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Fast-Planner-master16_18.zip 大约有1689个文件
  1. Fast-Planner-master16_18/
  2. Fast-Planner-master16_18/Fast-Planner-master/
  3. Fast-Planner-master16_18/Fast-Planner-master/.gitignore 44B
  4. Fast-Planner-master16_18/Fast-Planner-master/LICENSE 34.33KB
  5. Fast-Planner-master16_18/Fast-Planner-master/README.md 12.87KB
  6. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/
  7. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/bag/
  8. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/bag/record.sh 225B
  9. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/bspline/
  10. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/bspline/CMakeLists.txt 677B
  11. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/bspline/include/
  12. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/bspline/include/bspline/
  13. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/bspline/include/bspline/non_uniform_bspline.h 3.92KB
  14. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/bspline/package.xml 2.93KB
  15. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/bspline/src/
  16. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/bspline/src/non_uniform_bspline.cpp 14.31KB
  17. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/bspline_opt/
  18. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/bspline_opt/CMakeLists.txt 889B
  19. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/bspline_opt/include/
  20. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/bspline_opt/include/bspline_opt/
  21. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/bspline_opt/include/bspline_opt/bspline_optimizer.h 7.07KB
  22. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/bspline_opt/package.xml 2.94KB
  23. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/bspline_opt/script/
  24. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/bspline_opt/script/calc_jacobian.py 291B
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  27. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/bspline_opt/script/dist_to_line.py 2.25KB
  28. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/bspline_opt/src/
  29. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/bspline_opt/src/bspline_optimizer.cpp 17.09KB
  30. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/path_searching/
  31. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/path_searching/CMakeLists.txt 752B
  32. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/path_searching/include/
  33. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/path_searching/include/path_searching/
  34. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/path_searching/include/path_searching/astar.h 4.8KB
  35. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/path_searching/include/path_searching/kinodynamic_astar.h 5.05KB
  36. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/path_searching/include/path_searching/topo_prm.h 6.15KB
  37. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/path_searching/package.xml 2.9KB
  38. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/path_searching/src/
  39. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/path_searching/src/astar.cpp 10.44KB
  40. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/path_searching/src/kinodynamic_astar.cpp 38.44KB
  41. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/path_searching/src/topo_prm.cpp 21.43KB
  42. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_env/
  43. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_env/CMakeLists.txt 1012B
  44. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_env/include/
  45. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_env/include/plan_env/
  46. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_env/include/plan_env/edt_environment.h 2.56KB
  47. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_env/include/plan_env/linear_obj_model.hpp 5.98KB
  48. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_env/include/plan_env/obj_predictor.h 3.99KB
  49. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_env/include/plan_env/polynomial_traj.hpp 8KB
  50. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_env/include/plan_env/raycast.h 2.37KB
  51. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_env/include/plan_env/sdf_map.h 16.48KB
  52. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_env/package.xml 2.8KB
  53. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_env/src/
  54. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_env/src/edt_environment.cpp 4.61KB
  55. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_env/src/obj_generator.cpp 7.76KB
  56. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_env/src/obj_predictor.cpp 7.32KB
  57. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_env/src/raycast.cpp 11KB
  58. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_env/src/sdf_map.cpp 42.79KB
  59. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_manage/
  60. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_manage/CMakeLists.txt 1.4KB
  61. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_manage/README.md 6.86KB
  62. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_manage/config/
  63. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_manage/config/exp.rviz 24.31KB
  64. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_manage/config/kino.rviz 17.94KB
  65. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_manage/config/traj.rviz 15.06KB
  66. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_manage/include/
  67. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_manage/include/plan_manage/
  68. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_manage/include/plan_manage/backward.hpp 139.26KB
  69. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_manage/include/plan_manage/kino_replan_fsm.h 3.8KB
