diff --git a/.clang-format b/.clang-format new file mode 100644 index 0000000000..3cb52640d5 --- /dev/null +++ b/.clang-format @@ -0,0 +1,73 @@ +--- +# Prometheus C/C++ Code Style +# Based on Google style with adjustments for ROS conventions +Language: Cpp +BasedOnStyle: Google +AccessModifierOffset: -4 +AlignAfterOpenBracket: Align +AlignConsecutiveAssignments: false +AlignConsecutiveDeclarations: false +AlignOperands: true +AlignTrailingComments: true +AllowAllParametersOfDeclarationOnNextLine: true +AllowShortBlocksOnASingleLine: false +AllowShortCaseLabelsOnASingleLine: false +AllowShortFunctionsOnASingleLine: Inline +AllowShortIfStatementsOnASingleLine: false +AllowShortLoopsOnASingleLine: false +AlwaysBreakAfterReturnType: None +AlwaysBreakBeforeMultilineStrings: true +AlwaysBreakTemplateDeclarations: Yes +BinPackArguments: true +BinPackParameters: true +BraceWrapping: + AfterClass: false + AfterControlStatement: false + AfterEnum: false + AfterFunction: true + AfterNamespace: false + AfterStruct: false + AfterUnion: false + BeforeCatch: false + BeforeElse: false + IndentBraces: false +BreakBeforeBinaryOperators: None +BreakBeforeBraces: Custom +BreakBeforeTernaryOperators: true +BreakConstructorInitializersBeforeComma: false +ColumnLimit: 120 +CommentPragmas: '^ IWYU pragma:' +ConstructorInitializerAllOnOneLineOrOnePerLine: true +ConstructorInitializerIndentWidth: 4 +ContinuationIndentWidth: 4 +Cpp11BracedListStyle: true +DerivePointerAlignment: false +DisableFormat: false +ExperimentalAutoDetectBinPacking: false +FixNamespaceComments: true +IncludeBlocks: Preserve +IndentCaseLabels: true +IndentWidth: 4 +IndentWrappedFunctionNames: false +KeepEmptyLinesAtTheStartOfBlocks: false +MaxEmptyLinesToKeep: 1 +NamespaceIndentation: None +PointerAlignment: Left +ReflowComments: true +SortIncludes: true +SortUsingDeclarations: true +SpaceAfterCStyleCast: false +SpaceAfterTemplateKeyword: true +SpaceBeforeAssignmentOperators: true +SpaceBeforeParens: ControlStatements +SpaceInEmptyParentheses: false +SpacesBeforeTrailingComments: 2 +SpacesInAngles: false +SpacesInCStyleCastParentheses: false +SpacesInContainerLiterals: true +SpacesInParentheses: false +SpacesInSquareBrackets: false +Standard: Cpp11 +TabWidth: 4 +UseTab: Never +--- diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml new file mode 100644 index 0000000000..d292bd88fd --- /dev/null +++ b/.github/workflows/build.yml @@ -0,0 +1,63 @@ +name: Prometheus CI + +on: + push: + branches: [main] + pull_request: + branches: [main] + +jobs: + build-core: + name: Build Core Modules + runs-on: ubuntu-22.04 + container: + image: ros:noetic-ros-base-focal + steps: + - name: Install dependencies + run: | + apt-get update + apt-get install -y \ + python3-catkin-tools \ + ros-noetic-mavros-msgs \ + ros-noetic-mavlink \ + ros-noetic-tf2-ros \ + ros-noetic-tf2-eigen \ + ros-noetic-pcl-ros \ + ros-noetic-cv-bridge \ + ros-noetic-image-transport \ + libeigen3-dev \ + libpcl-dev \ + libopencv-dev \ + libboost-all-dev + - uses: actions/checkout@v4 + with: + submodules: recursive + - name: Build common (core messages) + run: | + source /opt/ros/noetic/setup.bash + catkin_make --source Modules/core/common --build build/common + - name: Build communication + run: | + source /opt/ros/noetic/setup.bash + source devel/setup.bash || true + catkin_make --source Modules/communication --build build/communication + - name: Build UAV control + run: | + source /opt/ros/noetic/setup.bash + source devel/setup.bash || true + catkin_make --source Modules/control/uav_control --build build/uav_control + + clang-format-check: + name: Code Style Check + runs-on: ubuntu-latest + # Advisory only — existing