├── .appveyor.yml ├── .clang-format ├── .gitignore ├── .hgignore ├── .hgtags ├── .travis.yml ├── CMakeLists.txt ├── CMakeModules ├── CPackSettings.cmake ├── CompilerSettings.cmake ├── FindEigen3.cmake ├── FindMORSE.cmake ├── FindOpenDE.cmake ├── FindPython.cmake ├── FindTriangle.cmake ├── Findcastxml.cmake ├── Findflann.cmake ├── OMPLUtils.cmake ├── OMPLVersion.cmake ├── PythonBindingsUtils.cmake ├── abs_to_rel_path.cmake ├── cmake_uninstall.cmake.in ├── generate_header.cmake └── ompl.pc.in ├── LICENSE ├── README.md ├── TODO ├── demos ├── CForestCircleGridBenchmark.cpp ├── CMakeLists.txt ├── Diagonal.cpp ├── GeometricCarPlanning.cpp ├── HybridSystemPlanning.cpp ├── HypercubeBenchmark.cpp ├── KinematicChainBenchmark.cpp ├── KinematicChainPathPlot.py ├── Koules │ ├── Koules.cpp │ ├── KoulesConfig.h │ ├── KoulesControlSpace.cpp │ ├── KoulesControlSpace.h │ ├── KoulesDecomposition.h │ ├── KoulesDirectedControlSampler.cpp │ ├── KoulesDirectedControlSampler.h │ ├── KoulesGoal.cpp │ ├── KoulesGoal.h │ ├── KoulesPlayback.py │ ├── KoulesProjection.h │ ├── KoulesSetup.cpp │ ├── KoulesSetup.h │ ├── KoulesSimulator.cpp │ ├── KoulesSimulator.h │ ├── KoulesStatePropagator.cpp │ ├── KoulesStatePropagator.h │ ├── KoulesStateSpace.cpp │ └── KoulesStateSpace.h ├── LTLWithTriangulation.cpp ├── OpenDERigidBodyPlanning.cpp ├── OptimalPlanning.cpp ├── OptimalPlanning.py ├── PlannerData.cpp ├── PlannerData.py ├── PlannerProgressProperties.cpp ├── Point2DPlanning.cpp ├── Point2DPlanning.py ├── RandomWalkPlanner.py ├── RigidBodyPlanning.cpp ├── RigidBodyPlanning.py ├── RigidBodyPlanningWithControls.cpp ├── RigidBodyPlanningWithControls.py ├── RigidBodyPlanningWithIK.cpp ├── RigidBodyPlanningWithIntegrationAndControls.cpp ├── RigidBodyPlanningWithODESolverAndControls.cpp ├── RigidBodyPlanningWithODESolverAndControls.py ├── StateSampling.cpp ├── StateSampling.py ├── ThunderLightning.cpp ├── TriangulationDemo.cpp ├── VFRRT │ ├── VectorFieldConservative.cpp │ ├── VectorFieldNonconservative.cpp │ ├── plotConservative.py │ └── plotNonconservative.py └── morse │ ├── rampJumpDemo_complete.blend │ └── rampJumpDemo_starter.blend ├── doc ├── CMakeLists.txt ├── Doxyfile ├── css │ ├── bc_s.png │ ├── bdwn.png │ ├── bootstrap-theme.min.css │ ├── bootstrap.min.css │ ├── doxygen.css │ ├── ftv2doc.png │ ├── ftv2folderclosed.png │ ├── ftv2folderopen.png │ ├── nav_f.png │ ├── nav_g.png │ ├── nav_h.png │ ├── ompl.css │ ├── search.css │ ├── search_l.png │ ├── search_m.png │ ├── search_r.png │ ├── tab_a.png │ ├── tab_b.png │ ├── tab_h.png │ ├── tab_s.png │ └── tabs.css ├── fonts │ ├── glyphicons-halflings-regular.eot │ ├── glyphicons-halflings-regular.svg │ ├── glyphicons-halflings-regular.ttf │ └── glyphicons-halflings-regular.woff ├── footer.html ├── header.html.in ├── ieee-ram-2012-ompl.pdf ├── images │ ├── R_progress.png │ ├── R_time.png │ ├── T-RRT.jpg │ ├── Twistycool.pdf │ ├── Twistycool_solved.png │ ├── balanced.gif │ ├── benchmarkdb_schema.png │ ├── bspline_cubicle_smoother.png │ ├── cforest.png │ ├── cforest.svg │ ├── cforest_sampler.svg │ ├── clearance.gif │ ├── comp450-Fall2010.jpg │ ├── cubicles.pdf │ ├── cubicles_time.png │ ├── gui_path-small.jpg │ ├── hybridization_cubicle_shorter.png │ ├── mp.jpg │ ├── mp.png │ ├── ompl.pdf │ ├── ompl.svg │ ├── path-length.gif │ ├── pr2.jpg │ ├── pr2.png │ ├── prunevsnoprune.png │ ├── sharedpaths.png │ └── threadscforest.png ├── index.html ├── js │ ├── bootstrap.min.js │ ├── dynsections.js │ ├── gen_validatorv31.js │ ├── jquery.js │ ├── jquery.powertip.min.js │ └── ompl.js ├── man │ ├── ompl_benchmark_statistics.1 │ └── plannerarena.1 ├── markdown │ ├── CForest.md.in │ ├── FAQ.md │ ├── acknowledgements.md │ ├── api_overview.md.in │ ├── benchmark.md │ ├── buildOptions.md │ ├── buildSystem.md │ ├── citations.md │ ├── code │ │ ├── mv.cpp │ │ └── svc.cpp │ ├── contact.md │ ├── contrib.md │ ├── demos.md │ ├── developers.md │ ├── download.md.in │ ├── education.md │ ├── gallery.md │ ├── genericPlanning.md │ ├── geometricPlanningSE3.md │ ├── goalRepresentation.md │ ├── implementingNewStateSpaces.md │ ├── installPyPlusPlus.md │ ├── installation.md │ ├── integration.md │ ├── license.md │ ├── mailingLists.md │ ├── mainpage.md.in │ ├── morse.md │ ├── newPlanner.md │ ├── odeint.md │ ├── optimalPlanning.md │ ├── optimalPlanningTutorial.md │ ├── optimizationObjectivesTutorial.md │ ├── pathVisualization.md │ ├── plannerarena.md │ ├── planners.md │ ├── projections.md │ ├── pybindingsPlanner.md │ ├── python.md │ ├── register.md │ ├── releaseNotes.md │ ├── samplers.md │ ├── spaces.md │ ├── stateValidation.md │ ├── styleGuide.md │ ├── thank-you.dox │ ├── thirdparty.md │ ├── tutorials.md │ └── workingWithStates.md ├── mkdocs.sh └── mkwebdocs.sh ├── install-ompl-ubuntu.sh.in ├── ompl.conf ├── omplConfig.cmake.in ├── py-bindings ├── CMakeLists.txt ├── PRM.SingleThreadSolve.cpp ├── bindings_generator.py.in ├── generate_bindings.py ├── headers_base.txt ├── headers_control.txt ├── headers_geometric.txt ├── headers_morse.txt ├── headers_tools.txt ├── headers_util.txt ├── ompl │ ├── __init__.py │ ├── base │ │ └── __init__.py │ ├── control │ │ └── __init__.py │ ├── geometric │ │ └── __init__.py │ ├── morse │ │ ├── __init__.py │ │ ├── addons │ │ │ └── ompl_addon.py │ │ ├── builder.py │ │ ├── communicator.py │ │ ├── environment.py │ │ ├── planner.py │ │ ├── player.py │ │ └── resources │ │ │ └── blank.blend │ ├── tools │ │ └── __init__.py │ └── util │ │ └── __init__.py ├── ompl_py_base.h ├── ompl_py_control.h ├── ompl_py_geometric.h ├── ompl_py_morse.h ├── ompl_py_tools.h ├── ompl_py_util.h └── py_std_function.hpp ├── scripts ├── CMakeLists.txt ├── docker │ ├── apt-retry.sh │ ├── debian-jessie │ └── ubuntu-xenial ├── ompl_benchmark_statistics.py └── plannerarena │ ├── global.R │ ├── plannerarena │ ├── server.R │ ├── ui.R │ └── www │ ├── ga.js │ ├── help.md │ ├── plannerarena.css │ └── plannerarena.js ├── src ├── CMakeLists.txt ├── external │ └── boost │ │ └── python │ │ ├── converter │ │ ├── registered.hpp │ │ ├── shared_ptr_from_python.hpp │ │ └── shared_ptr_to_python.hpp │ │ ├── detail │ │ ├── is_shared_ptr.hpp │ │ ├── is_xxx.hpp │ │ ├── value_is_shared_ptr.hpp │ │ └── value_is_xxx.hpp │ │ ├── object │ │ └── inheritance.hpp │ │ ├── to_python_indirect.hpp │ │ └── to_python_value.hpp └── ompl │ ├── CMakeLists.txt │ ├── base │ ├── Cost.h │ ├── DiscreteMotionValidator.h │ ├── GenericParam.h │ ├── Goal.h │ ├── GoalTypes.h │ ├── MotionValidator.h │ ├── OptimizationObjective.h │ ├── Path.h │ ├── Planner.h │ ├── PlannerData.h │ ├── PlannerDataGraph.h │ ├── PlannerDataStorage.h │ ├── PlannerStatus.h │ ├── PlannerTerminationCondition.h │ ├── PrecomputedStateSampler.h │ ├── ProblemDefinition.h │ ├── ProjectionEvaluator.h │ ├── ScopedState.h │ ├── SolutionNonExistenceProof.h │ ├── SpaceInformation.h │ ├── State.h │ ├── StateSampler.h │ ├── StateSamplerArray.h │ ├── StateSpace.h │ ├── StateSpaceTypes.h │ ├── StateStorage.h │ ├── StateValidityChecker.h │ ├── TypedSpaceInformation.h │ ├── TypedStateValidityChecker.h │ ├── ValidStateSampler.h │ ├── goals │ │ ├── GoalLazySamples.h │ │ ├── GoalRegion.h │ │ ├── GoalSampleableRegion.h │ │ ├── GoalState.h │ │ ├── GoalStates.h │ │ └── src │ │ │ ├── GoalLazySamples.cpp │ │ │ ├── GoalRegion.cpp │ │ │ ├── GoalState.cpp │ │ │ └── GoalStates.cpp │ ├── objectives │ │ ├── MaximizeMinClearanceObjective.h │ │ ├── MechanicalWorkOptimizationObjective.h │ │ ├── MinimaxObjective.h │ │ ├── PathLengthOptimizationObjective.h │ │ ├── StateCostIntegralObjective.h │ │ ├── VFMechanicalWorkOptimizationObjective.h │ │ ├── VFUpstreamCriterionOptimizationObjective.h │ │ └── src │ │ │ ├── MaximizeMinClearanceObjective.cpp │ │ │ ├── MechanicalWorkOptimizationObjective.cpp │ │ │ ├── MinimaxObjective.cpp │ │ │ ├── PathLengthOptimizationObjective.cpp │ │ │ └── StateCostIntegralObjective.cpp │ ├── samplers │ │ ├── BridgeTestValidStateSampler.h │ │ ├── GaussianValidStateSampler.h │ │ ├── InformedStateSampler.h │ │ ├── MaximizeClearanceValidStateSampler.h │ │ ├── MinimumClearanceValidStateSampler.h │ │ ├── ObstacleBasedValidStateSampler.h │ │ ├── UniformValidStateSampler.h │ │ ├── informed │ │ │ ├── OrderedInfSampler.h │ │ │ ├── PathLengthDirectInfSampler.h │ │ │ ├── RejectionInfSampler.h │ │ │ └── src │ │ │ │ ├── OrderedInfSampler.cpp │ │ │ │ ├── PathLengthDirectInfSampler.cpp │ │ │ │ └── RejectionInfSampler.cpp │ │ └── src │ │ │ ├── BridgeTestValidStateSampler.cpp │ │ │ ├── GaussianValidStateSampler.cpp │ │ │ ├── InformedStateSampler.cpp │ │ │ ├── MaximizeClearanceValidStateSampler.cpp │ │ │ ├── MinimumClearanceValidStateSampler.cpp │ │ │ ├── ObstacleBasedValidStateSampler.cpp │ │ │ └── UniformValidStateSampler.cpp │ ├── spaces │ │ ├── DiscreteStateSpace.h │ │ ├── DubinsStateSpace.h │ │ ├── RealVectorBounds.h │ │ ├── RealVectorStateProjections.h │ │ ├── RealVectorStateSpace.h │ │ ├── ReedsSheppStateSpace.h │ │ ├── SE2StateSpace.h │ │ ├── SE3StateSpace.h │ │ ├── SO2StateSpace.h │ │ ├── SO3StateSpace.h │ │ ├── TimeStateSpace.h │ │ └── src │ │ │ ├── DiscreteStateSpace.cpp │ │ │ ├── DubinsStateSpace.cpp │ │ │ ├── RealVectorBounds.cpp │ │ │ ├── RealVectorStateProjections.cpp │ │ │ ├── RealVectorStateSpace.cpp │ │ │ ├── ReedsSheppStateSpace.cpp │ │ │ ├── SE2StateSpace.cpp │ │ │ ├── SE3StateSpace.cpp │ │ │ ├── SO2StateSpace.cpp │ │ │ ├── SO3StateSpace.cpp │ │ │ └── TimeStateSpace.cpp │ └── src │ │ ├── Cost.cpp │ │ ├── DiscreteMotionValidator.cpp │ │ ├── GenericParam.cpp │ │ ├── Goal.cpp │ │ ├── OptimizationObjective.cpp │ │ ├── Planner.cpp │ │ ├── PlannerData.cpp │ │ ├── PlannerDataStorage.cpp │ │ ├── PlannerStatus.cpp │ │ ├── PlannerTerminationCondition.cpp │ │ ├── PrecomputedStateSampler.cpp │ │ ├── ProblemDefinition.cpp │ │ ├── ProjectionEvaluator.cpp │ │ ├── SpaceInformation.cpp │ │ ├── StateSampler.cpp │ │ ├── StateSpace.cpp │ │ ├── StateStorage.cpp │ │ └── ValidStateSampler.cpp │ ├── config.h.in │ ├── control │ ├── Control.h │ ├── ControlSampler.h │ ├── ControlSpace.h │ ├── ControlSpaceTypes.h │ ├── DirectedControlSampler.h │ ├── ODESolver.h │ ├── PathControl.h │ ├── PlannerData.h │ ├── PlannerDataStorage.h │ ├── SimpleDirectedControlSampler.h │ ├── SimpleSetup.h │ ├── SpaceInformation.h │ ├── StatePropagator.h │ ├── SteeredControlSampler.h │ ├── planners │ │ ├── PlannerIncludes.h │ │ ├── est │ │ │ ├── EST.h │ │ │ └── src │ │ │ │ └── EST.cpp │ │ ├── kpiece │ │ │ ├── KPIECE1.h │ │ │ └── src │ │ │ │ └── KPIECE1.cpp │ │ ├── ltl │ │ │ ├── Automaton.h │ │ │ ├── LTLPlanner.h │ │ │ ├── LTLProblemDefinition.h │ │ │ ├── LTLSpaceInformation.h │ │ │ ├── ProductGraph.h │ │ │ ├── PropositionalDecomposition.h │ │ │ ├── World.h │ │ │ └── src │ │ │ │ ├── Automaton.cpp │ │ │ │ ├── LTLPlanner.cpp │ │ │ │ ├── LTLProblemDefinition.cpp │ │ │ │ ├── LTLSpaceInformation.cpp │ │ │ │ ├── ProductGraph.cpp │ │ │ │ ├── PropositionalDecomposition.cpp │ │ │ │ └── World.cpp │ │ ├── pdst │ │ │ ├── PDST.h │ │ │ └── src │ │ │ │ └── PDST.cpp │ │ ├── rrt │ │ │ ├── RRT.h │ │ │ └── src │ │ │ │ └── RRT.cpp │ │ ├── sst │ │ │ ├── SST.h │ │ │ └── src │ │ │ │ └── SST.cpp │ │ └── syclop │ │ │ ├── Decomposition.h │ │ │ ├── GridDecomposition.h │ │ │ ├── Syclop.h │ │ │ ├── SyclopEST.h │ │ │ ├── SyclopRRT.h │ │ │ └── src │ │ │ ├── GridDecomposition.cpp │ │ │ ├── Syclop.cpp │ │ │ ├── SyclopEST.cpp │ │ │ └── SyclopRRT.cpp │ ├── spaces │ │ ├── DiscreteControlSpace.h │ │ ├── RealVectorControlSpace.h │ │ └── src │ │ │ ├── DiscreteControlSpace.cpp │ │ │ └── RealVectorControlSpace.cpp │ └── src │ │ ├── ControlSampler.cpp │ │ ├── ControlSpace.cpp │ │ ├── PathControl.cpp │ │ ├── PlannerData.cpp │ │ ├── PlannerDataStorage.cpp │ │ ├── SimpleDirectedControlSampler.cpp │ │ ├── SimpleSetup.cpp │ │ └── SpaceInformation.cpp │ ├── datastructures │ ├── BinaryHeap.h │ ├── DynamicSSSP.h │ ├── GreedyKCenters.h │ ├── Grid.h │ ├── GridB.h │ ├── GridN.h │ ├── LPAstarOnGraph.h │ ├── NearestNeighbors.h │ ├── NearestNeighborsFLANN.h │ ├── NearestNeighborsGNAT.h │ ├── NearestNeighborsGNATNoThreadSafety.h │ ├── NearestNeighborsLinear.h │ ├── NearestNeighborsSqrtApprox.h │ ├── PDF.h │ └── Permutation.h │ ├── extensions │ ├── morse │ │ ├── MorseControlSpace.h │ │ ├── MorseEnvironment.h │ │ ├── MorseGoal.h │ │ ├── MorseProjection.h │ │ ├── MorseSimpleSetup.h │ │ ├── MorseStatePropagator.h │ │ ├── MorseStateSpace.h │ │ ├── MorseStateValidityChecker.h │ │ ├── MorseTerminationCondition.h │ │ └── src │ │ │ ├── MorseControlSpace.cpp │ │ │ ├── MorseEnvironment.cpp │ │ │ ├── MorseGoal.cpp │ │ │ ├── MorseProjection.cpp │ │ │ ├── MorseSimpleSetup.cpp │ │ │ ├── MorseStatePropagator.cpp │ │ │ ├── MorseStateSpace.cpp │ │ │ └── MorseStateValidityChecker.cpp │ ├── opende │ │ ├── OpenDEControlSpace.h │ │ ├── OpenDEEnvironment.h │ │ ├── OpenDESimpleSetup.h │ │ ├── OpenDEStatePropagator.h │ │ ├── OpenDEStateSpace.h │ │ ├── OpenDEStateValidityChecker.h │ │ └── src │ │ │ ├── OpenDEControlSpace.cpp │ │ │ ├── OpenDEEnvironment.cpp │ │ │ ├── OpenDESimpleSetup.cpp │ │ │ ├── OpenDEStatePropagator.cpp │ │ │ ├── OpenDEStateSpace.cpp │ │ │ └── OpenDEStateValidityChecker.cpp │ └── triangle │ │ ├── PropositionalTriangularDecomposition.h │ │ ├── TriangularDecomposition.h │ │ └── src │ │ ├── PropositionalTriangularDecomposition.cpp │ │ └── TriangularDecomposition.cpp │ ├── geometric │ ├── GeneticSearch.h │ ├── HillClimbing.h │ ├── PathGeometric.h │ ├── PathHybridization.h │ ├── PathSimplifier.h │ ├── SimpleSetup.h │ ├── planners │ │ ├── AnytimePathShortening.cpp │ │ ├── AnytimePathShortening.h │ │ ├── PlannerIncludes.h │ │ ├── bitstar │ │ │ ├── BITstar.h │ │ │ ├── datastructures │ │ │ │ ├── CostHelper.h │ │ │ │ ├── IdGenerator.h │ │ │ │ ├── ImplicitGraph.h │ │ │ │ ├── SearchQueue.h │ │ │ │ ├── Vertex.h │ │ │ │ └── src │ │ │ │ │ ├── CostHelper.cpp │ │ │ │ │ ├── ImplicitGraph.cpp │ │ │ │ │ ├── SearchQueue.cpp │ │ │ │ │ └── Vertex.cpp │ │ │ └── src │ │ │ │ └── BITstar.cpp │ │ ├── cforest │ │ │ ├── CForest.h │ │ │ ├── CForestStateSampler.h │ │ │ ├── CForestStateSpaceWrapper.h │ │ │ └── src │ │ │ │ ├── CForest.cpp │ │ │ │ ├── CForestStateSampler.cpp │ │ │ │ └── CForestStateSpaceWrapper.cpp │ │ ├── est │ │ │ ├── BiEST.h │ │ │ ├── EST.h │ │ │ ├── ProjEST.h │ │ │ └── src │ │ │ │ ├── BiEST.cpp │ │ │ │ ├── EST.cpp │ │ │ │ └── ProjEST.cpp │ │ ├── experience │ │ │ ├── LightningRetrieveRepair.h │ │ │ ├── ThunderRetrieveRepair.h │ │ │ └── src │ │ │ │ ├── LightningRetrieveRepair.cpp │ │ │ │ └── ThunderRetrieveRepair.cpp │ │ ├── fmt │ │ │ ├── BFMT.h │ │ │ ├── FMT.h │ │ │ └── src │ │ │ │ ├── BFMT.cpp │ │ │ │ └── FMT.cpp │ │ ├── kpiece │ │ │ ├── BKPIECE1.h │ │ │ ├── Discretization.h │ │ │ ├── KPIECE1.h │ │ │ ├── LBKPIECE1.h │ │ │ └── src │ │ │ │ ├── BKPIECE1.cpp │ │ │ │ ├── KPIECE1.cpp │ │ │ │ └── LBKPIECE1.cpp │ │ ├── pdst │ │ │ ├── PDST.h │ │ │ └── src │ │ │ │ └── PDST.cpp │ │ ├── prm │ │ │ ├── ConnectionStrategy.h │ │ │ ├── LazyPRM.h │ │ │ ├── LazyPRMstar.h │ │ │ ├── PRM.h │ │ │ ├── PRMstar.h │ │ │ ├── SPARS.h │ │ │ ├── SPARStwo.h │ │ │ └── src │ │ │ │ ├── GoalVisitor.hpp │ │ │ │ ├── LazyPRM.cpp │ │ │ │ ├── LazyPRMstar.cpp │ │ │ │ ├── PRM.cpp │ │ │ │ ├── PRMstar.cpp │ │ │ │ ├── SPARS.cpp │ │ │ │ └── SPARStwo.cpp │ │ ├── rrt │ │ │ ├── BiTRRT.h │ │ │ ├── InformedRRTstar.h │ │ │ ├── LBTRRT.h │ │ │ ├── LazyLBTRRT.h │ │ │ ├── LazyRRT.h │ │ │ ├── RRT.h │ │ │ ├── RRTConnect.h │ │ │ ├── RRTXstatic.h │ │ │ ├── RRTsharp.h │ │ │ ├── RRTstar.h │ │ │ ├── SORRTstar.h │ │ │ ├── TRRT.h │ │ │ ├── VFRRT.h │ │ │ ├── pRRT.h │ │ │ └── src │ │ │ │ ├── BiTRRT.cpp │ │ │ │ ├── InformedRRTstar.cpp │ │ │ │ ├── LBTRRT.cpp │ │ │ │ ├── LazyLBTRRT.cpp │ │ │ │ ├── LazyRRT.cpp │ │ │ │ ├── RRT.cpp │ │ │ │ ├── RRTConnect.cpp │ │ │ │ ├── RRTXstatic.cpp │ │ │ │ ├── RRTsharp.cpp │ │ │ │ ├── RRTstar.cpp │ │ │ │ ├── SORRTstar.cpp │ │ │ │ ├── TRRT.cpp │ │ │ │ ├── VFRRT.cpp │ │ │ │ └── pRRT.cpp │ │ ├── sbl │ │ │ ├── SBL.h │ │ │ ├── pSBL.h │ │ │ └── src │ │ │ │ ├── SBL.cpp │ │ │ │ └── pSBL.cpp │ │ ├── sst │ │ │ ├── SST.h │ │ │ └── src │ │ │ │ └── SST.cpp │ │ └── stride │ │ │ ├── STRIDE.h │ │ │ └── src │ │ │ └── STRIDE.cpp │ └── src │ │ ├── GeneticSearch.cpp │ │ ├── HillClimbing.cpp │ │ ├── PathGeometric.cpp │ │ ├── PathHybridization.cpp │ │ ├── PathSimplifier.cpp │ │ └── SimpleSetup.cpp │ ├── tools │ ├── benchmark │ │ ├── Benchmark.h │ │ ├── MachineSpecs.h │ │ └── src │ │ │ ├── Benchmark.cpp │ │ │ └── MachineSpecs.cpp │ ├── config │ │ ├── MagicConstants.h │ │ ├── SelfConfig.h │ │ └── src │ │ │ └── SelfConfig.cpp │ ├── debug │ │ ├── PlannerMonitor.h │ │ ├── Profiler.h │ │ └── src │ │ │ ├── PlannerMonitor.cpp │ │ │ └── Profiler.cpp │ ├── experience │ │ ├── ExperienceSetup.h │ │ └── src │ │ │ └── ExperienceSetup.cpp │ ├── lightning │ │ ├── DynamicTimeWarp.h │ │ ├── Lightning.h │ │ ├── LightningDB.h │ │ └── src │ │ │ ├── DynamicTimeWarp.cpp │ │ │ ├── Lightning.cpp │ │ │ └── LightningDB.cpp │ ├── multiplan │ │ ├── OptimizePlan.h │ │ ├── ParallelPlan.h │ │ └── src │ │ │ ├── OptimizePlan.cpp │ │ │ └── ParallelPlan.cpp │ └── thunder │ │ ├── SPARSdb.h │ │ ├── Thunder.h │ │ ├── ThunderDB.h │ │ └── src │ │ ├── SPARSdb.cpp │ │ ├── Thunder.cpp │ │ └── ThunderDB.cpp │ └── util │ ├── ClassForward.h │ ├── Console.h │ ├── Deprecation.h │ ├── Exception.h │ ├── GeometricEquations.h │ ├── Hash.h │ ├── PPM.h │ ├── ProlateHyperspheroid.h │ ├── RandomNumbers.h │ ├── Time.h │ └── src │ ├── Console.cpp │ ├── GeometricEquations.cpp │ ├── PPM.cpp │ ├── ProlateHyperspheroid.cpp │ └── RandomNumbers.cpp └── tests ├── CMakeLists.txt ├── base ├── PlannerTest.h ├── StateSpaceTest.h ├── planner_data.cpp ├── ptc.cpp ├── state_operations.cpp ├── state_spaces.cpp ├── state_storage.cpp └── test_base.py ├── benchmark └── machine_specs.cpp ├── control ├── 2dmap │ └── 2dmap.cpp ├── planner_data.cpp └── test_control.py ├── datastructures ├── grid.cpp ├── gridb.cpp ├── heap.cpp ├── nearestneighbors.cpp └── pdf.cpp ├── extensions └── morse │ └── morse_plan.cpp ├── geometric ├── 2d │ ├── 2DcirclesSetup.h │ ├── 2DmapSetup.h │ ├── 2DmapSetup1.h │ ├── 2dcircles_optimize.cpp │ ├── 2denvs.cpp │ ├── 2dmap_ik.cpp │ └── 2dmap_simple.cpp ├── test_geometric.py └── test_geometric_compoundstate.py ├── regression_tests ├── CMakeLists.txt ├── RegressionTest.cpp ├── RegressionTestCirclesProblem.inl.h ├── VERSIONS └── regression_test.sh ├── resources ├── circle_obstacles.txt ├── circle_queries.txt ├── circles2D.h ├── config.h.in ├── env1.txt ├── env2.txt ├── environment2D.h └── ppm │ └── floor.ppm ├── test_loop.sh ├── test_results.sh └── util ├── random └── random.cpp ├── test_py_std_function.cpp ├── test_py_std_function.py └── test_util.py /.appveyor.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/utiasASRL/batch-informed-trees/HEAD/.appveyor.yml -------------------------------------------------------------------------------- /.clang-format: -------------------------------------------------------------------------------- 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