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init release version

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USTfgaoaa committed May 2, 2019
0 parents commit 3b33587841dc25a3fc68233877713900fd70979d
Showing with 16,055 additions and 0 deletions.
  1. +70 −0 Planner/CMakeLists.txt
  2. +1,989 −0 Planner/include/pointcloudTraj/backward.hpp
  3. +56 −0 Planner/include/pointcloudTraj/bezier_base.h
  4. +148 −0 Planner/include/pointcloudTraj/corridor_finder.h
  5. +53 −0 Planner/include/pointcloudTraj/data_type.h
  6. +3,577 −0 Planner/include/pointcloudTraj/mosek.h
  7. +42 −0 Planner/include/pointcloudTraj/traj_optimizer.h
  8. +120 −0 Planner/launch/clean_demo.launch
  9. +389 −0 Planner/launch/rviz_config/rviz_config.rviz
  10. +126 −0 Planner/launch/simulation.launch
  11. BIN Planner/lib/mosek7/libiomp5.so
  12. BIN Planner/lib/mosek7/libmosek64.so
  13. BIN Planner/lib/mosek7/libmosek64.so.7.1
  14. BIN Planner/lib/mosek7/libmosekglb64.so.7.1
  15. BIN Planner/lib/mosek7/libmosekjava7_1.so
  16. BIN Planner/lib/mosek7/libmosekscopt7_1.so
  17. BIN Planner/lib/mosek7/libmosekxx7_1.so
  18. +25 −0 Planner/package.xml
  19. +285 −0 Planner/src/bezier_base.cpp
  20. +1,011 −0 Planner/src/corridor_finder.cpp
  21. +226 −0 Planner/src/map_server.cpp
  22. +91 −0 Planner/src/odom_generator.cpp
  23. +267 −0 Planner/src/random_map.cpp
  24. +946 −0 Planner/src/sim_planning_demo.cpp
  25. +796 −0 Planner/src/traj_optimizer.cpp
  26. +470 −0 Planner/src/traj_server.cpp
  27. +24 −0 Utils/kdtree/CMakeLists.txt
  28. +129 −0 Utils/kdtree/include/kdtree/kdtree.h
  29. +129 −0 Utils/kdtree/include/kdtree/kdtree.h~
  30. +19 −0 Utils/kdtree/package.xml
  31. +841 −0 Utils/kdtree/src/kdtree.c
  32. +32 −0 Utils/odom_visualization/CMakeLists.txt
  33. BIN Utils/odom_visualization/meshes/hummingbird.mesh
  34. +31 −0 Utils/odom_visualization/package.xml
  35. +447 −0 Utils/odom_visualization/src/odom_visualization.cpp
  36. +417 −0 Utils/odom_visualization/src/odom_visualization.cpp~
  37. +74 −0 Utils/quadrotor_msgs/CMakeLists.txt
  38. +87 −0 Utils/quadrotor_msgs/include/quadrotor_msgs/comm_types.h
  39. +23 −0 Utils/quadrotor_msgs/include/quadrotor_msgs/decode_msgs.h
  40. +22 −0 Utils/quadrotor_msgs/include/quadrotor_msgs/encode_msgs.h
  41. +5 −0 Utils/quadrotor_msgs/msg/AuxCommand.msg
  42. +15 −0 Utils/quadrotor_msgs/msg/Bspline.msg
  43. +2 −0 Utils/quadrotor_msgs/msg/Corrections.msg
  44. +4 −0 Utils/quadrotor_msgs/msg/Gains.msg
  45. +8 −0 Utils/quadrotor_msgs/msg/Odometry.msg
  46. +33 −0 Utils/quadrotor_msgs/msg/OptimalTimeAllocator.msg
  47. +12 −0 Utils/quadrotor_msgs/msg/OutputData.msg
  48. +16 −0 Utils/quadrotor_msgs/msg/PPROutputData.msg
  49. +28 −0 Utils/quadrotor_msgs/msg/PolynomialTrajectory.msg
  50. +21 −0 Utils/quadrotor_msgs/msg/PositionCommand.msg
  51. +21 −0 Utils/quadrotor_msgs/msg/PositionCommand_back.msg
  52. +7 −0 Utils/quadrotor_msgs/msg/Replan.msg
  53. +12 −0 Utils/quadrotor_msgs/msg/ReplanCheck.msg
  54. +6 −0 Utils/quadrotor_msgs/msg/SO3Command.msg
  55. +13 −0 Utils/quadrotor_msgs/msg/Serial.msg
  56. +47 −0 Utils/quadrotor_msgs/msg/SpatialTemporalTrajectory.msg
  57. +4 −0 Utils/quadrotor_msgs/msg/StatusData.msg
  58. +5 −0 Utils/quadrotor_msgs/msg/SwarmCommand.msg
  59. +2 −0 Utils/quadrotor_msgs/msg/SwarmInfo.msg
  60. +2 −0 Utils/quadrotor_msgs/msg/SwarmOdometry.msg
  61. +6 −0 Utils/quadrotor_msgs/msg/TRPYCommand.msg
  62. +12 −0 Utils/quadrotor_msgs/msg/TrajectoryMatrix.msg
  63. +23 −0 Utils/quadrotor_msgs/package.xml
  64. +103 −0 Utils/quadrotor_msgs/src/decode_msgs.cpp
  65. +73 −0 Utils/quadrotor_msgs/src/encode_msgs.cpp
  66. 0 Utils/quadrotor_msgs/src/quadrotor_msgs/__init__.py
  67. BIN Utils/quadrotor_msgs/src/quadrotor_msgs/__init__.pyc
  68. +143 −0 Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_AuxCommand.py
  69. +111 −0 Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_Corrections.py
  70. +114 −0 Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_Gains.py
  71. +277 −0 Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_OutputData.py
  72. +243 −0 Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_PPROutputData.py
  73. +246 −0 Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_PositionCommand.py
  74. +287 −0 Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_SO3Command.py
  75. +229 −0 Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_Serial.py
  76. +186 −0 Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_StatusData.py
  77. +233 −0 Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_TRPYCommand.py
  78. +10 −0 Utils/quadrotor_msgs/src/quadrotor_msgs/msg/__init__.py
  79. +35 −0 Utils/waypoint_generator/CMakeLists.txt
  80. +25 −0 Utils/waypoint_generator/package.xml
  81. +213 −0 Utils/waypoint_generator/src/sample_waypoints.h
  82. +261 −0 Utils/waypoint_generator/src/waypoint_generator.cpp
@@ -0,0 +1,70 @@
cmake_minimum_required(VERSION 2.8)
project(pointcloudTraj)

