ├── local_explore_fsm.cpp │ │ ├── opti_node.cpp │ │ ├── pos_vel_acc.cpp │ │ ├── process_msg.cpp │ │ ├── process_msg2.cpp │ │ ├── rotation.cpp │ │ └── test_collision_cost.cpp ├── poly_traj │ ├── CMakeLists.txt │ ├── include │ │ └── poly_traj │ │ │ └── polynomial_traj.h │ ├── package.xml │ └── src │ │ ├── polynomial_traj.cpp │ │ └── traj_generator.cpp ├── test.txt ├── traj_utils │ ├── CMakeLists.txt │ ├── include │ │ └── traj_utils │ │ │ └── planning_visualization.h │ ├── package.xml │ └── src │ │ ├── planning_visualization.cpp │ │ └── process_msg.cpp └── utils │ ├── backward │ └── backward.hpp │ ├── lkh_tsp_solver │ ├── CMakeLists.txt │ ├── include │ │ ├── Delaunay.h │ │ ├── GainType.h │ │ ├── Genetic.h │ │ ├── GeoConversion.h │ │ ├── Hashing.h │ │ ├── Heap.h │ │ ├── LKH.h │ │ ├── Segment.h │ │ ├── Sequence.h │ │ ├── gpx.h │ │ └── lkh_tsp_solver │ │ │ └── lkh_interface.h │ ├── package.xml │ ├── resource │ │ ├── single.par │ │ ├── single.tsp │ │ ├── single.txt │ │ ├── test.par │ │ ├── test.tsp │ │ └── test.txt │ └── src │ │ ├── Activate.c │ │ ├── AddCandidate.c │ │ ├── AddExtraCandidates.c │ │ ├── AddTourCandidates.c │ │ ├── AdjustCandidateSet.c │ │ ├── AdjustClusters.c │ │ ├── AllocateStructures.c │ │ ├── Ascent.c │ │ ├── Best2OptMove.c │ │ ├── Best3OptMove.c │ │ ├── Best4OptMove.c │ │ ├── Best5OptMove.c │ │ ├── BestKOptMove.c │ │ ├── Between.c │ │ ├── Between_SL.c │ │ ├── Between_SSL.c │ │ ├── BridgeGain.c │ │ ├── BuildKDTree.c │ │ ├── C.c │ │ ├── CandidateReport.c │ │ ├── ChooseInitialTour.c │ │ ├── Connect.c │ │ ├── CreateCandidateSet.c │ │ ├── CreateDelaunayCandidateSet.c │ │ ├── CreateNNCandidateSet.c │ │ ├── CreateQuadrantCandidateSet.c │ │ ├── Create_POPMUSIC_CandidateSet.c │ │ ├── Delaunay.c │ │ ├── Distance.c │ │ ├── Distance_SPECIAL.c │ │ ├── ERXT.c │ │ ├── Excludable.c │ │ ├── Exclude.c │ │ ├── FindTour.c │ │ ├── FixedOrCommonCandidates.c │ │ ├── Flip.c │ │ ├── Flip_SL.c │ │ ├── Flip_SSL.c │ │ ├── Forbidden.c │ │ ├── FreeStructures.c │ │ ├── Gain23.c │ │ ├── GenerateCandidates.c │ │ ├── Genetic.c │ │ ├── GeoConversion.c │ │ ├── GetTime.c │ │ ├── GreedyTour.c │ │ ├── Hashing.c │ │ ├── Heap.c │ │ ├── IsBackboneCandidate.c │ │ ├── IsCandidate.c │ │ ├── IsCommonEdge.c │ │ ├── IsPossibleCandidate.c │ │ ├── KSwapKick.c │ │ ├── LKHmain.c │ │ ├── LinKernighan.c │ │ ├── Make2OptMove.c │ │ ├── Make3OptMove.c │ │ ├── Make4OptMove.c │ │ ├── Make5OptMove.c │ │ ├── MakeKOptMove.c │ │ ├── MergeTourWithBestTour.c │ │ ├── MergeWithTourGPX2.c │ │ ├── MergeWithTourIPT.c │ │ ├── Minimum1TreeCost.c │ │ ├── MinimumSpanningTree.c │ │ ├── NormalizeNodeList.c │ │ ├── NormalizeSegmentList.c │ │ ├── OrderCandidateSet.c │ │ ├── PatchCycles.c │ │ ├── PrintParameters.c │ │ ├── Random.c │ │ ├── ReadCandidates.c │ │ ├── ReadEdges.c │ │ ├── ReadLine.c │ │ ├── ReadParameters.c │ │ ├── ReadPenalties.c │ │ ├── ReadProblem.c │ │ ├── RecordBestTour.c │ │ ├── RecordBetterTour.c │ │ ├── RemoveFirstActive.c │ │ ├── ResetCandidateSet.c │ │ ├── RestoreTour.c │ │ ├── SFCTour.c │ │ ├── SegmentSize.c │ │ ├── Sequence.c │ │ ├── SolveCompressedSubproblem.c │ │ ├── SolveDelaunaySubproblems.c │ │ ├── SolveKCenterSubproblems.c │ │ ├── SolveKMeansSubproblems.c │ │ ├── SolveKarpSubproblems.c │ │ ├── SolveRoheSubproblems.c │ │ ├── SolveSFCSubproblems.c │ │ ├── SolveSubproblem.c │ │ ├── SolveSubproblemBorderProblems.c │ │ ├── SolveTourSegmentSubproblems.c │ │ ├── Statistics.c │ │ ├── StoreTour.c │ │ ├── SymmetrizeCandidateSet.c │ │ ├── TrimCandidateSet.c │ │ ├── WriteCandidates.c │ │ ├── WritePenalties.c │ │ ├── WriteTour.c │ │ ├── eprintf.c │ │ ├── fscanint.c │ │ ├── gpx.c │ │ ├── lkh_interface.cpp │ │ └── printff.c │ └── record.sh └── uav_simulator ├── Utils ├── cmake_utils │ ├── CMakeLists.txt │ ├── cmake │ │ ├── arch.cmake │ │ ├── cmake_modules.cmake │ │ └── color.cmake │ ├── cmake_modules │ │ ├── FindEigen.cmake │ │ ├── FindGSL.cmake │ │ └── FindmvIMPACT.cmake │ └── package.xml ├── multi_map_server │ ├── CMakeLists.txt │ ├── Makefile │ ├── build │ │ ├── CATKIN_IGNORE │ │ ├── CMakeCache.txt │ │ ├── CMakeFiles │ │ │ ├── 2.8.12.2 │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ ├── CompilerIdC │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ └── a.out │ │ │ │ └── CompilerIdCXX │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ └── a.out │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── CMakeError.log │ │ │ ├── CMakeOutput.log │ │ │ ├── CMakeRuleHashes.txt │ │ │ ├── Makefile.cmake │ │ │ ├── Makefile2 │ │ │ ├── ROSBUILD_genmsg_cpp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_genmsg_lisp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_genmsg_py.