  70. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_manage/include/plan_manage/plan_container.hpp 8.78KB
  71. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_manage/include/plan_manage/planner_manager.h 3.56KB
  72. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_manage/include/plan_manage/topo_replan_fsm.h 3.54KB
  73. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_manage/include/plan_manage/utils.h 1.56KB
  74. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_manage/launch/
  75. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_manage/launch/kino_algorithm.xml 7.62KB
  76. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_manage/launch/kino_replan.launch 3.28KB
  77. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_manage/launch/rviz.launch 138B
  78. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_manage/launch/simulator.xml 4.68KB
  79. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_manage/launch/topo_algorithm.xml 7.91KB
  80. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_manage/launch/topo_replan.launch 3.17KB
  81. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_manage/msg/
  82. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_manage/msg/Bspline.msg 124B
  83. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_manage/package.xml 3.19KB
  84. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_manage/script/
  85. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_manage/script/calc.py 1.08KB
  86. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_manage/script/polyfit_predict.py 1.72KB
  87. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_manage/script/traj_opt.py 1.43KB
  88. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_manage/src/
  89. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_manage/src/fast_planner_node.cpp 1.71KB
  90. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_manage/src/kino_replan_fsm.cpp 11.59KB
  91. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_manage/src/planner_manager.cpp 23.47KB
  92. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_manage/src/topo_replan_fsm.cpp 14.17KB
  93. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/plan_manage/src/traj_server.cpp 8.93KB
  94. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/poly_traj/
  95. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/poly_traj/CMakeLists.txt 588B
  96. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/poly_traj/include/
  97. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/poly_traj/include/poly_traj/
  98. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/poly_traj/include/poly_traj/polynomial_traj.h 8.6KB
  99. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/poly_traj/package.xml 2.77KB
  100. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/poly_traj/src/
  101. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/poly_traj/src/polynomial_traj.cpp 13.8KB
  102. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/poly_traj/src/traj_generator.cpp 7.03KB
  103. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/traj_utils/
  104. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/traj_utils/CMakeLists.txt 787B
  105. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/traj_utils/include/
  106. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/traj_utils/include/traj_utils/
  107. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/traj_utils/include/traj_utils/planning_visualization.h 4.86KB
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  110. Fast-Planner-master16_18/Fast-Planner-master/fast_planner/traj_utils/src/planning_visualization.cpp 14.82KB
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  1212. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/local_sensing/CMakeModules/FindCUDA/run_nvcc.cmake 10.4KB
  1213. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/local_sensing/CMakeModules/FindCUDA.cmake 53.95KB
  1214. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/local_sensing/CMakeModules/FindEigen.cmake 2.86KB
  1215. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/local_sensing/CMakeModules/FindEigen.cmake~ 2.81KB
  1216. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/local_sensing/cfg/
  1217. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/local_sensing/cfg/local_sensing_node.cfg 564B
  1218. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/local_sensing/package.xml 1.3KB
  1219. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/local_sensing/params/
  1220. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/local_sensing/params/camera.yaml 274B
  1221. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/local_sensing/src/
  1222. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/local_sensing/src/AlignError.h 3.15KB
  1223. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/local_sensing/src/ceres_extensions.h 5.81KB
  1224. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/local_sensing/src/csv_convert.py 702B
  1225. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/local_sensing/src/cuda_exception.cuh 1.53KB
  1226. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/local_sensing/src/depth_render.cu 5.88KB
  1227. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/local_sensing/src/depth_render.cuh 1011B
  1228. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/local_sensing/src/device_image.cuh 5.08KB
  1229. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/local_sensing/src/empty.cpp 18B
  1230. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/local_sensing/src/empty.h
  1231. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/local_sensing/src/euroc.cpp 11KB
  1232. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/local_sensing/src/helper_math.h 36.44KB
  1233. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/local_sensing/src/pcl_render_node.cpp 12.04KB
