├── AMSwarmX_Supplementary.pdf ├── LICENSE ├── README.md ├── amswarmx ├── .gitignore ├── CMakeLists.txt ├── crazyflie │ ├── meshes │ │ ├── crazyflie.dae │ │ ├── crazyflie_body.dae │ │ ├── crazyflie_ccw_propeller.dae │ │ └── crazyflie_cw_propeller.dae │ ├── model.config │ └── model.sdf ├── data │ ├── .gitattributes │ ├── config_sim_info.txt │ ├── config_sim_residue.txt │ └── config_sim_results.txt ├── include │ ├── amswarmx │ │ ├── obstacles_utils.hpp │ │ ├── run_grid_planner.hpp │ │ ├── run_trajectory_optimizer.hpp │ │ ├── select_anchor_goal.hpp │ │ ├── solve_polar_var.hpp │ │ ├── solve_position_var.hpp │ │ └── trajectory_utils.hpp │ └── runner │ │ └── run_am_swarm.hpp ├── launch │ ├── play_bag.launch │ ├── rviz_config │ │ ├── follower_config.rviz │ │ ├── ortho_config.rviz │ │ └── xyorbit_config.rviz │ └── simulation.launch ├── media │ ├── bookstore.gif │ ├── office.gif │ ├── office_follower.gif │ ├── random_room.gif │ └── star_room.gif ├── package.xml ├── params │ └── config_am_swarm.yaml ├── src │ ├── amswarmx │ │ ├── obstacles_utils.cpp │ │ ├── run_grid_planner.cpp │ │ ├── run_trajectory_optimizer.cpp │ │ ├── select_anchor_goal.cpp │ │ ├── solve_polar_var.cpp │ │ ├── solve_position_var.cpp │ │ └── trajectory_utils.cpp │ ├── main_am_swarm.cpp │ └── runner │ │ └── run_am_swarm.cpp └── world │ ├── bookstore.bt │ ├── office.bt │ ├── room.bt │ ├── simple │ ├── lobstacle.bt │ ├── narrow_corridor.bt │ ├── narrow_corridor2.bt │ ├── simple_corridor.bt │ ├── simple_corridor2.bt │ └── uobstacle.bt │ ├── small_house.bt │ ├── star_room.bt │ ├── test.bt │ └── warehouse.bt └── thirdparty ├── DecompUtil ├── .gitignore ├── .vscode │ └── settings.json ├── CMakeLists.txt ├── Doxyfile ├── LICENSE ├── README.md ├── data │ ├── example1.png │ ├── example2.png │ ├── example3.png │ ├── example4.png │ ├── obstacles.txt │ ├── obstacles3d.txt │ └── plot.py ├── decomp_utilConfig.cmake ├── decomp_utilConfigVersion.cmake ├── docs │ ├── annotated.html │ ├── arrowdown.png │ ├── arrowright.png │ ├── bc_s.png │ ├── bdwn.png │ ├── classDecompBase-members.html │ ├── classDecompBase.html │ ├── classDecompBase.png │ ├── classEllipsoidDecomp-members.html │ ├── classEllipsoidDecomp.html │ ├── classEllipsoidDecomp.png │ ├── classIterativeDecomp-members.html │ ├── classIterativeDecomp.html │ ├── classIterativeDecomp.png │ ├── classLineSegment-members.html │ ├── classLineSegment.html │ ├── classLineSegment.png │ ├── classSeedDecomp-members.html │ ├── classSeedDecomp.html │ ├── classSeedDecomp.png │ ├── classes.html │ ├── closed.png │ ├── data__type_8h.html │ ├── data__type_8h_source.html │ ├── data__utils_8h.html │ ├── data__utils_8h_source.html │ ├── decomp__base_8h.html │ ├── decomp__base_8h_source.html │ ├── dir_0156596343f07f423e58f27e9acfceb9.html │ ├── dir_0ea7c0ecff050f14fbfcb8a22f95278f.html │ ├── dir_13e138d54eb8818da29c3992edef070a.html │ ├── dir_2c1ec4cfaf5ed43ec260b4f91f837847.html │ ├── dir_4fef79e7177ba769987a8da36c892c5f.html │ ├── dir_63772b626f2709090f0bdca0f40827b4.html │ ├── dir_75993fee8576b97e3d9a8476c1772d17.html │ ├── dir_a41afb44cd77021f04ef0298981be91e.html │ ├── dir_a573004c1aa1ac4f8bc48460229ea7de.html │ ├── dir_d44c64559bbebec7f509842c48db8b23.html │ ├── doc.png │ ├── doxygen.css │ ├── doxygen.png │ ├── dynsections.js │ ├── ellipsoid_8h.html │ ├── ellipsoid_8h_source.html │ ├── ellipsoid__decomp_8h.html │ ├── ellipsoid__decomp_8h_source.html │ ├── files.html │ ├── folderclosed.png │ ├── folderopen.png │ ├── form_0.png │ ├── form_1.png │ ├── form_2.png │ ├── formula.repository │ ├── functions.html │ ├── functions_func.html │ ├── functions_vars.html │ ├── geometric__utils_8h.html │ ├── geometric__utils_8h_source.html │ ├── globals.html │ ├── globals_defs.html │ ├── globals_func.html │ ├── globals_type.html │ ├── globals_vars.html │ ├── hierarchy.html │ ├── index.html │ ├── iterative__decomp_8h.html │ ├── iterative__decomp_8h_source.html │ ├── jquery.js │ ├── line__segment_8h.html │ ├── line__segment_8h_source.html │ ├── nav_f.png │ ├── nav_g.png │ ├── nav_h.png │ ├── open.png │ ├── polyhedron_8h_source.html │ ├── search │ │ ├── all_0.html │ │ ├── all_0.js │ │ ├── all_1.html │ │ ├── all_1.js │ │ ├── all_10.html │ │ ├── all_10.js │ │ ├── all_2.html │ │ ├── all_2.js │ │ ├── all_3.html │ │ ├── all_3.js │ │ ├── all_4.html │ │ ├── all_4.js │ │ ├── all_5.html │ │ ├── all_5.js │ │ ├── all_6.html │ │ ├── all_6.js │ │ ├── all_7.html │ │ ├── all_7.js │ │ ├── all_8.html │ │ ├── all_8.js │ │ ├── all_9.html │ │ ├── all_9.js │ │ ├── all_a.html │ │ ├── all_a.js │ │ ├── all_b.html │ │ ├── all_b.js │ │ ├── all_c.html │ │ ├── all_c.js │ │ ├── all_d.html │ │ ├── all_d.js │ │ ├── all_e.html │ │ ├── all_e.js │ │ ├── all_f.html │ │ ├── all_f.js │ │ ├── classes_0.html │ │ ├── classes_0.js │ │ ├── classes_1.html │ │ ├── classes_1.js │ │ ├── classes_2.html │ │ ├── classes_2.js │ │ ├── classes_3.html │ │ ├── classes_3.js │ │ ├── classes_4.html │ │ ├── classes_4.js │ │ ├── classes_5.html │ │ ├── classes_5.js │ │ ├── classes_6.html │ │ ├── classes_6.js │ │ ├── close.png │ │ ├── defines_0.html │ │ ├── defines_0.js │ │ ├── defines_1.html │ │ ├── defines_1.js │ │ ├── files_0.html │ │ ├── files_0.js │ │ ├── files_1.html │ │ ├── files_1.js │ │ ├── files_2.html │ │ ├── files_2.js │ │ ├── files_3.html │ │ ├── files_3.js │ │ ├── files_4.html │ │ ├── files_4.js │ │ ├── files_5.html │ │ ├── files_5.js │ │ ├── functions_0.html │ │ ├── functions_0.js │ │ ├── functions_1.html │ │ ├── functions_1.js │ │ ├── functions_2.html │ │ ├── functions_2.js │ │ ├── functions_3.html │ │ ├── functions_3.js │ │ ├── functions_4.html │ │ ├── functions_4.js │ │ ├── functions_5.html │ │ ├── functions_5.js │ │ ├── functions_6.html │ │ ├── functions_6.js │ │ ├── functions_7.html │ │ ├── functions_7.js │ │ ├── functions_8.html │ │ ├── functions_8.js │ │ ├── functions_9.html │ │ ├── functions_9.js │ │ ├── functions_a.html │ │ ├── functions_a.js │ │ ├── functions_b.html │ │ ├── functions_b.js │ │ ├── functions_c.html │ │ ├── functions_c.js │ │ ├── mag_sel.png │ │ ├── nomatches.html │ │ ├── pages_0.html │ │ ├── pages_0.js │ │ ├── search.css │ │ ├── search.js │ │ ├── search_l.png │ │ ├── search_m.png │ │ ├── search_r.png │ │ ├── searchdata.js │ │ ├── typedefs_0.html │ │ ├── typedefs_0.js │ │ ├── typedefs_1.html │ │ ├── typedefs_1.js │ │ ├── typedefs_2.html │ │ ├── typedefs_2.js │ │ ├── typedefs_3.html │ │ ├── typedefs_3.js │ │ ├── typedefs_4.html │ │ ├── typedefs_4.js │ │ ├── variables_0.html │ │ ├── variables_0.js │ │ ├── variables_1.html │ │ ├── variables_1.js │ │ ├── variables_2.html │ │ ├── variables_2.js │ │ ├── variables_3.html │ │ ├── variables_3.js │ │ ├── variables_4.html │ │ ├── variables_4.js │ │ ├── variables_5.html │ │ └── variables_5.js │ ├── seed__decomp_8h.html │ ├── seed__decomp_8h_source.html │ ├── splitbar.png │ ├── structEllipsoid-members.html │ ├── structEllipsoid.html │ ├── structHyperplane-members.html │ ├── structHyperplane.html │ ├── structLinearConstraint-members.html │ ├── structLinearConstraint.html │ ├── structPolyhedron-members.html │ ├── structPolyhedron.html │ ├── sync_off.png │ ├── sync_on.png │ ├── tab_a.png │ ├── tab_b.png │ ├── tab_h.png │ ├── tab_s.png │ ├── tabs.css │ └── txt__reader_8hpp_source.html ├── include │ ├── decomp_basis │ │ ├── data_type.h │ │ └── data_utils.h │ ├── decomp_geometry │ │ ├── ellipsoid.h │ │ ├── geometric_utils.h │ │ └── polyhedron.h │ └── decomp_util │ │ ├── decomp_base.h │ │ ├── ellipsoid_decomp.h │ │ ├── iterative_decomp.h │ │ ├── line_segment.h │ │ └── seed_decomp.h ├── package.xml ├── test │ ├── test_ellipsoid_decomp.cpp │ ├── test_ellipsoid_decomp_3d.cpp │ ├── test_iterative_decomp.cpp │ ├── test_line_segment.cpp │ ├── test_seed_decomp.cpp │ └── txt_reader.hpp └── wercker.yml ├── catkin_simple ├── .gitignore ├── CMakeLists.txt ├── README.md ├── cmake │ └── catkin_simple-extras.cmake.em ├── package.xml └── test │ └── scenarios │ └── hello_world │ ├── .gitignore │ ├── bar │ ├── include │ │ └── bar │ │ │ └── hello.h │ ├── msg │ │ └── HeaderString.msg │ ├── package.xml │ └── src │ │ └── hello.cpp │ ├── baz │ ├── include │ │ └── baz │ │ │ └── world.h │ └── package.xml │ ├── catkin_simple │ └── foo │ ├── package.xml │ └── src │ └── main.cpp ├── decomp_ros_msgs ├── CMakeLists.txt ├── msg │ ├── Ellipsoid.msg │ ├── EllipsoidArray.msg │ ├── Polyhedron.msg │ └── PolyhedronArray.msg └── package.xml ├── decomp_ros_utils ├── CMakeLists.txt ├── icons │ └── classes │ │ ├── EllipsoidArray.png │ │ └── PolyhedronArray.png ├── include │ └── decomp_ros_utils │ │ └── data_ros_utils.h ├── package.xml ├── plugin_description.xml └── src │ ├── bound_visual.cpp │ ├── bound_visual.h │ ├── ellipsoid_array_display.cpp │ ├── ellipsoid_array_display.h │ ├── ellipsoid_array_visual.cpp │ ├── ellipsoid_array_visual.h │ ├── mesh_visual.cpp │ ├── mesh_visual.h │ ├── polyhedron_array_display.cpp │ ├── polyhedron_array_display.h │ ├── vector_visual.cpp │ └── vector_visual.h ├── dynamic_msgs ├── CMakeLists.txt ├── msg │ ├── CollisionConstraint.msg │ ├── FullState.msg │ ├── Goal.msg │ ├── GoalArray.msg │ ├── Obstacle.msg │ ├── ObstacleArray.msg │ ├── Param.msg │ ├── PlanningReport.msg │ ├── RSFC.msg │ ├── SFC.msg │ ├── State.msg │ ├── Trajectory.msg │ └── TrajectoryArray.msg ├── package.xml └── srv │ ├── UpdateGoal.srv │ └── UpdateGoals.srv ├── graph_rviz_plugin ├── .gitignore ├── .gitlab-ci.yml ├── CMakeLists.txt ├── LICENSE ├── QCustomPlot_GPL.txt ├── README.md ├── documentation │ ├── histogram_panel.png │ ├── histogram_settings.png │ ├── line_graph_panel.png │ ├── line_graph_panel_multiarray2.png │ ├── line_graph_settings.png │ └── topic_selection.png ├── graph_rviz_plugin.svg ├── include │ └── graph_rviz_plugin │ │ ├── graph_settings.hpp │ │ ├── histogram_panel.hpp │ │ ├── line_panel.hpp │ │ ├── qcustomplot.h │ │ ├── selection_topics.hpp │ │ ├── settings.hpp │ │ ├── topic_color.hpp │ │ ├── topic_data.hpp │ │ └── topic_style.hpp ├── package.xml ├── plugin.xml ├── scripts │ └── subtopic_repub.py └── src │ ├── graph_settings.cpp │ ├── histogram_panel.cpp │ ├── line_panel.cpp │ ├── qcustomplot.cpp │ ├── selection_topics.cpp │ ├── settings.cpp │ ├── topic_color.cpp │ ├── topic_data.cpp │ └── topic_style.cpp └── jps3d ├── .gitignore ├── .vscode └── settings.json ├── CMakeLists.txt ├── Doxyfile ├── LICENSE ├── README.md ├── data ├── corridor.png ├── corridor.yaml ├── corridor_temp.yaml ├── example_dmp.png ├── simple.png ├── simple.yaml └── simple3d.yaml ├── docs ├── annotated.html ├── arrowdown.png ├── arrowright.png ├── bc_s.png ├── bdwn.png ├── classDMP_1_1GraphSearch-members.html ├── classDMP_1_1GraphSearch.html ├── classDMPlanner-members.html ├── classDMPlanner.html ├── classDMPlanner.png ├── classIterativeDMPlanner-members.html ├── classIterativeDMPlanner.html ├── classIterativeDMPlanner.png ├── classJPSPlanner-members.html ├── classJPSPlanner.html ├── classJPS_1_1GraphSearch-members.html ├── classJPS_1_1GraphSearch.html ├── classJPS_1_1MapUtil-members.html ├── classJPS_1_1MapUtil.html ├── classJPS_1_1Timer-members.html ├── classJPS_1_1Timer.html ├── classMapReader-members.html ├── classMapReader.html ├── classes.html ├── closed.png ├── corridor.png ├── data__type_8h.html ├── data__type_8h_source.html ├── data__utils_8h.html ├── data__utils_8h_source.html ├── dir_13e138d54eb8818da29c3992edef070a.html ├── dir_16f9237c2eb6ee71ebe7bb5d56514662.html ├── dir_2c1ec4cfaf5ed43ec260b4f91f837847.html ├── dir_35cd4ee7ff6c8bd90084e84f08e68c51.html ├── dir_3fa5b8fa885cd79655872b42aca83d9a.html ├── dir_4fef79e7177ba769987a8da36c892c5f.html ├── dir_5280bb524ed5294135fd93e0b12dbd44.html ├── dir_63772b626f2709090f0bdca0f40827b4.html ├── dir_6810188cd2ea088282d3e2870d3170c6.html ├── dir_68267d1309a1af8e8297ef4c3efbcdba.html ├── dir_78791bf993c4f7547ae15e7c34d4eefe.html ├── dir_7f7e439ba0927089503219129b4cf038.html ├── dir_a41afb44cd77021f04ef0298981be91e.html ├── dir_a573004c1aa1ac4f8bc48460229ea7de.html ├── dir_cf779efadf30e9c7d82da7dbe2eb33f7.html ├── dir_d44c64559bbebec7f509842c48db8b23.html ├── dir_e3f696d4d044a5899bff98f450f72b77.html ├── dir_f3f15cb6a903102cfaa3bed9fef4749a.html ├── distance__map__planner_2graph__search_8h_source.html ├── distance__map__planner_8h.html ├── distance__map__planner_8h_source.html ├── doc.png ├── doxygen.css ├── doxygen.png ├── dynsections.js ├── example_dmp.png ├── files.html ├── folderclosed.png ├── folderopen.png ├── form_0.png ├── form_1.png ├── form_2.png ├── formula.repository ├── functions.html ├── functions_func.html ├── functions_vars.html ├── globals.html ├── globals_defs.html ├── globals_func.html ├── globals_type.html ├── hierarchy.html ├── index.html ├── jps__planner_2graph__search_8h_source.html ├── jps__planner_8h.html ├── jps__planner_8h_source.html ├── jquery.js ├── map__util_8h.html ├── map__util_8h_source.html ├── menu.js ├── menudata.js ├── nav_f.png ├── nav_g.png ├── nav_h.png ├── open.png ├── read__map_8hpp_source.html ├── search │ ├── all_0.html │ ├── all_0.js │ ├── all_1.html │ ├── all_1.js │ ├── all_10.html │ ├── all_10.js │ ├── all_11.html │ ├── all_11.js │ ├── all_2.html │ ├── all_2.js │ ├── all_3.html │ ├── all_3.js │ ├── all_4.html │ ├── all_4.js │ ├── all_5.html │ ├── all_5.js │ ├── all_6.html │ ├── all_6.js │ ├── all_7.html │ ├── all_7.js │ ├── all_8.html │ ├── all_8.js │ ├── all_9.html │ ├── all_9.js │ ├── all_a.html │ ├── all_a.js │ ├── all_b.html │ ├── all_b.js │ ├── all_c.html │ ├── all_c.js │ ├── all_d.html │ ├── all_d.js │ ├── all_e.html │ ├── all_e.js │ ├── all_f.html │ ├── all_f.js │ ├── classes_0.html │ ├── classes_0.js │ ├── classes_1.html │ ├── classes_1.js │ ├── classes_2.html │ ├── classes_2.js │ ├── classes_3.html │ ├── classes_3.js │ ├── classes_4.html │ ├── classes_4.js │ ├── classes_5.html │ ├── classes_5.js │ ├── classes_6.html │ ├── classes_6.js │ ├── classes_7.html │ ├── classes_7.js │ ├── close.png │ ├── defines_0.html │ ├── defines_0.js │ ├── defines_1.html │ ├── defines_1.js │ ├── files_0.html │ ├── files_0.js │ ├── files_1.html │ ├── files_1.js │ ├── files_2.html │ ├── files_2.js │ ├── functions_0.html │ ├── functions_0.js │ ├── functions_1.html │ ├── functions_1.js │ ├── functions_2.html │ ├── functions_2.js │ ├── functions_3.html │ ├── functions_3.js │ ├── functions_4.html │ ├── functions_4.js │ ├── functions_5.html │ ├── functions_5.js │ ├── functions_6.html │ ├── functions_6.js │ ├── functions_7.html │ ├── functions_7.js │ ├── functions_8.html │ ├── functions_8.js │ ├── functions_9.html │ ├── functions_9.js │ ├── functions_a.html │ ├── functions_a.js │ ├── functions_b.html │ ├── functions_b.js │ ├── functions_c.html │ ├── functions_c.js │ ├── mag_sel.png │ ├── nomatches.html │ ├── pages_0.html │ ├── pages_0.js │ ├── search.css │ ├── search.js │ ├── search_l.png │ ├── search_m.png │ ├── search_r.png │ ├── searchdata.js │ ├── typedefs_0.html │ ├── typedefs_0.js │ ├── typedefs_1.html │ ├── typedefs_1.js │ ├── typedefs_2.html │ ├── typedefs_2.js │ ├── typedefs_3.html │ ├── typedefs_3.js │ ├── typedefs_4.html │ ├── typedefs_4.js │ ├── typedefs_5.html │ ├── typedefs_5.js │ ├── typedefs_6.html │ ├── typedefs_6.js │ ├── variables_0.html │ ├── variables_0.js │ ├── variables_1.html │ ├── variables_1.js │ ├── variables_2.html │ ├── variables_2.js │ ├── variables_3.html │ ├── variables_3.js │ ├── variables_4.html │ ├── variables_4.js │ ├── variables_5.html │ ├── variables_5.js │ ├── variables_6.html │ ├── variables_6.js │ ├── variables_7.html │ ├── variables_7.js │ ├── variables_8.html │ ├── variables_8.js │ ├── variables_9.html │ ├── variables_9.js │ ├── variables_a.html │ ├── variables_a.js │ ├── variables_b.html │ ├── variables_b.js │ ├── variables_c.html │ └── variables_c.js ├── splitbar.png ├── structDMP_1_1State-members.html ├── structDMP_1_1State.html ├── structDMP_1_1compare__state-members.html ├── structDMP_1_1compare__state.html ├── structJPS_1_1JPS2DNeib-members.html ├── structJPS_1_1JPS2DNeib.html ├── structJPS_1_1JPS3DNeib-members.html ├── structJPS_1_1JPS3DNeib.html ├── structJPS_1_1State-members.html ├── structJPS_1_1State.html ├── structJPS_1_1compare__state-members.html ├── structJPS_1_1compare__state.html ├── sync_off.png ├── sync_on.png ├── tab_a.png ├── tab_b.png ├── tab_h.png ├── tab_s.png ├── tabs.css └── timer_8hpp_source.html ├── include ├── jps_basis │ ├── data_type.h │ └── data_utils.h ├── jps_collision │ └── map_util.h └── jps_planner │ ├── distance_map_planner │ ├── distance_map_planner.h │ └── graph_search.h │ └── jps_planner │ ├── graph_search.h │ └── jps_planner.h ├── jps3dConfig.cmake ├── jps3dConfigVersion.cmake ├── output.svg ├── package.xml ├── src ├── distance_map_planner │ ├── distance_map_planner.cpp │ └── graph_search.cpp └── jps_planner │ ├── graph_search.cpp │ └── jps_planner.cpp ├── test ├── create_map.cpp ├── read_map.hpp ├── test_distance_map_planner_2d.cpp ├── test_planner_2d.cpp ├── test_planner_3d.cpp └── timer.hpp └── wercker.yml 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