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_gensrv_cpp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_gensrv_lisp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── TargetDirectories.txt │ │ │ ├── _catkin_empty_exported_target.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── clean_test_results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── cmake.check_cache │ │ │ ├── doxygen.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── multi_map_visualization.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── src │ │ │ │ │ └── multi_map_visualization.cc.o │ │ │ ├── progress.marks │ │ │ ├── rosbuild_clean-test-results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rosbuild_precompile.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rosbuild_premsgsrvgen.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rospack_genmsg.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rospack_genmsg_all.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rospack_genmsg_libexe.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rospack_gensrv.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── run_tests.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-future.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-results-run.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ └── tests.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ ├── Makefile │ │ ├── catkin │ │ │ └── catkin_generated │ │ │ │ └── version │ │ │ │ └── package.cmake │ │ ├── catkin_generated │ │ │ ├── env_cached.sh │ │ │ ├── generate_cached_setup.py │ │ │ ├── installspace │ │ │ │ ├── .rosinstall │ │ │ │ ├── _setup_util.py │ │ │ │ ├── env.sh │ │ │ │ ├── setup.bash │ │ │ │ ├── setup.sh │ │ │ │ └── setup.zsh │ │ │ ├── ordered_paths.cmake │ │ │ ├── setup_cached.sh │ │ │ └── stamps │ │ │ │ └── multi_map_server │ │ │ │ ├── interrogate_setup_dot_py.py.stamp │ │ │ │ └── package.xml.stamp │ │ ├── cmake_install.cmake │ │ ├── devel │ │ │ ├── .catkin │ │ │ ├── .rosinstall │ │ │ ├── _setup_util.py │ │ │ ├── env.sh │ │ │ ├── etc │ │ │ │ └── catkin │ │ │ │ │ └── profile.d │ │ │ │ │ ├── 05.catkin-test-results.sh │ │ │ │ │ ├── 05.catkin_make.bash │ │ │ │ │ └── 05.catkin_make_isolated.bash │ │ │ ├── setup.bash │ │ │ ├── setup.sh │ │ │ └── setup.zsh │ │ └── gtest │ │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── gtest.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ ├── gtest_main.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ └── progress.marks │ │ │ ├── Makefile │ │ │ └── cmake_install.cmake │ ├── include │ │ └── multi_map_server │ │ │ ├── Map2D.h │ │ │ └── Map3D.h │ ├── mainpage.dox │ ├── msg │ │ ├── MultiOccupancyGrid.msg │ │ ├── MultiSparseMap3D.msg │ │ ├── SparseMap3D.msg │ │ └── VerticalOccupancyGridList.msg │ ├── msg_gen │ │ ├── cpp │ │ │ └── include │ │ │ │ └── multi_map_server │ │ │ │ ├── MultiOccupancyGrid.h │ │ │ │ ├── MultiSparseMap3D.h │ │ │ │ ├── SparseMap3D.h │ │ │ │ └── VerticalOccupancyGridList.h │ │ ├── generated │ │ └── lisp │ │ │ ├── MultiOccupancyGrid.lisp │ │ │ ├── MultiSparseMap3D.lisp │ │ │ ├── SparseMap3D.lisp │ │ │ ├── VerticalOccupancyGridList.lisp │ │ │ ├── _package.lisp │ │ │ ├── _package_MultiOccupancyGrid.lisp │ │ │ ├── _package_MultiSparseMap3D.lisp │ │ │ ├── _package_SparseMap3D.lisp │ │ │ ├── _package_VerticalOccupancyGridList.lisp │ │ │ └── multi_map_server-msg.asd │ ├── package.xml │ ├── quadrotor_msgs │ │ ├── CMakeLists.txt │ │ ├── Makefile │ │ ├── build │ │ │ ├── CATKIN_IGNORE │ │ │ ├── CMakeCache.txt │ │ │ ├── CMakeFiles │ │ │ │ ├── 2.8.12.2 │ │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ │ ├── CompilerIdC │ │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ │ └── a.out │ │ │ │ │ └── CompilerIdCXX │ │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ │ └── a.out │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ ├── CMakeError.log │ │ │ │ ├── CMakeOutput.log │ │ │ │ ├── CMakeRuleHashes.txt │ │ │ │ ├── Makefile.cmake │ │ │ │ ├── Makefile2 │ │ │ │ ├── ROSBUILD_genmsg_cpp.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ └── progress.make │ │ │ │ ├── ROSBUILD_genmsg_lisp.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ └── progress.make │ │ │ │ ├── ROSBUILD_genmsg_py.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ └── progress.make │ │ │ │ ├── ROSBUILD_gensrv_cpp.