  1234. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/local_sensing/src/pointcloud_render_node.cpp 5.58KB
  1235. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/map_generator/
  1236. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/map_generator/.vscode/
  1237. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/map_generator/.vscode/c_cpp_properties.json 445B
  1238. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/map_generator/CMakeLists.txt 625B
  1239. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/map_generator/package.xml 2.7KB
  1240. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/map_generator/src/
  1241. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/map_generator/src/random_forest_sensing.cpp 9.43KB
  1242. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_control/
  1243. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_control/CMakeLists.txt 7.21KB
  1244. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_control/config/
  1245. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_control/config/corrections_hummingbird.yaml 40B
  1246. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_control/config/corrections_pelican.yaml 40B
  1247. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_control/config/gains.yaml 169B
  1248. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_control/config/gains_hummingbird.yaml 170B
  1249. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_control/config/gains_pelican.yaml 169B
  1250. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_control/include/
  1251. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_control/include/so3_control/
  1252. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_control/include/so3_control/SO3Control.h 1.05KB
  1253. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_control/mainpage.dox 116B
  1254. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_control/nodelet_plugin.xml 228B
  1255. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_control/package.xml 846B
  1256. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_control/src/
  1257. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_control/src/SO3Control.cpp 2.94KB
  1258. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_control/src/so3_control_nodelet.cpp 7.04KB
  1259. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_disturbance_generator/
  1260. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_disturbance_generator/CMakeLists.txt 2.41KB
  1261. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_disturbance_generator/cfg/
  1262. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_disturbance_generator/cfg/cpp/
  1263. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_disturbance_generator/cfg/cpp/so3_disturbance_generator/
  1264. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_disturbance_generator/cfg/cpp/so3_disturbance_generator/DisturbanceUIConfig.h 45.15KB
  1265. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_disturbance_generator/cfg/disturbance_ui.cfg 2.12KB
  1266. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_disturbance_generator/cfg/disturbance_ui.cfgc 1.95KB
  1267. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_disturbance_generator/docs/
  1268. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_disturbance_generator/docs/DisturbanceUIConfig-usage.dox 1.23KB
  1269. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_disturbance_generator/docs/DisturbanceUIConfig.dox 1.81KB
  1270. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_disturbance_generator/docs/DisturbanceUIConfig.wikidoc 2.13KB
  1271. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_disturbance_generator/include/
  1272. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_disturbance_generator/include/so3_disturbance_generator/
  1273. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_disturbance_generator/include/so3_disturbance_generator/DisturbanceUIConfig.h 45.15KB
  1274. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_disturbance_generator/mainpage.dox 603B
  1275. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_disturbance_generator/package.xml 940B
  1276. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_disturbance_generator/src/
  1277. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_disturbance_generator/src/pose_utils.h 1.11KB
  1278. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_disturbance_generator/src/so3_disturbance_generator/
  1279. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_disturbance_generator/src/so3_disturbance_generator/__init__.py
  1280. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_disturbance_generator/src/so3_disturbance_generator/cfg/
  1281. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_disturbance_generator/src/so3_disturbance_generator/cfg/DisturbanceUIConfig.py 9.42KB
  1282. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_disturbance_generator/src/so3_disturbance_generator/cfg/__init__.py
  1283. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_disturbance_generator/src/so3_disturbance_generator.cpp 7.45KB
  1284. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_disturbance_generator/src/so3_disturbance_generator.cpp~ 7.46KB
  1285. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/
  1286. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/CMakeLists.txt 998B
  1287. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/config/
  1288. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/config/rviz.rviz 6.13KB
  1289. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/
  1290. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/
  1291. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/CHANGELOG 171B
  1292. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/Jamroot 1.15KB
