├── .clang-format ├── .clang-tidy ├── .cmake-format ├── .github ├── ISSUE_TEMPLATE │ ├── bug-report.yml │ └── feature-request.yml ├── dependabot.yml └── workflows │ ├── api_docs.yml │ ├── clang_format.yml │ ├── cmake_format.yml │ ├── code_quality.yml │ ├── docker.yml │ ├── mac.yml │ ├── nightly.yml │ ├── package_debian.yml │ ├── ubuntu.yml │ ├── unstable.yml │ ├── vcpkg_triplets │ ├── arm64-osx-dynamic-release.cmake │ └── x64-osx-dynamic-release.cmake │ ├── windows.yml │ └── windows_dependencies.repos ├── .run-clang-format ├── .run-cmake-format ├── .run-cpack ├── CONTRIBUTING.md ├── LICENSE ├── LICENSE.Apache-2.0 ├── LICENSE.BSD-2-Clause ├── LICENSE.BSD-3-Clause ├── README.md ├── ci ├── codecov.yml ├── dependencies.repos ├── dependencies_unstable.repos ├── docker ├── Dockerfile ├── README.md └── docker-compose.yml ├── docs ├── custom.css ├── custom_dark_theme.css ├── doxygen.config ├── index.html └── logo.png ├── tesseract_command_language ├── CHANGELOG.rst ├── CMakeLists.txt ├── colcon.pkg ├── include │ └── tesseract_command_language │ │ ├── cartesian_waypoint.h │ │ ├── cereal_serialization.h │ │ ├── composite_instruction.h │ │ ├── constants.h │ │ ├── fwd.h │ │ ├── instruction_type.h │ │ ├── joint_waypoint.h │ │ ├── move_instruction.h │ │ ├── poly │ │ ├── cartesian_waypoint_poly.h │ │ ├── instruction_poly.h │ │ ├── joint_waypoint_poly.h │ │ ├── move_instruction_poly.h │ │ ├── state_waypoint_poly.h │ │ └── waypoint_poly.h │ │ ├── set_analog_instruction.h │ │ ├── set_digital_instruction.h │ │ ├── set_tool_instruction.h │ │ ├── state_waypoint.h │ │ ├── test_suite │ │ ├── cartesian_waypoint_poly_unit.hpp │ │ ├── instruction_poly_unit.hpp │ │ ├── joint_waypoint_poly_unit.hpp │ │ ├── move_instruction_poly_unit.hpp │ │ ├── state_waypoint_poly_unit.hpp │ │ └── waypoint_poly_unit.hpp │ │ ├── timer_instruction.h │ │ ├── types.h │ │ ├── utils.h │ │ └── wait_instruction.h ├── package.xml ├── src │ ├── cartesian_waypoint.cpp │ ├── cereal_serialization.cpp │ ├── composite_instruction.cpp │ ├── instruction_type.cpp │ ├── joint_waypoint.cpp │ ├── move_instruction.cpp │ ├── poly │ │ ├── cartesian_waypoint_poly.cpp │ │ ├── instruction_poly.cpp │ │ ├── joint_waypoint_poly.cpp │ │ ├── move_instruction_poly.cpp │ │ ├── state_waypoint_poly.cpp │ │ └── waypoint_poly.cpp │ ├── set_analog_instruction.cpp │ ├── set_digital_instruction.cpp │ ├── set_tool_instruction.cpp │ ├── state_waypoint.cpp │ ├── timer_instruction.cpp │ ├── utils.cpp │ └── wait_instruction.cpp └── test │ ├── CMakeLists.txt │ ├── command_language_test_program.hpp │ ├── command_language_unit.cpp │ ├── command_language_utils_unit.cpp │ └── type_erasure_benchmark.cpp ├── tesseract_examples ├── CHANGELOG.rst ├── CMakeLists.txt ├── colcon.pkg ├── include │ └── tesseract_examples │ │ ├── basic_cartesian_example.h │ │ ├── car_seat_example.h │ │ ├── example.h │ │ ├── freespace_hybrid_example.h │ │ ├── freespace_ompl_example.h │ │ ├── glass_upright_example.h │ │ ├── glass_upright_ompl_example.h │ │ ├── online_planning_example.h │ │ ├── pick_and_place_example.h │ │ ├── puzzle_piece_auxillary_axes_example.h │ │ ├── puzzle_piece_example.h │ │ └── scene_graph_example.h ├── package.xml ├── src │ ├── basic_cartesian_example.cpp │ ├── basic_cartesian_example_node.cpp │ ├── car_seat_example.cpp │ ├── car_seat_example_node.cpp │ ├── example.cpp │ ├── example_benchmarks_node.cpp │ ├── freespace_hybrid_example.cpp │ ├── freespace_hybrid_example_node.cpp │ ├── freespace_ompl_example.cpp │ ├── freespace_ompl_example_node.cpp │ ├── glass_upright_example.cpp │ ├── glass_upright_example_node.cpp │ ├── glass_upright_ompl_example.cpp │ ├── glass_upright_ompl_example_node.cpp │ ├── online_planning_example.cpp │ ├── online_planning_example_node.cpp │ ├── pick_and_place_example.cpp │ ├── pick_and_place_example_node.cpp │ ├── puzzle_piece_auxillary_axes_example.cpp │ ├── puzzle_piece_auxillary_axes_example_node.cpp │ ├── puzzle_piece_example.cpp │ ├── puzzle_piece_example_node.cpp │ ├── scene_graph_example.cpp │ └── scene_graph_example_node.cpp └── test │ ├── CMakeLists.txt │ ├── basic_cartesian_example_unit.cpp │ ├── car_seat_example_unit.cpp │ ├── freespace_hybrid_example_unit.cpp │ ├── glass_upright_example_unit.cpp │ ├── pick_and_place_example_unit.cpp │ ├── puzzle_piece_auxillary_axes_example_unit.cpp │ ├── puzzle_piece_example_unit.cpp │ └── scene_graph_example_unit.cpp ├── tesseract_motion_planners ├── CHANGELOG.rst ├── CMakeLists.txt ├── colcon.pkg ├── core │ ├── CMakeLists.txt │ ├── include │ │ └── tesseract_motion_planners │ │ │ ├── core │ │ │ ├── fwd.h │ │ │ ├── planner.h │ │ │ ├── types.h │ │ │ └── utils.h │ │ │ ├── planner_utils.h │ │ │ └── robot_config.h │ └── src │ │ ├── planner.cpp │ │ ├── types.cpp │ │ └── utils.cpp ├── descartes │ ├── CMakeLists.txt │ ├── include │ │ └── tesseract_motion_planners │ │ │ └── descartes │ │ │ ├── cereal_serialization.h │ │ │ ├── descartes_collision.h │ │ │ ├── descartes_collision_edge_evaluator.h │ │ │ ├── descartes_motion_planner.h │ │ │ ├── descartes_robot_sampler.h │ │ │ ├── descartes_utils.h │ │ │ ├── descartes_vertex_evaluator.h │ │ │ ├── fwd.h │ │ │ ├── impl │ │ │ ├── descartes_collision_edge_evaluator.hpp │ │ │ ├── descartes_motion_planner.hpp │ │ │ ├── descartes_robot_sampler.hpp │ │ │ └── profile │ │ │ │ ├── descartes_default_move_profile.hpp │ │ │ │ ├── descartes_ladder_graph_solver_profile.hpp │ │ │ │ └── descartes_profile.hpp │ │ │ ├── profile │ │ │ ├── descartes_default_move_profile.h │ │ │ ├── descartes_ladder_graph_solver_profile.h │ │ │ └── descartes_profile.h │ │ │ └── yaml_extensions.h │ ├── src │ │ ├── cereal_serialization.cpp │ │ ├── descartes_collision.cpp │ │ ├── descartes_collision_edge_evaluator.cpp │ │ ├── descartes_motion_planner.cpp │ │ ├── descartes_robot_sampler.cpp │ │ ├── descartes_utils.cpp │ │ └── profile │ │ │ ├── descartes_default_move_profile.cpp │ │ │ └── descartes_ladder_graph_solver_profile.cpp │ └── test │ │ ├── CMakeLists.txt │ │ └── descartes_planner_tests.cpp ├── examples │ ├── CMakeLists.txt │ ├── chain_example.cpp │ ├── freespace_example.cpp │ └── raster_example.cpp ├── ompl │ ├── CMakeLists.txt │ ├── include │ │ └── tesseract_motion_planners │ │ │ └── ompl │ │ │ ├── cereal_serialization.h │ │ │ ├── collision_cost_objective.h │ │ │ ├── compound_state_validator.h │ │ │ ├── continuous_motion_validator.h │ │ │ ├── discrete_motion_validator.h │ │ │ ├── fwd.h │ │ │ ├── ompl_motion_planner.h │ │ │ ├── ompl_planner_configurator.h │ │ │ ├── ompl_solver_config.h │ │ │ ├── profile │ │ │ ├── ompl_profile.h │ │ │ └── ompl_real_vector_move_profile.h │ │ │ ├── state_collision_validator.h │ │ │ ├── types.h │ │ │ ├── utils.h │ │ │ ├── weighted_real_vector_state_sampler.h │ │ │ └── yaml_extensions.h │ ├── src │ │ ├── cereal_serialization.cpp │ │ ├── collision_cost_objective.cpp │ │ ├── compound_state_validator.cpp │ │ ├── continuous_motion_validator.cpp │ │ ├── discrete_motion_validator.cpp │ │ ├── ompl_motion_planner.cpp │ │ ├── ompl_planner_configurator.cpp │ │ ├── ompl_solver_config.cpp │ │ ├── profile │ │ │ ├── ompl_profile.cpp │ │ │ └── ompl_real_vector_move_profile.cpp │ │ ├── state_collision_validator.cpp │ │ ├── utils.cpp │ │ └── weighted_real_vector_state_sampler.cpp │ └── test │ │ ├── CMakeLists.txt │ │ ├── ompl_constrained_planner_tests.cpp │ │ ├── ompl_planner_tests.cpp │ │ └── ompl_yaml_conversions_tests.cpp ├── package.xml ├── simple │ ├── CMakeLists.txt │ ├── README.md │ ├── include │ │ └── tesseract_motion_planners │ │ │ └── simple │ │ │ ├── cereal_serialization.h │ │ │ ├── fwd.h │ │ │ ├── interpolation.h │ │ │ ├── profile │ │ │ ├── simple_planner_fixed_size_assign_move_profile.h │ │ │ ├── simple_planner_fixed_size_assign_no_ik_move_profile.h │ │ │ ├── simple_planner_fixed_size_move_profile.h │ │ │ ├── simple_planner_lvs_assign_move_profile.h │ │ │ ├── simple_planner_lvs_assign_no_ik_move_profile.h │ │ │ ├── simple_planner_lvs_move_profile.h │ │ │ ├── simple_planner_lvs_no_ik_move_profile.h │ │ │ └── simple_planner_profile.h │ │ │ └── simple_motion_planner.h │ ├── src │ │ ├── cereal_serialization.cpp │ │ ├── interpolation.cpp │ │ ├── profile │ │ │ ├── simple_planner_fixed_size_assign_move_profile.cpp │ │ │ ├── simple_planner_fixed_size_assign_no_ik_move_profile.cpp │ │ │ ├── simple_planner_fixed_size_move_profile.cpp │ │ │ ├── simple_planner_lvs_assign_move_profile.cpp │ │ │ ├── simple_planner_lvs_assign_no_ik_move_profile.cpp │ │ │ ├── simple_planner_lvs_move_profile.cpp │ │ │ ├── simple_planner_lvs_no_ik_move_profile.cpp │ │ │ └── simple_planner_profile.cpp │ │ └── simple_motion_planner.cpp │ └── test │ │ ├── CMakeLists.txt │ │ ├── simple_planner_fixed_size_assign_move_unit.cpp │ │ ├── simple_planner_fixed_size_assign_no_ik_move_unit.cpp │ │ ├── simple_planner_fixed_size_move_unit.cpp │ │ ├── simple_planner_lvs_assign_move_unit.cpp │ │ ├── simple_planner_lvs_assign_no_ik_move_unit.cpp │ │ ├── simple_planner_lvs_move_unit.cpp │ │ ├── simple_planner_lvs_no_ik_move_unit.cpp │ │ ├── simple_planner_test_utils.hpp │ │ └── simple_planner_yaml_conversions_unit.cpp ├── trajopt │ ├── CMakeLists.txt │ ├── include │ │ └── tesseract_motion_planners │ │ │ └── trajopt │ │ │ ├── cereal_serialization.h │ │ │ ├── fwd.h │ │ │ ├── profile │ │ │ ├── trajopt_default_composite_profile.h │ │ │ ├── trajopt_default_move_profile.h │ │ │ ├── trajopt_osqp_solver_profile.h │ │ │ └── trajopt_profile.h │ │ │ ├── trajopt_motion_planner.h │ │ │ ├── trajopt_utils.h │ │ │ ├── trajopt_waypoint_config.h │ │ │ └── yaml_extensions.h │ ├── src │ │ ├── cereal_serialization.cpp │ │ ├── profile │ │ │ ├── trajopt_default_composite_profile.cpp │ │ │ ├── trajopt_default_move_profile.cpp │ │ │ ├── trajopt_osqp_solver_profile.cpp │ │ │ └── trajopt_profile.cpp │ │ ├── trajopt_motion_planner.cpp │ │ ├── trajopt_utils.cpp │ │ └── trajopt_waypoint_config.cpp │ └── test │ │ ├── CMakeLists.txt │ │ ├── trajopt_planner_tests.cpp │ │ └── trajopt_planner_yaml_conversions_tests.cpp └── trajopt_ifopt │ ├── CMakeLists.txt │ ├── include │ └── tesseract_motion_planners │ │ └── trajopt_ifopt │ │ ├── cereal_serialization.h │ │ ├── fwd.h │ │ ├── profile │ │ ├── trajopt_ifopt_default_composite_profile.h │ │ ├── trajopt_ifopt_default_move_profile.h │ │ ├── trajopt_ifopt_osqp_solver_profile.h │ │ └── trajopt_ifopt_profile.h │ │ ├── trajopt_ifopt_motion_planner.h │ │ ├── trajopt_ifopt_utils.h │ │ ├── trajopt_ifopt_waypoint_config.h │ │ └── yaml_extensions.h │ ├── src │ ├── cereal_serialization.cpp │ ├── profile │ │ ├── trajopt_ifopt_default_composite_profile.cpp │ │ ├── trajopt_ifopt_default_move_profile.cpp │ │ ├── trajopt_ifopt_osqp_solver_profile.cpp │ │ └── trajopt_ifopt_profile.cpp │ ├── trajopt_ifopt_motion_planner.cpp │ ├── trajopt_ifopt_utils.cpp │ └── trajopt_ifopt_waypoint_config.cpp │ └── test │ ├── CMakeLists.txt │ └── trajopt_ifopt_planner_yaml_conversions_tests.cpp ├── tesseract_task_composer ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.rst ├── colcon.pkg ├── config │ ├── task_composer_plugins.yaml │ ├── task_composer_plugins.yaml.schema │ └── task_composer_plugins_no_trajopt_ifopt.yaml ├── core │ ├── CMakeLists.txt │ ├── include │ │ └── tesseract_task_composer │ │ │ └── core │ │ │ ├── cereal_serialization.h │ │ │ ├── fwd.h │ │ │ ├── nodes │ │ │ ├── done_task.h │ │ │ ├── error_task.h │ │ │ ├── for_each_task.h │ │ │ ├── has_data_storage_entry_task.h │ │ │ ├── remap_task.h │ │ │ ├── start_task.h │ │ │ └── sync_task.h │ │ │ ├── task_composer_context.h │ │ │ ├── task_composer_data_storage.h │ │ │ ├── task_composer_executor.h │ │ │ ├── task_composer_future.h │ │ │ ├── task_composer_graph.h │ │ │ ├── task_composer_keys.h │ │ │ ├── task_composer_log.h │ │ │ ├── task_composer_node.h │ │ │ ├── task_composer_node_info.h │ │ │ ├── task_composer_node_ports.h │ │ │ ├── task_composer_node_types.h │ │ │ ├── task_composer_pipeline.h │ │ │ ├── task_composer_plugin_factory.h │ │ │ ├── task_composer_plugin_factory_utils.h │ │ │ ├── task_composer_server.h │ │ │ ├── task_composer_task.h │ │ │ ├── task_composer_task_plugin_factory.h │ │ │ ├── test_suite │ │ │ ├── task_composer_executor_unit.hpp │ │ │ ├── task_composer_node_info_unit.hpp │ │ │ ├── test_programs.hpp │ │ │ └── test_task.h │ │ │ ├── yaml_extensions.h │ │ │ └── yaml_utils.h │ └── src │ │ ├── cereal_serialization.cpp │ │ ├── nodes │ │ ├── done_task.cpp │ │ ├── error_task.cpp │ │ ├── for_each_task.cpp │ │ ├── has_data_storage_entry_task.cpp │ │ ├── remap_task.cpp │ │ ├── start_task.cpp │ │ └── sync_task.cpp │ │ ├── task_composer_context.cpp │ │ ├── task_composer_data_storage.cpp │ │ ├── task_composer_executor.cpp │ │ ├── task_composer_future.cpp │ │ ├── task_composer_graph.cpp │ │ ├── task_composer_keys.cpp │ │ ├── task_composer_log.cpp │ │ ├── task_composer_node.cpp │ │ ├── task_composer_node_info.cpp │ │ ├── task_composer_node_ports.cpp │ │ ├── task_composer_pipeline.cpp │ │ ├── task_composer_plugin_factory.cpp │ │ ├── task_composer_server.cpp │ │ ├── task_composer_task.cpp │ │ ├── task_composer_task_plugin_factory.cpp │ │ ├── test_suite │ │ └── test_task.cpp │ │ └── yaml_utils.cpp ├── examples │ ├── CMakeLists.txt │ ├── task_composer_example.cpp │ ├── task_composer_raster_example.cpp │ └── task_composer_trajopt_example.cpp ├── package.xml ├── planning │ ├── CMakeLists.txt │ ├── include │ │ └── tesseract_task_composer │ │ │ └── planning │ │ │ ├── cereal_serialization.h │ │ │ ├── nodes │ │ │ ├── constant_tcp_speed_parameterization_task.h │ │ │ ├── continuous_contact_check_task.h │ │ │ ├── discrete_contact_check_task.h │ │ │ ├── fix_state_bounds_task.h │ │ │ ├── fix_state_collision_task.h │ │ │ ├── format_as_input_task.h │ │ │ ├── format_as_result_task.h │ │ │ ├── format_planning_input_task.h │ │ │ ├── iterative_spline_parameterization_task.h │ │ │ ├── kinematic_limits_check_task.h │ │ │ ├── min_length_task.h │ │ │ ├── motion_planner_task.hpp │ │ │ ├── process_planning_input_task.h │ │ │ ├── profile_switch_task.h │ │ │ ├── raster_motion_task.h │ │ │ ├── raster_only_motion_task.h │ │ │ ├── ruckig_trajectory_smoothing_task.h │ │ │ ├── time_optimal_parameterization_task.h │ │ │ ├── update_end_state_task.h │ │ │ ├── update_start_and_end_state_task.h │ │ │ ├── update_start_state_task.h │ │ │ └── upsample_trajectory_task.h │ │ │ ├── planning_task_composer_plugin_factories.h │ │ │ ├── profiles │ │ │ ├── contact_check_profile.h │ │ │ ├── fix_state_bounds_profile.h │ │ │ ├── fix_state_collision_profile.h │ │ │ ├── kinematic_limits_check_profile.h │ │ │ ├── min_length_profile.h │ │ │ ├── profile_switch_profile.h │ │ │ └── upsample_trajectory_profile.h │ │ │ └── yaml_extensions.h │ └── src │ │ ├── cereal_serialization.cpp │ │ ├── factories │ │ ├── planning_task_composer_core_plugin_factories.cpp │ │ ├── planning_task_composer_descartes_plugin_factory.cpp │ │ ├── planning_task_composer_isp_plugin_factory.cpp │ │ ├── planning_task_composer_kdl_plugin_factory.cpp │ │ ├── planning_task_composer_ompl_plugin_factory.cpp │ │ ├── planning_task_composer_ruckig_plugin_factory.cpp │ │ ├── planning_task_composer_totg_plugin_factory.cpp │ │ ├── planning_task_composer_trajopt_ifopt_plugin_factory.cpp │ │ └── planning_task_composer_trajopt_plugin_factory.cpp │ │ ├── nodes │ │ ├── constant_tcp_speed_parameterization_task.cpp │ │ ├── continuous_contact_check_task.cpp │ │ ├── discrete_contact_check_task.cpp │ │ ├── fix_state_bounds_task.cpp │ │ ├── fix_state_collision_task.cpp │ │ ├── format_as_input_task.cpp │ │ ├── format_as_result_task.cpp │ │ ├── format_planning_input_task.cpp │ │ ├── iterative_spline_parameterization_task.cpp │ │ ├── kinematic_limits_check_task.cpp │ │ ├── min_length_task.cpp │ │ ├── process_planning_input_task.cpp │ │ ├── profile_switch_task.cpp │ │ ├── raster_motion_task.cpp │ │ ├── raster_only_motion_task.cpp │ │ ├── ruckig_trajectory_smoothing_task.cpp │ │ ├── time_optimal_parameterization_task.cpp │ │ ├── update_end_state_task.cpp │ │ ├── update_start_and_end_state_task.cpp │ │ ├── update_start_state_task.cpp │ │ └── upsample_trajectory_task.cpp │ │ └── profiles │ │ ├── contact_check_profile.cpp │ │ ├── fix_state_bounds_profile.cpp │ │ ├── fix_state_collision_profile.cpp │ │ ├── kinematic_limits_check_profile.cpp │ │ ├── min_length_profile.cpp │ │ ├── profile_switch_profile.cpp │ │ └── upsample_trajectory_profile.cpp ├── taskflow │ ├── CMakeLists.txt │ ├── include │ │ └── tesseract_task_composer │ │ │ └── taskflow │ │ │ ├── taskflow_task_composer_executor.h │ │ │ ├── taskflow_task_composer_future.h │ │ │ └── taskflow_task_composer_plugin_factories.h │ └── src │ │ ├── taskflow_task_composer_executor.cpp │ │ ├── taskflow_task_composer_future.cpp │ │ └── taskflow_task_composer_plugin_factories.cpp └── test │ ├── CMakeLists.txt │ ├── fix_state_bounds_task_unit.cpp │ ├── fix_state_collision_task_unit.cpp │ ├── tesseract_task_composer_core_unit.cpp │ ├── tesseract_task_composer_planning_unit.cpp │ ├── tesseract_task_composer_plugin_factories_unit.cpp │ └── tesseract_task_composer_taskflow_unit.cpp └── tesseract_time_parameterization ├── CHANGELOG.rst ├── CMakeLists.txt ├── colcon.pkg ├── core ├── CMakeLists.txt ├── include │ └── tesseract_time_parameterization │ │ └── core │ │ ├── fwd.h │ │ ├── instructions_trajectory.h │ │ ├── time_parameterization.h │ │ └── utils.h ├── src │ ├── instructions_trajectory.cpp │ ├── time_parameterization.cpp │ └── utils.cpp └── test │ ├── CMakeLists.txt │ └── time_parameterization_core_tests.cpp ├── isp ├── CMakeLists.txt ├── include │ └── tesseract_time_parameterization │ │ └── isp │ │ ├── cereal_serialization.h │ │ ├── iterative_spline_parameterization.h │ │ └── iterative_spline_parameterization_profiles.h ├── src │ ├── cereal_serialization.cpp │ ├── iterative_spline_parameterization.cpp │ └── iterative_spline_parameterization_profiles.cpp └── test │ ├── CMakeLists.txt │ └── iterative_spline_tests.cpp ├── kdl ├── CMakeLists.txt ├── include │ └── tesseract_time_parameterization │ │ └── kdl │ │ ├── cereal_serialization.h │ │ ├── constant_tcp_speed_parameterization.h │ │ └── constant_tcp_speed_parameterization_profiles.h ├── src │ ├── cereal_serialization.cpp │ ├── constant_tcp_speed_parameterization.cpp │ └── constant_tcp_speed_parameterization_profiles.cpp └── test │ ├── CMakeLists.txt │ └── constant_tcp_speed_parameterization_tests.cpp ├── package.xml ├── ruckig ├── CMakeLists.txt ├── include │ └── tesseract_time_parameterization │ │ └── ruckig │ │ ├── cereal_serialization.h │ │ ├── ruckig_trajectory_smoothing.h │ │ └── ruckig_trajectory_smoothing_profiles.h ├── src │ ├── cereal_serialization.cpp │ ├── ruckig_trajectory_smoothing.cpp │ └── ruckig_trajectory_smoothing_profiles.cpp └── test │ ├── CMakeLists.txt │ └── ruckig_trajectory_smoothing_tests.cpp └── totg ├── CMakeLists.txt ├── include └── tesseract_time_parameterization │ └── 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