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── ROSBUILD_gensrv_lisp.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── TargetDirectories.txt │ │ │ │ ├── _catkin_empty_exported_target.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── clean_test_results.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── cmake.check_cache │ │ │ │ ├── decode_msgs.dir │ │ │ │ │ ├── CXX.includecache │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ ├── progress.make │ │ │ │ │ └── src │ │ │ │ │ │ └── decode_msgs.cpp.o │ │ │ │ ├── doxygen.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── encode_msgs.dir │ │ │ │ │ ├── CXX.includecache │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ ├── progress.make │ │ │ │ │ └── src │ │ │ │ │ │ └── encode_msgs.cpp.o │ │ │ │ ├── progress.marks │ │ │ │ ├── rosbuild_clean-test-results.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── rosbuild_precompile.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ └── progress.make │ │ │ │ ├── rosbuild_premsgsrvgen.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ └── progress.make │ │ │ │ ├── rospack_genmsg.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ └── progress.make │ │ │ │ ├── rospack_genmsg_all.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ └── progress.make │ │ │ │ ├── rospack_genmsg_libexe.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.internal │ │ │ │ │ ├── depend.make │ │ │ │ │ └── progress.make │ │ │ │ ├── rospack_gensrv.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── run_tests.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── test-future.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── test-results-run.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── test-results.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ ├── test.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ │ └── tests.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ └── progress.make │ │ │ ├── Makefile │ │ │ ├── catkin │ │ │ │ └── catkin_generated │ │ │ │ │ └── version │ │ │ │ │ └── package.cmake │ │ │ ├── catkin_generated │ │ │ │ ├── env_cached.sh │ │ │ │ ├── generate_cached_setup.py │ │ │ │ ├── installspace │ │ │ │ │ ├── .rosinstall │ │ │ │ │ ├── _setup_util.py │ │ │ │ │ ├── env.sh │ │ │ │ │ ├── setup.bash │ │ │ │ │ ├── setup.sh │ │ │ │ │ └── setup.zsh │ │ │ │ ├── ordered_paths.cmake │ │ │ │ ├── setup_cached.sh │ │ │ │ └── stamps │ │ │ │ │ └── quadrotor_msgs │ │ │ │ │ ├── interrogate_setup_dot_py.py.stamp │ │ │ │ │ └── package.xml.stamp │ │ │ ├── cmake_install.cmake │ │ │ ├── devel │ │ │ │ ├── .catkin │ │ │ │ ├── .rosinstall │ │ │ │ ├── _setup_util.py │ │ │ │ ├── env.sh │ │ │ │ ├── etc │ │ │ │ │ └── catkin │ │ │ │ │ │ └── profile.d │ │ │ │ │ │ ├── 05.catkin-test-results.sh │ │ │ │ │ │ ├── 05.catkin_make.bash │ │ │ │ │ │ └── 05.catkin_make_isolated.bash │ │ │ │ ├── setup.bash │ │ │ │ ├── setup.sh │ │ │ │ └── setup.zsh │ │ │ └── gtest │ │ │ │ ├── CMakeFiles │ │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ │ ├── gtest.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ └── progress.make │ │ │ │ ├── gtest_main.dir │ │ │ │ │ ├── DependInfo.cmake │ │ │ │ │ ├── build.make │ │ │ │ │ ├── cmake_clean.cmake │ │ │ │ │ ├── depend.make │ │ │ │ │ ├── flags.make │ │ │ │ │ ├── link.txt │ │ │ │ │ └── progress.make │ │ │ │ └── progress.marks │ │ │ │ ├── Makefile │ │ │ │ └── cmake_install.cmake │ │ ├── cmake │ │ │ └── FindEigen3.cmake │ │ ├── include │ │ │ └── quadrotor_msgs │ │ │ │ ├── comm_types.h │ │ │ │ ├── decode_msgs.h │ │ │ │ └── encode_msgs.h │ │ ├── lib │ │ │ ├── libdecode_msgs.so │ │ │ └── libencode_msgs.so │ │ ├── mainpage.dox │ │ ├── msg │ │ │ ├── AuxCommand.msg │ │ │ ├── Corrections.msg │ │ │ ├── Gains.msg │ │ │ ├── OutputData.msg │ │ │ ├── PPROutputData.msg │ │ │ ├── PositionCommand.msg │ │ │ ├── SO3Command.msg │ │ │ ├── Serial.msg │ │ │ ├── StatusData.msg │ │ │ └── TRPYCommand.msg │ │ ├── msg_gen │ │ │ ├── cpp │ │ │ │ └── include │ │ │ │ │ └── quadrotor_msgs │ │ │ │ │ ├── AuxCommand.h │ │ │ │ │ ├── Corrections.h │ │ │ │ │ ├── Gains.h │ │ │ │ │ ├── OutputData.h │ │ │ │ │ ├── PPROutputData.h │ │ │ │ │ ├── PositionCommand.h │ │ │ │ │ ├── SO3Command.h │ │ │ │ │ ├── Serial.h │ │ │ │ │ ├── StatusData.h │ │ │ │ │ └── TRPYCommand.h │ │ │ ├── generated │ │ │ └── lisp │ │ │ │ ├── AuxCommand.lisp │ │ │ │ ├── Corrections.lisp │ │ │ │ ├── Gains.lisp │ │ │ │ ├── OutputData.lisp │ │ │ │ ├── PPROutputData.lisp │ │ │ │ ├── PositionCommand.lisp │ │ │ │ ├── SO3Command.lisp │ │ │ │ ├── Serial.lisp │ │ │ │ ├── StatusData.lisp │ │ │ │ ├── TRPYCommand.lisp │ │ │ │ ├── _package.lisp │ │ │ │ ├── _package_AuxCommand.lisp │ │ │ │ ├── _package_Corrections.lisp │ │ │ │ ├── _package_Gains.lisp │ │ │ │ ├── _package_OutputData.lisp │ │ │ │ ├── _package_PPROutputData.lisp │ │ │ │ ├── _package_PositionCommand.lisp │ │ │ │ ├── _package_SO3Command.lisp │ │ │ │ ├── _package_Serial.lisp │ │ │ │ ├── _package_StatusData.lisp │ │ │ │ ├── _package_TRPYCommand.lisp │ │ │ │ └── quadrotor_msgs-msg.asd │ │ ├── package.xml │ │ └── src │ │ │ ├── decode_msgs.cpp │ │ │ ├── encode_msgs.cpp │ │ │ └── quadrotor_msgs │ │ │ ├── __init__.py │ │ │ ├── __init__.pyc │ │ │ └── msg │ │ │ ├── _AuxCommand.py │ │ │ ├── _Corrections.py │ │ │ ├── _Gains.py │ │ │ ├── _OutputData.py │ │ │ ├── _PPROutputData.py │ │ │ ├── _PositionCommand.py │ │ │ ├── _SO3Command.py │ │ │ ├── _Serial.py │ │ │ ├── _StatusData.py │ │ │ ├── _TRPYCommand.py │ │ │ └── __init__.py │ └── src │ │ ├── multi_map_server │ │ ├── __init__.py │ │ └── msg │ │ │ ├── _MultiOccupancyGrid.py │ │ │ ├── _MultiSparseMap3D.py │ │ │ ├── _SparseMap3D.py │ │ │ ├── _VerticalOccupancyGridList.py │ │ │ └── __init__.py │ │ ├── multi_map_visualization.cc │ │ └── unused │ │ └── multi_map_server.cc ├── odom_visualization │ ├── CMakeLists.txt │ ├── Makefile │ ├── bin │ │ ├── odom_visualization │ │ └── odom_visualization_vicon45 │ ├── build │ │ ├── CATKIN_IGNORE │ │ ├── CMakeCache.txt │ │ ├── CMakeFiles │ │ │ ├── 2.8.12.2 │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ ├── CompilerIdC │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ └── a.out │ │ │ │ └── CompilerIdCXX │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ └── a.out │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── CMakeError.log │ │ │ ├── CMakeOutput.log │ │ │ ├── CMakeRuleHashes.txt │ │ │ ├── Makefile.cmake │ │ │ ├── Makefile2 │ │ │ ├── ROSBUILD_genmsg_cpp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_genmsg_lisp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_gensrv_cpp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_gensrv_lisp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── TargetDirectories.txt │ │ │ ├── _catkin_empty_exported_target.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── clean_test_results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── cmake.check_cache │ │ │ ├── doxygen.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── odom_visualization.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── src │ │ │ │ │ └── odom_visualization.cpp.o │ │ │ ├── progress.marks │ │ │ ├── rosbuild_clean-test-results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rosbuild_precompile.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rosbuild_premsgsrvgen.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rospack_genmsg.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rospack_genmsg_libexe.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rospack_gensrv.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── run_tests.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-future.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-results-run.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ └── tests.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ ├── Makefile │ │ ├── catkin │ │ │ └── catkin_generated │ │ │ │ └── version │ │ │ │ └── package.cmake │ │ ├── catkin_generated │ │ │ ├── env_cached.sh │ │ │ ├── generate_cached_setup.py │ │ │ ├── installspace │ │ │ │ ├── .rosinstall │ │ │ │ ├── _setup_util.py │ │ │ │ ├── env.sh │ │ │ │ ├── setup.bash │ │ │ │ ├── setup.sh │ │ │ │ └── setup.zsh │ │ │ ├── ordered_paths.cmake │ │ │ ├── setup_cached.sh │ │ │ └── stamps │ │ │ │ └── odom_visualization │ │ │ │ ├── interrogate_setup_dot_py.py.stamp │ │ │ │ └── package.xml.stamp │ │ ├── cmake_install.cmake │ │ ├── devel │ │ │ ├── .catkin │ │ │ ├── .rosinstall │ │ │ ├── _setup_util.py │ │ │ ├── env.sh │ │ │ ├── etc │ │ │ │ └── catkin │ │ │ │ │ └── profile.d │ │ │ │ │ ├── 05.catkin-test-results.sh │ │ │ │ │ ├── 05.catkin_make.bash │ │ │ │ │ └── 05.catkin_make_isolated.bash │ │ │ ├── setup.bash │ │ │ ├── setup.sh │ │ │ └── setup.zsh │ │ └── gtest │ │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── gtest.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ ├── gtest_main.