  1293. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/README 81B
  1294. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/
  1295. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/
  1296. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/
  1297. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/
  1298. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/array_algebra.hpp 10.02KB
  1299. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/default_operations.hpp 23.23KB
  1300. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/
  1301. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/for_each.hpp 9.33KB
  1302. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/macros.hpp 1.11KB
  1303. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/reduce.hpp 1.95KB
  1304. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/fusion_algebra.hpp 10.35KB
  1305. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/range_algebra.hpp 8.94KB
  1306. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/vector_space_algebra.hpp 5.78KB
  1307. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/config.hpp 1.17KB
  1308. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/
  1309. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/gsl/
  1310. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/gsl/gsl_wrapper.hpp 5.13KB
  1311. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mkl/
  1312. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mkl/mkl_operations.hpp 6.57KB
  1313. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mtl4/
  1314. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mtl4/implicit_euler_mtl4.hpp 4.53KB
  1315. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mtl4/mtl4_resize.hpp 4.01KB
  1316. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/
  1317. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_algebra.hpp 7.43KB
  1318. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_operations.hpp 7.64KB
  1319. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_resize.hpp 2.99KB
  1320. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/vexcl/
  1321. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/vexcl/vexcl_resize.hpp 2.25KB
  1322. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/viennacl/
  1323. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/viennacl/viennacl_operations.hpp 8.81KB
  1324. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/viennacl/viennacl_resize.hpp 1.53KB
  1325. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/
  1326. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/
  1327. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_adaptive.hpp 4.93KB
  1328. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_const.hpp 5.24KB
  1329. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_n_steps.hpp 5.46KB
  1330. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_times.hpp 4.96KB
  1331. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate.hpp 3.54KB
  1332. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate_adaptive.hpp 4.31KB
  1333. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate_const.hpp 5.16KB
  1334. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate_n_steps.hpp 4.4KB
  1335. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate_times.hpp 4.63KB
  1336. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/null_observer.hpp 829B
  1337. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/observer_collection.hpp 1.34KB
  1338. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/
  1339. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/adams_bashforth.hpp 14.35KB
  1340. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/adams_bashforth_moulton.hpp 9.71KB
  1341. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/adams_moulton.hpp 5.6KB
  1342. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/
  1343. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/algebra_stepper_base.hpp 2.46KB
  1344. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/explicit_error_stepper_base.hpp 23.55KB
  1345. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/explicit_error_stepper_fsal_base.hpp 27.85KB
  1346. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/explicit_stepper_base.hpp 14.79KB
  1347. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/symplectic_rkn_stepper_base.hpp 19.29KB
  1348. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/bulirsch_stoer.hpp 24.57KB
  1349. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/bulirsch_stoer_dense_out.hpp 31.83KB
  1350. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/controlled_runge_kutta.hpp 34.35KB
  1351. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/controlled_step_result.hpp 1.07KB
  1352. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/dense_output_runge_kutta.hpp 13.88KB
  1353. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/
  1354. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_bashforth_call_algebra.hpp 6.72KB
  1355. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_bashforth_coefficients.hpp 5.41KB
  1356. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_moulton_call_algebra.hpp 6KB
  1357. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_moulton_coefficients.hpp 5.31KB
  1358. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_algorithm.hpp 8.09KB
  1359. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_call_algebra.hpp 10.27KB
  1360. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_operations.hpp 9.57KB
  1361. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/rotating_buffer.hpp 1.51KB
  1362. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/euler.hpp 6.21KB
  1363. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/explicit_error_generic_rk.hpp 10.23KB
  1364. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/explicit_generic_rk.hpp 8.06KB
