├── .github └── workflows │ └── jazzy.yaml ├── .gitignore ├── LICENSE ├── README.md ├── docs └── mesh_mppi_floor_is_lava.gif ├── mesh_mppi ├── CMakeLists.txt ├── LICENSE ├── include │ └── mesh_mppi │ │ ├── Error.hpp │ │ ├── Model.hpp │ │ ├── Smoother.hpp │ │ ├── Util.hpp │ │ ├── controller │ │ ├── MeshMPPI.hpp │ │ ├── MeshMPPI.inl │ │ └── MeshMPPIBase.hpp │ │ ├── io │ │ ├── Pose.hpp │ │ ├── Serialization.hpp │ │ ├── State.hpp │ │ └── Trajectory.hpp │ │ ├── kinematics │ │ ├── Bicycle.hpp │ │ ├── DifferentialDrive.hpp │ │ ├── Kinematics.hpp │ │ └── KinematicsBase.hpp │ │ ├── optimizer │ │ ├── AsyncOptimizer.hpp │ │ ├── AsyncOptimizer.inl │ │ ├── MPPIOptimizer.hpp │ │ ├── MPPIOptimizer.inl │ │ └── OptimizerBase.hpp │ │ ├── scoring │ │ ├── CostFunction.hpp │ │ └── XTECostFunction.hpp │ │ └── types │ │ ├── Line.hpp │ │ ├── Pose.hpp │ │ ├── State.hpp │ │ ├── Vector.hpp │ │ └── Velocity.hpp ├── mesh_mppi.xml ├── package.xml ├── src │ ├── Model.cpp │ ├── Util.cpp │ ├── controller │ │ └── 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