set(CMAKE_VERBOSE_MAKEFILE "true")
set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++11 -march=native -DEIGEN_DONT_PARALLELIZE ${CMAKE_CXX_FLAGS} -g -O3 -Wall")

find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
nav_msgs
sensor_msgs
quadrotor_msgs
tf
kdtree
PCL REQUIRED
Eigen3 REQUIRED)

catkin_package(
INCLUDE_DIRS include
)

include_directories(
SYSTEM
include
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR}
${PCL_INCLUDE_DIRS})

link_directories(
${PCL_LIBRARY_DIRS}
${PROJECT_SOURCE_DIR}/lib/mosek7)

add_executable (sim_planning_demo
src/sim_planning_demo.cpp
src/traj_optimizer.cpp
src/corridor_finder.cpp
src/bezier_base.cpp)

target_link_libraries (sim_planning_demo
mosek64
${catkin_LIBRARIES}
${PCL_LIBRARIES})

add_executable (map_server
src/map_server.cpp)

target_link_libraries( map_server
${catkin_LIBRARIES}
${PCL_LIBRARIES})

add_executable (traj_server
src/traj_server.cpp
src/bezier_base.cpp)

target_link_libraries( traj_server
${catkin_LIBRARIES}
${PCL_LIBRARIES})

add_executable (random_map
src/random_map.cpp)

target_link_libraries (random_map
${catkin_LIBRARIES}
${PCL_LIBRARIES})

add_executable ( odom_generator
src/odom_generator.cpp )
target_link_libraries( odom_generator
${catkin_LIBRARIES} )

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