  1365. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/
  1366. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_controlled_runge_kutta.hpp 1.54KB
  1367. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_dense_output_runge_kutta.hpp 1.75KB
  1368. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_rosenbrock4.hpp 2.19KB
  1369. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54.hpp 1.5KB
  1370. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54_classic.hpp 1.59KB
  1371. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_dopri5.hpp 2.02KB
  1372. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_fehlberg78.hpp 1.44KB
  1373. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/make_controlled.hpp 1.87KB
  1374. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/make_dense_output.hpp 1.9KB
  1375. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation.hpp 1.35KB
  1376. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/implicit_euler.hpp 5.08KB
  1377. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/modified_midpoint.hpp 10.02KB
  1378. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/rosenbrock4.hpp 14.23KB
  1379. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/rosenbrock4_controller.hpp 5.92KB
  1380. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/rosenbrock4_dense_output.hpp 5.04KB
  1381. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta4.hpp 5.52KB
  1382. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta4_classic.hpp 8.2KB
  1383. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_cash_karp54.hpp 8.27KB
  1384. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_cash_karp54_classic.hpp 13.75KB
  1385. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_dopri5.hpp 20.75KB
  1386. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_fehlberg78.hpp 14.45KB
  1387. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/stepper_categories.hpp 2.11KB
  1388. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/symplectic_euler.hpp 3.65KB
  1389. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/symplectic_rkn_sb3a_m4_mclachlan.hpp 4.69KB
  1390. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/symplectic_rkn_sb3a_mclachlan.hpp 5.02KB
  1391. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/
  1392. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/bind.hpp 1.02KB
  1393. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/copy.hpp 1.79KB
  1394. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/detail/
  1395. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/detail/is_range.hpp 2.61KB
  1396. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/detail/less_with_sign.hpp 1.19KB
  1397. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/is_pair.hpp 905B
  1398. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/is_resizeable.hpp 2.17KB
  1399. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/resize.hpp 2.78KB
  1400. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/resizer.hpp 1.89KB
  1401. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/same_instance.hpp 1.14KB
  1402. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/same_size.hpp 2.75KB
  1403. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/state_wrapper.hpp 1.07KB
  1404. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/ublas_wrapper.hpp 7.5KB
  1405. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/unit_helper.hpp 3.13KB
  1406. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/unwrap_reference.hpp 1.44KB
  1407. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/version.hpp 1.18KB
  1408. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint.hpp 2.66KB
  1409. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/libs/
  1410. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/
  1411. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/
  1412. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/
  1413. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/Jamfile.v2 13.93KB
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  1654. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/stepper_with_ranges.cpp 8.59KB
  1655. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/stepper_with_units.cpp 11.43KB
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  1662. Fast-Planner-master16_18/Fast-Planner-master/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gmp/check_gmp.cpp 4.82KB
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资源介绍:

Fast-Planner-master16_18.zip
# Fast-Planner **Fast-Planner** is developed aiming to enable quadrotor fast flight in complex unknown environments. It contains a rich set of carefully designed planning algorithms. It also provides a foundational code framework and algorithms that support several popular open-source drone projects, including [ego-planner](https://github.com/ZJU-FAST-Lab/ego-planner), [FUEL](https://github.com/HKUST-Aerial-Robotics/FUEL) and [RACER](https://github.com/SYSU-STAR/RACER), etc. **News**: - __Mar 13, 2021__: Code for fast autonomous exploration is available now! Check this [repo](https://github.com/HKUST-Aerial-Robotics/FUEL) for more details. - __Oct 20, 2020__: Fast-Planner is extended and applied to fast autonomous exploration. Check this [repo](https://github.com/HKUST-Aerial-Robotics/FUEL) for more details. __Authors__: [Boyu Zhou](http://sysu-star.com) and [Shaojie Shen](http://uav.ust.hk/group/) from the [HUKST Aerial Robotics Group](http://uav.ust.hk/), [Fei Gao](http://zju-fast.com/fei-gao/) from ZJU FAST Lab.

