├── .gitignore ├── LICENSE ├── README.md ├── Suplementary Material ├── Readme.md ├── Readme_suplementary.md └── extended_paper.pdf └── ros_ws ├── README.md ├── src ├── frenet_cpp │ ├── CMakeLists.txt │ ├── config.yaml │ ├── include │ │ └── frenet_cpp │ │ │ ├── cpprobotics_types.h │ │ │ ├── cubic_spline.h │ │ │ ├── frenet_path.h │ │ │ ├── quartic_polynomial.h │ │ │ ├── quintic_polynomial.h │ │ │ └── visualization.h │ ├── package.xml │ └── src │ │ ├── cubic_spline_planner.cpp │ │ ├── frenet_car.cpp │ │ └── frenet_optimal_trajectory.cpp ├── highway_car │ ├── config.yaml │ ├── highway_car │ │ ├── __init__.py │ │ └── highway_car2.py │ ├── package.xml │ ├── resource │ │ └── highway_car │ ├── setup.cfg │ ├── setup.py │ └── test │ │ ├── test_copyright.py │ │ ├── test_flake8.py │ │ └── test_pep257.py ├── mpc_car_acado │ ├── CMakeLists.txt │ ├── FindACADO.cmake │ ├── config.yaml │ ├── externals │ │ └── qpoases │ │ │ ├── EXAMPLES │ │ │ ├── example1.cpp │ │ │ └── example1b.cpp │ │ │ ├── INCLUDE │ │ │ ├── Bounds.hpp │ │ │ ├── Constants.hpp │ │ │ ├── Constraints.hpp │ │ │ ├── CyclingManager.hpp │ │ │ ├── EXTRAS │ │ │ │ └── SolutionAnalysis.hpp │ │ │ ├── Indexlist.hpp │ │ │ ├── MessageHandling.hpp │ │ │ ├── QProblem.hpp │ │ │ ├── QProblemB.hpp │ │ │ ├── SubjectTo.hpp │ │ │ ├── Types.hpp │ │ │ └── Utils.hpp │ │ │ ├── LICENSE.txt │ │ │ ├── README.txt │ │ │ ├── SRC │ │ │ ├── Bounds.cpp │ │ │ ├── Bounds.ipp │ │ │ ├── Bounds.o │ │ │ ├── Constraints.cpp │ │ │ ├── Constraints.ipp │ │ │ ├── Constraints.o │ │ │ ├── CyclingManager.cpp │ │ │ ├── CyclingManager.ipp │ │ │ ├── CyclingManager.o │ │ │ ├── EXTRAS │ │ │ │ ├── SolutionAnalysis.cpp │ │ │ │ └── SolutionAnalysis.o │ │ │ ├── Indexlist.cpp │ │ │ ├── Indexlist.ipp │ │ │ ├── Indexlist.o │ │ │ ├── MessageHandling.cpp │ │ │ ├── MessageHandling.ipp │ │ │ ├── MessageHandling.o │ │ │ ├── QProblem.cpp │ │ │ ├── QProblem.ipp │ │ │ ├── QProblem.o │ │ │ ├── QProblemB.cpp │ │ │ ├── QProblemB.ipp │ │ │ ├── QProblemB.o │ │ │ ├── SubjectTo.cpp │ │ │ ├── SubjectTo.ipp │ │ │ ├── SubjectTo.o │ │ │ ├── Utils.cpp │ │ │ ├── Utils.ipp │ │ │ └── Utils.o │ │ │ └── VERSIONS.txt │ ├── model │ │ └── codegen │ │ │ ├── Makefile │ │ │ ├── acado_auxiliary_functions.c │ │ │ ├── acado_auxiliary_functions.h │ │ │ ├── acado_common.h │ │ │ ├── acado_integrator.c │ │ │ ├── acado_qpoases_interface.cpp │ │ │ ├── acado_qpoases_interface.hpp │ │ │ └── acado_solver.c │ ├── package.xml │ └── src │ │ ├── code_gen.cpp │ │ └── main_acado.cpp ├── mpc_car_acado_single │ ├── CMakeLists.txt │ ├── FindACADO.cmake │ ├── config.yaml │ ├── externals │ │ └── qpoases │ │ │ ├── EXAMPLES │ │ │ ├── example1.cpp │ │ │ └── example1b.cpp │ │ │ ├── INCLUDE │ │ │ ├── Bounds.hpp │ │ │ ├── Constants.hpp │ │ │ ├── Constraints.hpp │ │ │ ├── CyclingManager.hpp │ │ │ ├── EXTRAS │ │ │ │ └── SolutionAnalysis.hpp │ │ │ ├── Indexlist.hpp │ │ │ ├── MessageHandling.hpp │ │ │ ├── QProblem.hpp │ │ │ ├── QProblemB.hpp │ │ │ ├── SubjectTo.hpp │ │ │ ├── Types.hpp │ │ │ └── Utils.hpp │ │ │ ├── LICENSE.txt │ │ │ ├── README.txt │ │ │ ├── SRC │ │ │ ├── Bounds.cpp │ │ │ ├── Bounds.ipp │ │ │ ├── Bounds.o │ │ │ ├── Constraints.cpp │ │ │ ├── Constraints.ipp │ │ │ ├── Constraints.o │ │ │ ├── CyclingManager.cpp │ │ │ ├── CyclingManager.ipp │ │ │ ├── CyclingManager.o │ │ │ ├── EXTRAS │ │ │ │ ├── SolutionAnalysis.cpp │ │ │ │ └── SolutionAnalysis.o │ │ │ ├── Indexlist.cpp │ │ │ ├── Indexlist.ipp │ │ │ ├── Indexlist.o │ │ │ ├── MessageHandling.cpp │ │ │ ├── MessageHandling.ipp │ │ │ ├── MessageHandling.o │ │ │ ├── QProblem.cpp │ │ │ ├── QProblem.ipp │ │ │ ├── QProblem.o │ │ │ ├── QProblemB.cpp │ │ │ ├── QProblemB.ipp │ │ │ ├── QProblemB.o │ │ │ ├── SubjectTo.cpp │ │ │ ├── SubjectTo.ipp │ │ │ ├── SubjectTo.o │ │ │ ├── Utils.cpp │ │ │ ├── Utils.ipp │ │ │ └── Utils.o │ │ │ └── VERSIONS.txt │ ├── model │ │ └── codegen │ │ │ ├── Makefile │ │ │ ├── acado_auxiliary_functions.c │ │ │ ├── acado_auxiliary_functions.h │ │ │ ├── acado_common.h │ │ │ ├── acado_integrator.c │ │ │ ├── acado_qpoases_interface.cpp │ │ │ ├── acado_qpoases_interface.hpp │ │ │ └── acado_solver.c │ ├── package.xml │ └── src │ │ ├── code_gen.cpp │ │ └── main_acado.cpp ├── mpc_car_batch │ ├── CMakeLists.txt │ ├── config.yaml │ ├── include │ │ └── mpc_car_batch │ │ │ └── optim_batch.h │ ├── package.xml │ └── src │ │ ├── main_batch.cpp │ │ └── optim_batch.cpp └── msgs_car │ ├── CMakeLists.txt │ ├── msg │ ├── Controls.msg │ └── States.msg │ └── package.xml └── stats ├── New ├── BatchSize │ └── No-Time-Budget │ │ ├── Copy │ │ ├── mpc_car_acado_10_goals.txt │ │ ├── mpc_car_acado_12_goals.txt │ │ ├── mpc_car_acado_14_goals.txt │ │ ├── mpc_car_acado_16_goals.txt │ │ ├── mpc_car_acado_20_goals.txt │ │ ├── mpc_car_acado_2_goals.txt │ │ ├── mpc_car_acado_4_goals.txt │ │ ├── mpc_car_acado_6_goals.txt │ │ ├── mpc_car_acado_8_goals.txt │ │ ├── mpc_car_batch_data_10_goals.txt │ │ ├── mpc_car_batch_data_12_goals.txt │ │ ├── mpc_car_batch_data_14_goals.txt │ │ ├── mpc_car_batch_data_16_goals.txt │ │ ├── mpc_car_batch_data_20_goals.txt │ │ ├── mpc_car_batch_data_2_goals.txt │ │ ├── mpc_car_batch_data_4_goals.txt │ │ ├── mpc_car_batch_data_6_goals.txt │ │ └── mpc_car_batch_data_8_goals.txt │ │ └── box_plot.py ├── Cruise │ └── No-Time-Budget │ │ ├── Copy │ │ ├── car_frenet_data.txt │ │ ├── mpc_car_acado_data_11_goals.txt │ │ ├── mpc_car_acado_data_1_goals.txt │ │ ├── mpc_car_acado_data_6_goals.txt │ │ └── mpc_car_batch_data_11_goals.txt │ │ ├── box_plot.py │ │ └── stats.txt ├── HighSpeed_RightLane │ └── No-Time-Budget │ │ ├── Copy │ │ ├── car_frenet_data.txt │ │ ├── mpc_car_acado_data_11_goals.txt │ │ ├── mpc_car_acado_data_1_goals.txt │ │ ├── mpc_car_acado_data_6_goals.txt │ │ └── mpc_car_batch_data_11_goals.txt │ │ └── box_plot.py ├── NGSIM │ └── No-Time-Budget │ │ ├── cruise │ │ ├── Copy │ │ │ ├── car_frenet_data_0_ngsim.txt │ │ │ ├── mpc_car_acado_data_11_goals_0_ngsim.txt │ │ │ ├── mpc_car_acado_data_1_goals.txt │ │ │ ├── mpc_car_acado_data_6_goals_0_ngsim.txt │ │ │ └── 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