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ └── progress.marks │ │ │ ├── Makefile │ │ │ └── cmake_install.cmake │ ├── mainpage.dox │ ├── meshes │ │ └── hummingbird.mesh │ ├── package.xml │ └── src │ │ ├── odom_visualization.cpp │ │ └── odom_visualization.cpp~ ├── pose_utils │ ├── CMakeLists.txt │ ├── Makefile │ ├── build │ │ ├── CATKIN_IGNORE │ │ ├── CMakeCache.txt │ │ ├── CMakeFiles │ │ │ ├── 2.8.12.2 │ │ │ │ ├── CMakeCCompiler.cmake │ │ │ │ ├── CMakeCXXCompiler.cmake │ │ │ │ ├── CMakeDetermineCompilerABI_C.bin │ │ │ │ ├── CMakeDetermineCompilerABI_CXX.bin │ │ │ │ ├── CMakeSystem.cmake │ │ │ │ ├── CompilerIdC │ │ │ │ │ ├── CMakeCCompilerId.c │ │ │ │ │ └── a.out │ │ │ │ └── CompilerIdCXX │ │ │ │ │ ├── CMakeCXXCompilerId.cpp │ │ │ │ │ └── a.out │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── CMakeError.log │ │ │ ├── CMakeOutput.log │ │ │ ├── CMakeRuleHashes.txt │ │ │ ├── Makefile.cmake │ │ │ ├── Makefile2 │ │ │ ├── ROSBUILD_genmsg_cpp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_genmsg_lisp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_gensrv_cpp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── ROSBUILD_gensrv_lisp.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── TargetDirectories.txt │ │ │ ├── _catkin_empty_exported_target.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── clean_test_results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── cmake.check_cache │ │ │ ├── doxygen.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── pose_utils.dir │ │ │ │ ├── CXX.includecache │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ ├── progress.make │ │ │ │ └── src │ │ │ │ │ └── pose_utils.cpp.o │ │ │ ├── progress.marks │ │ │ ├── rosbuild_clean-test-results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rosbuild_precompile.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rosbuild_premsgsrvgen.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rospack_genmsg.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── rospack_genmsg_libexe.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.internal │ │ │ │ ├── depend.make │ │ │ │ └── progress.make │ │ │ ├── rospack_gensrv.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── run_tests.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-future.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-results-run.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test-results.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ ├── test.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ │ └── tests.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ └── progress.make │ │ ├── Makefile │ │ ├── catkin │ │ │ └── catkin_generated │ │ │ │ └── version │ │ │ │ └── package.cmake │ │ ├── catkin_generated │ │ │ ├── env_cached.sh │ │ │ ├── generate_cached_setup.py │ │ │ ├── installspace │ │ │ │ ├── .rosinstall │ │ │ │ ├── _setup_util.py │ │ │ │ ├── env.sh │ │ │ │ ├── setup.bash │ │ │ │ ├── setup.sh │ │ │ │ └── setup.zsh │ │ │ ├── ordered_paths.cmake │ │ │ ├── setup_cached.sh │ │ │ └── stamps │ │ │ │ └── pose_utils │ │ │ │ ├── interrogate_setup_dot_py.py.stamp │ │ │ │ └── package.xml.stamp │ │ ├── cmake_install.cmake │ │ ├── devel │ │ │ ├── .catkin │ │ │ ├── .rosinstall │ │ │ ├── _setup_util.py │ │ │ ├── env.sh │ │ │ ├── etc │ │ │ │ └── catkin │ │ │ │ │ └── profile.d │ │ │ │ │ ├── 05.catkin-test-results.sh │ │ │ │ │ ├── 05.catkin_make.bash │ │ │ │ │ └── 05.catkin_make_isolated.bash │ │ │ ├── setup.bash │ │ │ ├── setup.sh │ │ │ └── setup.zsh │ │ └── gtest │ │ │ ├── CMakeFiles │ │ │ ├── CMakeDirectoryInformation.cmake │ │ │ ├── gtest.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ ├── gtest_main.dir │ │ │ │ ├── DependInfo.cmake │ │ │ │ ├── build.make │ │ │ │ ├── cmake_clean.cmake │ │ │ │ ├── depend.make │ │ │ │ ├── flags.make │ │ │ │ ├── link.txt │ │ │ │ └── progress.make │ │ │ └── progress.marks │ │ │ ├── Makefile │ │ │ └── cmake_install.cmake │ ├── include │ │ └── pose_utils.h │ ├── lib │ │ └── libpose_utils.so │ ├── package.xml │ └── src │ │ ├── pose_utils.cpp │ │ └── pose_utils.cpp~ ├── quadrotor_msgs │ ├── CMakeLists.txt │ ├── cmake │ │ └── FindEigen3.cmake │ ├── include │ │ └── quadrotor_msgs │ │ │ ├── comm_types.h │ │ │ ├── decode_msgs.h │ │ │ └── encode_msgs.h │ ├── msg │ │ ├── AuxCommand.msg │ │ ├── Corrections.msg │ │ ├── Gains.msg │ │ ├── LQRTrajectory.msg │ │ ├── Odometry.msg │ │ ├── OutputData.msg │ │ ├── PPROutputData.msg │ │ ├── PolynomialTrajectory.msg │ │ ├── PolynomialTrajectory.msg~ │ │ ├── PositionCommand.msg │ │ ├── PositionCommand.msg~ │ │ ├── SO3Command.msg │ │ ├── Serial.msg │ │ ├── StatusData.msg │ │ └── TRPYCommand.msg │ ├── package.xml │ └── src │ │ ├── decode_msgs.cpp │ │ ├── encode_msgs.cpp │ │ └── quadrotor_msgs │ │ ├── __init__.py │ │ ├── __init__.pyc │ │ └── msg │ │ ├── _AuxCommand.py │ │ ├── _Corrections.py │ │ ├── _Gains.py │ │ ├── _OutputData.py │ │ ├── _PPROutputData.py │ │ ├── _PositionCommand.py │ │ ├── _SO3Command.py │ │ ├── _Serial.py │ │ ├── _StatusData.py │ │ ├── _TRPYCommand.py │ │ └── __init__.py ├── rviz_plugins │ ├── CMakeLists.txt │ ├── config │ │ └── rviz_config.rviz │ ├── package.xml │ ├── plugin_description.xml │ └── src │ │ ├── aerialmap_display.cpp │ │ ├── aerialmap_display.h │ │ ├── gamelikeinput.cpp │ │ ├── gamelikeinput.hpp │ │ ├── goal_tool.cpp │ │ ├── goal_tool.h │ │ ├── multi_probmap_display.cpp │ │ ├── multi_probmap_display.h │ │ ├── pose_tool.cpp │ │ ├── pose_tool.h │ │ ├── probmap_display.cpp │ │ └── probmap_display.h ├── uav_utils │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── uav_utils │ │ │ ├── converters.h │ │ │ ├── geometry_utils.h │ │ │ └── utils.h │ ├── package.xml │ ├── scripts │ │ ├── odom_to_euler.py │ │ ├── send_odom.py │ │ ├── tf_assist.py │ │ └── topic_statistics.py │ └── src │ │ └── uav_utils_test.cpp └── waypoint_generator │ ├── CMakeLists.txt │ ├── package.xml │ └── src │ ├── sample_waypoints.h │ └── waypoint_generator.cpp ├── local_sensing ├── CMakeLists.txt ├── CMakeModules │ ├── FindCUDA.cmake │ ├── FindCUDA │ │ ├── make2cmake.cmake │ │ ├── parse_cubin.cmake │ │ └── run_nvcc.cmake │ ├── FindEigen.cmake │ └── FindEigen.cmake~ ├── cfg │ └── local_sensing_node.cfg ├── include │ └── backward.hpp ├── package.xml ├── params │ └── camera.yaml └── src │ ├── AlignError.h │ ├── ceres_extensions.h │ ├── csv_convert.py │ ├── cuda_exception.cuh │ ├── depth_render.cu │ ├── depth_render.cuh │ ├── depth_render_node.cpp │ ├── device_image.cuh │ ├── empty.cpp │ ├── empty.h │ ├── euroc.cpp │ ├── helper_math.h │ ├── pcl_render_node.cpp │ └── pointcloud_render_node.cpp ├── map_generator ├── CMakeLists.txt ├── package.xml ├── resource │ ├── office.pcd │ ├── office2.pcd │ ├── office3.pcd │ └── pillar.pcd └── src │ ├── click_map.cpp │ ├── map_publisher.cpp │ ├── map_recorder.cpp │ └── random_forest_sensing.cpp ├── poscmd_2_odom ├── CMakeLists.txt ├── package.xml └── src │ └── poscmd_2_odom.cpp ├── so3_control ├── CMakeLists.txt ├── config │ ├── corrections_hummingbird.yaml │ ├── corrections_pelican.yaml │ ├── gains.yaml │ ├── gains_hummingbird.yaml │ └── gains_pelican.yaml ├── include │ └── so3_control │ │ └── SO3Control.h ├── mainpage.dox ├── nodelet_plugin.xml ├── package.xml └── src │ ├── SO3Control.cpp │ └── so3_control_nodelet.cpp ├── so3_disturbance_generator ├── CMakeLists.txt ├── cfg │ ├── cpp │ │ └── so3_disturbance_generator │ │ │ └── DisturbanceUIConfig.h │ ├── disturbance_ui.cfg │ └── disturbance_ui.cfgc ├── docs │ ├── DisturbanceUIConfig-usage.dox │ ├── DisturbanceUIConfig.dox │ └── DisturbanceUIConfig.wikidoc ├── include │ └── so3_disturbance_generator │ │ └── DisturbanceUIConfig.h ├── mainpage.dox ├── package.xml └── src │ ├── pose_utils.h │ ├── so3_disturbance_generator.cpp │ ├── so3_disturbance_generator.cpp~ │ └── so3_disturbance_generator │ ├── __init__.py │ └── cfg │ ├── DisturbanceUIConfig.py │ └── __init__.py └── so3_quadrotor_simulator ├── CMakeLists.txt ├── config └── rviz.rviz ├── include ├── ode │ ├── CHANGELOG │ ├── Jamroot │ ├── README │ ├── boost │ │ └── numeric │ │ │ ├── odeint.hpp │ │ │ └── odeint │ │ │ ├── algebra │ │ │ ├── array_algebra.hpp │ │ │ ├── default_operations.hpp │ │ │ ├── detail │ │ │ │ ├── for_each.hpp │ │ │ │ ├── macros.hpp │ │ │ │ └── reduce.hpp │ │ │ ├── fusion_algebra.hpp │ │ │ ├── range_algebra.hpp │ │ │ └── vector_space_algebra.hpp │ │ │ ├── config.hpp │ │ │ ├── external │ │ │ ├── gsl │ │ │ │ └── gsl_wrapper.hpp │ │ │ ├── mkl │ │ │ │ └── mkl_operations.hpp │ │ │ ├── mtl4 │ │ │ │ ├── implicit_euler_mtl4.hpp │ │ │ │ └── mtl4_resize.hpp │ │ │ ├── thrust │ │ │ │ ├── thrust_algebra.hpp │ │ │ │ ├── thrust_operations.hpp │ │ │ │ └── thrust_resize.hpp │ │ │ ├── vexcl │ │ │ │ └── vexcl_resize.hpp │ │ │ └── viennacl │ │ │ │ ├── viennacl_operations.hpp │ │ │ │ └── viennacl_resize.hpp │ │ │ ├── integrate │ │ │ ├── detail │ │ │ │ ├── integrate_adaptive.hpp │ │ │ │ ├── integrate_const.hpp │ │ │ │ ├── integrate_n_steps.hpp │ │ │ │ └── integrate_times.hpp │ │ │ ├── integrate.hpp │ │ │ ├── integrate_adaptive.hpp │ │ │ ├── integrate_const.hpp │ │ │ ├── integrate_n_steps.hpp │ │ │ ├── integrate_times.hpp │ │ │ ├── null_observer.hpp │ │ │ └── observer_collection.hpp │ │ │ ├── stepper │ │ │ ├── adams_bashforth.hpp │ │ │ ├── adams_bashforth_moulton.hpp │ │ │ ├── adams_moulton.hpp │ │ │ ├── base │ │ │ │ ├── algebra_stepper_base.hpp │ │ │ │ ├── explicit_error_stepper_base.hpp │ │ │ │ ├── explicit_error_stepper_fsal_base.hpp │ │ │ │ ├── explicit_stepper_base.hpp │ │ │ │ └── symplectic_rkn_stepper_base.hpp │ │ │ ├── bulirsch_stoer.hpp │ │ │ ├── bulirsch_stoer_dense_out.hpp │ │ │ ├── controlled_runge_kutta.hpp │ │ │ ├── controlled_step_result.hpp │ │ │ ├── dense_output_runge_kutta.hpp │ │ │ ├── detail │ │ │ │ ├── adams_bashforth_call_algebra.hpp │ │ │ │ ├── adams_bashforth_coefficients.hpp │ │ │ │ ├── adams_moulton_call_algebra.hpp │ │ │ │ ├── adams_moulton_coefficients.hpp │ │ │ │ ├── generic_rk_algorithm.hpp │ │ │ │ ├── generic_rk_call_algebra.hpp │ │ │ │ ├── generic_rk_operations.hpp │ │ │ │ └── rotating_buffer.hpp │ │ │ ├── euler.hpp │ │ │ ├── explicit_error_generic_rk.hpp │ │ │ ├── explicit_generic_rk.hpp │ │ │ ├── generation.hpp │ │ │ ├── generation │ │ │ │ ├── generation_controlled_runge_kutta.hpp │ │ │ │ ├── generation_dense_output_runge_kutta.hpp │ │ │ │ ├── generation_rosenbrock4.hpp │ │ │ │ ├── generation_runge_kutta_cash_karp54.hpp │ │ │ │ ├── generation_runge_kutta_cash_karp54_classic.hpp │ │ │ │ ├── generation_runge_kutta_dopri5.hpp │ │ │ │ ├── generation_runge_kutta_fehlberg78.hpp │ │ │ │ ├── make_controlled.hpp │ │ │ │ └── make_dense_output.hpp │ │ │ ├── implicit_euler.hpp │ │ │ ├── modified_midpoint.hpp │ │ │ ├── rosenbrock4.hpp │ │ │ ├── rosenbrock4_controller.hpp │ │ │ ├── rosenbrock4_dense_output.hpp │ │ │ ├── runge_kutta4.hpp │ │ │ ├── runge_kutta4_classic.hpp │ │ │ ├── runge_kutta_cash_karp54.hpp │ │ │ ├── runge_kutta_cash_karp54_classic.hpp │ │ │ ├── runge_kutta_dopri5.hpp │ │ │ ├── runge_kutta_fehlberg78.hpp │ │ │ ├── stepper_categories.hpp │ │ │ ├── symplectic_euler.hpp │ │ │ ├── symplectic_rkn_sb3a_m4_mclachlan.hpp │ │ │ └── symplectic_rkn_sb3a_mclachlan.hpp │ │ │ ├── util │ │ │ ├── bind.hpp │ │ │ ├── copy.hpp │ │ │ ├── detail │ │ │ │ ├── is_range.hpp │ │ │ │ └── less_with_sign.hpp │ │ │ ├── is_pair.hpp │ │ │ ├── is_resizeable.hpp │ │ │ ├── resize.hpp │ │ │ ├── resizer.hpp │ │ │ ├── same_instance.hpp │ │ │ ├── same_size.hpp │ │ │ ├── state_wrapper.hpp │ │ │ ├── ublas_wrapper.hpp │ │ │ ├── unit_helper.hpp │ │ │ └── unwrap_reference.hpp │ │ │ └── version.hpp │ └── libs │ │ └── numeric │ │ └── odeint │ │ ├── doc │ │ ├── Jamfile.v2 │ │ ├── acknowledgements.qbk │ │ ├── concepts.qbk │ │ ├── concepts │ │ │ ├── controlled_stepper.qbk │ │ │ ├── dense_output_stepper.qbk │ │ │ ├── error_stepper.qbk │ │ │ ├── implicit_system.qbk │ │ │ ├── state_algebra_operations.qbk │ │ │ ├── state_wrapper.qbk │ │ │ ├── stepper.qbk │ │ │ ├── symplectic_system.qbk │ │ │ └── system.qbk │ │ ├── controlled_stepper_table.qbk │ │ ├── details.qbk │ │ ├── details_bind_member_functions.qbk │ │ ├── details_boost_range.qbk │ │ ├── details_boost_ref.qbk │ │ ├── details_generation_functions.qbk │ │ ├── details_integrate_functions.qbk │ │ ├── details_state_types_algebras_operations.qbk │ │ ├── details_steppers.qbk │ │ ├── examples_table.qbk │ │ ├── getting_started.qbk │ │ ├── html │ │ │ ├── boostbook.css │ │ │ ├── images │ │ │ │ ├── alert.png │ │ │ │ ├── blank.png │ │ │ │ ├── callouts │ │ │ │ │ ├── 1.png │ │ │ │ │ ├── 1.svg │ │ │ │ │ ├── 10.png │ │ │ │ │ ├── 10.svg │ │ │ │ │ ├── 11.png │ │ │ │ │ ├── 11.svg │ │ │ │ │ ├── 12.png │ │ │ │ │ ├── 12.svg │ │ │ │ │ ├── 13.png │ │ │ │ │ ├── 13.svg │ │ │ │ │ ├── 14.png │ │ │ │ │ ├── 14.svg │ │ │ │ │ ├── 15.png │ │ │ │ │ ├── 15.svg │ │ │ │ │ ├── 16.svg │ │ │ │ │ ├── 17.svg │ │ │ │ │ ├── 18.svg │ │ │ │ │ ├── 19.svg │ │ │ │ │ ├── 2.png │ │ │ │ │ ├── 2.svg │ │ │ │ │ ├── 20.svg │ │ │ │ │ ├── 21.svg │ │ │ │ │ ├── 22.svg │ │ │ │ │ ├── 23.svg │ │ │ │ │ ├── 24.svg │ │ │ │ │ ├── 25.svg │ │ │ │ │ ├── 26.svg │ │ │ │ │ ├── 27.svg │ │ │ │ │ ├── 28.svg │ │ │ │ │ ├── 29.svg │ │ │ │ │ ├── 3.png │ │ │ │ │ ├── 3.svg │ │ │ │ │ ├── 30.svg │ │ │ │ │ ├── 4.png │ │ │ │ │ ├── 4.svg │ │ │ │ │ ├── 5.png │ │ │ │ │ ├── 5.svg │ │ │ │ │ ├── 6.png │ │ │ │ │ ├── 6.svg │ │ │ │ │ ├── 7.png │ │ │ │ │ ├── 7.svg │ │ │ │ │ ├── 8.png │ │ │ │ │ ├── 8.svg │ │ │ │ │ ├── 9.png │ │ │ │ │ └── 9.svg │ │ │ │ ├── caution.png │ │ │ │ ├── caution.svg │ │ │ │ ├── draft.png │ │ │ │ ├── home.png │ │ │ │ ├── home.svg │ │ │ │ ├── important.png │ │ │ │ ├── important.svg │ │ │ │ ├── next.png │ │ │ │ ├── next.svg │ │ │ │ ├── next_disabled.png │ │ │ │ ├── note.png │ │ │ │ ├── note.svg │ │ │ │ ├── prev.png │ │ │ │ ├── prev.svg │ │ │ │ ├── prev_disabled.png │ │ │ │ ├── smiley.png │ │ │ │ ├── tip.png │ │ │ │ ├── tip.svg │ │ │ │ ├── toc-blank.png │ │ │ │ ├── toc-minus.png │ │ │ │ ├── toc-plus.png │ │ │ │ ├── up.png │ │ │ │ ├── up.svg │ │ │ │ ├── up_disabled.png │ │ │ │ ├── warning.png │ │ │ │ └── warning.svg │ │ │ ├── logo.jpg │ │ │ ├── phase_lattice_2d_0000.jpg │ │ │ ├── phase_lattice_2d_0100.jpg │ │ │ ├── phase_lattice_2d_1000.jpg │ │ │ └── solar_system.jpg │ │ ├── literature.qbk │ │ ├── make_controlled_table.qbk │ │ ├── make_dense_output_table.qbk │ │ ├── odeint.idx │ │ ├── odeint.qbk │ │ ├── range_table.qbk │ │ ├── stepper_table.qbk │ │ ├── tutorial.qbk │ │ ├── tutorial_chaotic_system.qbk │ │ ├── tutorial_harmonic_oscillator.qbk │ │ ├── tutorial_solar_system.qbk │ │ ├── tutorial_special_topics.qbk │ │ ├── tutorial_stiff_systems.qbk │ │ ├── tutorial_thrust_cuda.qbk │ │ └── tutorial_vexcl_opencl.qbk │ │ ├── examples │ │ ├── 2d_lattice │ │ │ ├── Jamfile.v2 │ │ │ ├── lattice2d.hpp │ │ │ ├── nested_range_algebra.hpp │ │ │ ├── spreading.cpp │ │ │ └── vector_vector_resize.hpp │ │ ├── Jamfile.v2 │ │ ├── bind_member_functions.cpp │ │ ├── bind_member_functions_cpp11.cpp │ │ ├── bulirsch_stoer.cpp │ │ ├── chaotic_system.cpp │ │ ├── elliptic.py │ │ ├── elliptic_functions.cpp │ │ ├── fpu.cpp │ │ ├── generation_functions.cpp │ │ ├── gmpxx │ │ │ └── lorenz_gmpxx.cpp │ │ ├── gram_schmidt.hpp │ │ ├── harmonic_oscillator.cpp │ │ ├── harmonic_oscillator_units.cpp │ │ ├── heun.cpp │ │ ├── list_lattice.cpp │ │ ├── lorenz_point.cpp │ │ ├── mtl │ │ │ ├── Jamfile.v2 │ │ │ ├── gauss_packet.cpp │ │ │ └── implicit_euler_mtl.cpp │ │ ├── my_vector.cpp │ │ ├── phase_oscillator_ensemble.cpp │ │ ├── point_type.hpp │ │ ├── quadmath │ │ │ ├── Jamfile.v2 │ │ │ └── black_hole.cpp │ │ ├── resizing_lattice.cpp │ │ ├── simple1d.cpp │ │ ├── solar_system.agr │ │ ├── solar_system.cpp │ │ ├── stepper_details.cpp │ │ ├── stiff_system.cpp │ │ ├── stochastic_euler.cpp │ │ ├── stuart_landau.cpp │ │ ├── thrust │ │ │ ├── Makefile │ │ │ ├── lorenz_parameters.cu │ │ │ ├── phase_oscillator_chain.cu │ │ │ ├── phase_oscillator_ensemble.cu │ │ │ └── relaxation.cu │ │ ├── two_dimensional_phase_lattice.cpp │ │ ├── ublas │ │ │ ├── Jamfile.v2 │ │ │ └── lorenz_ublas.cpp │ │ ├── van_der_pol_stiff.cpp │ │ └── vexcl │ │ │ ├── Jamfile.v2 │ │ │ └── lorenz_ensemble.cpp │ │ ├── index.html │ │ ├── performance │ │ ├── Jamfile.v2 │ │ ├── fusion_algebra.hpp │ │ ├── fusion_explicit_error_rk.hpp │ │ ├── fusion_explicit_rk_new.hpp │ │ ├── generic_odeint_rk4_lorenz.cpp │ │ ├── gsl_rk4_lorenz.cpp │ │ ├── lorenz.hpp │ │ ├── lorenz_gsl.hpp │ │ ├── nr_rk4_lorenz.cpp │ │ ├── nr_rk4_phase_lattice.cpp │ │ ├── odeint_rk4_lorenz_array.cpp │ │ ├── odeint_rk4_lorenz_range.cpp │ │ ├── odeint_rk4_phase_lattice.cpp │ │ ├── odeint_rk4_phase_lattice_mkl.cpp │ │ ├── performance.py │ │ ├── phase_lattice.hpp │ │ ├── phase_lattice_mkl.hpp │ │ ├── plot_result.py │ │ ├── rk4_lorenz.f │ │ ├── rk_performance_test_case.hpp │ │ ├── rt_algebra.hpp │ │ ├── rt_explicit_rk.hpp │ │ ├── rt_generic_rk4_lorenz.cpp │ │ └── rt_generic_rk4_phase_lattice.cpp │ │ ├── test │ │ ├── Jamfile.v2 │ │ ├── adams_bashforth.cpp │ │ ├── adams_bashforth_moulton.cpp │ │ ├── adams_moulton.cpp │ │ ├── boost_units_helpers.hpp │ │ ├── bulirsch_stoer.cpp │ │ ├── const_range.hpp │ │ ├── default_operations.cpp │ │ ├── diagnostic_state_type.hpp │ │ ├── dummy_odes.hpp │ │ ├── dummy_steppers.hpp │ │ ├── euler_stepper.cpp │ │ ├── fusion_algebra.cpp │ │ ├── generation.cpp │ │ ├── generic_error_stepper.cpp │ │ ├── generic_stepper.cpp │ │ ├── implicit_euler.cpp │ │ ├── integrate.cpp │ │ ├── integrate_implicit.cpp │ │ ├── integrate_times.cpp │ │ ├── is_pair.cpp │ │ ├── is_resizeable.cpp │ │ ├── numeric │ │ │ ├── Jamfile.v2 │ │ │ ├── rosenbrock.cpp │ │ │ ├── runge_kutta.cpp │ │ │ └── symplectic.cpp │ │ ├── prepare_stepper_testing.hpp │ │ ├── range_algebra.cpp │ │ ├── resize.cpp │ │ ├── resizing.cpp │ │ ├── rosenbrock4.cpp │ │ ├── runge_kutta_concepts.cpp │ │ ├── runge_kutta_controlled_concepts.cpp │ │ ├── runge_kutta_error_concepts.cpp │ │ ├── same_size.cpp │ │ ├── stepper_copying.cpp │ │ ├── stepper_with_ranges.cpp │ │ ├── stepper_with_units.cpp │ │ ├── symplectic_steppers.cpp │ │ ├── trivial_state.cpp │ │ └── vector_space_1d.hpp │ │ └── test_external │ │ ├── gmp │ │ ├── Jamfile.v2 │ │ ├── check_gmp.cpp │ │ └── gmp_integrate.cpp │ │ ├── gsl │ │ ├── Jamfile.v2 │ │ └── check_gsl.cpp │ │ ├── mkl │ │ ├── Jamfile.v2 │ │ └── check_mkl.cpp 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