Complete videos: [video1](https://www.youtube.com/watch?v=NvR8Lq2pmPg&feature=emb_logo), [video2](https://www.youtube.com/watch?v=YcEaFTjs-a0), [video3](https://www.youtube.com/watch?v=toGhoGYyoAY). Demonstrations about this work have been reported on the IEEE Spectrum: [page1](https://spectrum.ieee.org/automaton/robotics/robotics-hardware/video-friday-nasa-lemur-robot), [page2](https://spectrum.ieee.org/automaton/robotics/robotics-hardware/video-friday-india-space-humanoid-robot), [page3](https://spectrum.ieee.org/automaton/robotics/robotics-hardware/video-friday-soft-exoskeleton-glove-extra-thumb) (search for _HKUST_ in the pages). To run this project in minutes, check [Quick Start](#1-Quick-Start). Check other sections for more detailed information. Please kindly star :star: this project if it helps you. We take great efforts to develope and maintain it :grin::grin:. ## Table of Contents * [Quick Start](#1-Quick-Start) * [Algorithms and Papers](#2-Algorithms-and-Papers) * [Setup and Config](#3-Setup-and-Config) * [Run Simulations](#4-run-simulations) * [Use in Your Application](#5-use-in-your-application) * [Updates](#6-updates) * [Known issues](#known-issues) ## 1. Quick Start This project has been tested on Ubuntu 18.04(ROS Melodic) and 20.04(ROS Noetic). Firstly, you should install __nlopt v2.7.1__: ``` git clone -b v2.7.1 https://github.com/stevengj/nlopt.git cd nlopt mkdir build cd build cmake .. make sudo make install ``` Next, you can run the following commands to install other required tools: ``` sudo apt-get install libarmadillo-dev ``` Then simply clone and compile our package (using ssh here): ``` cd ${YOUR_WORKSPACE_PATH}/src git clone https://github.com/HKUST-Aerial-Robotics/Fast-Planner.git cd ../ catkin_make ``` You may check the detailed [instruction](#3-setup-and-config) to setup the project. After compilation you can start the visualization by: ``` source devel/setup.bash && roslaunch plan_manage rviz.launch ``` and start a simulation (run in a new terminals): ``` source devel/setup.bash && roslaunch plan_manage kino_replan.launch ``` You will find the random map and the drone in ```Rviz```. You can select goals for the drone to reach using the ```2D Nav Goal``` tool. A sample simulation is showed [here](#demo1). ## 2. Algorithms and Papers The project contains a collection of robust and computationally efficient algorithms for quadrotor fast flight: * Kinodynamic path searching * B-spline-based trajectory optimization * Topological path searching and path-guided optimization * Perception-aware planning strategy (to appear) These methods are detailed in our papers listed below. Please cite at least one of our papers if you use this project in your research: [Bibtex](files/bib.txt). - [__Robust and Efficient Quadrotor Trajectory Generation for Fast Autonomous Flight__](https://ieeexplore.ieee.org/document/8758904), Boyu Zhou, Fei Gao, Luqi Wang, Chuhao Liu and Shaojie Shen, IEEE Robotics and Automation Letters (**RA-L**), 2019. - [__Robust Real-time UAV Replanning Using Guided Gradient-based Optimization and Topological Paths__](https://arxiv.org/abs/1912.12644), Boyu Zhou, Fei Gao, Jie Pan and Shaojie Shen, IEEE International Conference on Robotics and Automation (__ICRA__), 2020. - [__RAPTOR: Robust and Perception-aware Trajectory Replanning for Quadrotor Fast Flight__](https://arxiv.org/abs/2007.03465), Boyu Zhou, Jie Pan, Fei Gao and Shaojie Shen, IEEE Transactions on Robotics (__T-RO__). All planning algorithms along with other key modules, such as mapping, are implemented in __fast_planner__: - __plan_env__: The online mapping algorithms. It takes in depth image (or point cloud) and camera pose (odometry) pairs as input, do raycasting to update a probabilistic volumetric map, and build an Euclidean signed distance filed (ESDF) for the planning system. - __path_searching__: Front-end path searching algorithms. Currently it includes a kinodynamic path searching that respects the dynamics of quadrotors. It also contains a sampling-based topological path searching algorithm to generate multiple topologically distinctive paths that capture the structure of the 3D environments. - __bspline__: A implementation of the B-spline-based trajectory representation. - __bspline_opt__: The gradient-based trajectory optimization using B-spline trajectory. - __active_perception__: Perception-aware planning strategy, which enable to quadrotor to actively observe and avoid unknown obstacles, to appear in the future. - __plan_manage__: High-level modules that schedule and call the mapping and planning algorithms. Interfaces for launching the whole system, as well as the configuration files are contained here. Besides the folder __fast_planner__, a lightweight __uav_simulator__ is used for testing. ## 3. Setup and Config ### Prerequisites 1. Our software is developed and tested in Ubuntu 18.04(ROS Melodic) and 20.04(ROS Noetic). 2. We use [**NLopt**](https://nlopt.readthedocs.io/en/latest/NLopt_Installation) to solve the non-linear optimization problem. The __uav_simulator__ depends on the C++ linear algebra library __Armadillo__. The two dependencies can be installed by the following command. Firstly, you should install __nlopt v2.7.1__: ``` git clone -b v2.7.1 https://github.com/stevengj/nlopt.git cd nlopt mkdir build cd build cmake .. make sudo make install ``` Next, you can run the following commands to install other required tools: ``` sudo apt-get install libarmadillo-dev ``` ### Build on ROS After the prerequisites are satisfied, you can clone this repository to your catkin workspace and catkin_make. A new workspace is recommended: ``` cd ${YOUR_WORKSPACE_PATH}/src git clone https://github.com/HKUST-Aerial-Robotics/Fast-Planner.git cd ../ catkin_make ``` If you encounter problems in this step, please first refer to existing __issues__, __pull requests__ and __Google__ before raising a new issue. Now you are ready to [run a simulation](#4-run-simulations). ### Use GPU Depth Rendering (can be skipped optionally) This step is not mandatory for running the simulations. However, if you want to run the more realistic depth camera in __uav_simulator__, installation of [CUDA T
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