code is not yet reformatted. + # This check will report style violations but won't block merges. + continue-on-error: true + steps: + - uses: actions/checkout@v4 + - name: Check C++ code style + uses: jidicula/clang-format-action@v4.13.0 + with: + clang-format-version: '14' + check-path: 'Modules' + exclude-regex: '(min_snap_trajectory|FAST_LIO)' diff --git a/.gitignore b/.gitignore index 1e5b77aafa..cace78ff9f 100644 --- a/.gitignore +++ b/.gitignore @@ -5,23 +5,23 @@ _ext nano.save .catkin_workspace -build/ +/build/ devel/ dist/ .vscode/ -Modules/object_detection_landing/ -Modules/object_detection_persistence/ -Modules/object_detection_yolov5openvino/ -Modules/object_detection_yolov5tensorrt/ -Modules/object_detection_circlex/ +Modules/perception/object_detection_landing/ +Modules/perception/object_detection_persistence/ +Modules/perception/object_detection_yolov5openvino/ +Modules/perception/object_detection_yolov5tensorrt/ +Modules/perception/object_detection_circlex/ Modules/data/ -Modules/object_detection_oneshot/ -Modules/object_detection/py_nodes/yolov5_tensorrt_server/build/ -Modules/common/CMakeLists.txt -Modules/ego_planner_swarm/CMakeLists.txt -Modules/motion_planning/CMakeLists.txt -Modules/simulator_utils/CMakeLists.txt -Modules/FAST_LIO/Log/mat_pre.txt +Modules/perception/object_detection_oneshot/ +Modules/perception/object_detection/py_nodes/yolov5_tensorrt_server/build/ +Modules/core/common/CMakeLists.txt +Modules/planning/ego_planner_swarm/CMakeLists.txt +Modules/planning/motion_planning/CMakeLists.txt +Modules/perception/simulator_utils/CMakeLists.txt +Modules/perception/FAST_LIO/Log/mat_pre.txt # pytorch/python/numpy formats # *.pth *.pkl diff --git a/.gitmodules b/.gitmodules index 382f2c17fe..38a00f8a82 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,12 +1,12 @@ [submodule "Modules/swarm_control"] - path = Modules/swarm_control + path = Modules/swarm/swarm_control url = https://gitee.com/amovlab1/swarm_control.git [submodule "Modules/matlab_bridge"] - path = Modules/matlab_bridge + path = Modules/integration/matlab_bridge url = https://gitee.com/amovlab1/matlab_bridge.git [submodule "Modules/swarm_formation"] - path = Modules/swarm_formation + path = Modules/swarm/swarm_formation url = https://gitee.com/amovlab1/Swarm-Formation.git [submodule "Modules/searching_pkg"] - path = Modules/searching_pkg + path = Modules/swarm/searching_pkg url = https://gitee.com/amovlab1/swarm-sch-track.git diff --git a/ARCHITECTURE.md b/ARCHITECTURE.md new file mode 100644 index 0000000000..d981d76ab8 --- /dev/null +++ b/ARCHITECTURE.md @@ -0,0 +1,150 @@ +# Prometheus 架构文档 + +## 项目概述 + +Prometheus 是一套基于 ROS1 (catkin) 和 PX4 的自主无人机开源软件平台，提供控制、规划、感知、通信和集群等功能模块。 + +## 目录结构 + +``` +Prometheus/ +├── Modules/ # 功能模块（按域分组） +│ ├── core/ # 核心基础 +│ │ └── common/ # 公共消息定义 & 工具头文件 +│ │ ├── prometheus_msgs/ # Prometheus 自定义 ROS 消息/服务 +│ │ ├── quadrotor_msgs/ # 四旋翼消息定义 +│ │ └── include/ # 公共头文件 (math_utils, geometry_utils, printf_utils) +│ ├── control/ # 控制模块 +│ │ ├── uav_control/ # 无人机控制节点 (PID/UDE/NE 控制器) +│ │ ├── uav_control_fmt/ # FMT 固件无人机控制 +│ │ └── ugv_control/ # 无人地面车辆控制 +│ ├── planning/ # 规划模块 +│ │ ├── motion_planning/ # 运动规划 (全局/局部/min-snap) +│ │ ├── ego_planner_swarm/ # EGO-Planner 集群避障规划 +│ │ └── global_planner_ugv/ # UGV 全局路径规划 +│ ├── perception/ # 感知模块 +│ │ ├── FAST_LIO/ # 基于 LiDAR 的实时定位与建图 +│ │ └── simulator_utils/ # 仿真感知工具 +│ ├── communication/ # 通信模块 (地面站桥接) +│ ├── swarm/ # 集群模块 +│ │ ├── swarm_control/ # 集群控制 (submodule) +│ │ ├── swarm_formation/ # 集群编队 (submodule) +│ │ └── searching_pkg/ # 集群搜索与跟踪 (submodule) +│ ├── demo/ # 示例与实验 +│ │ ├── tutorial_demo/ # 教程演示 +│ │ ├── future_aircraft/ # 未来飞行器实验 +│ │ └── experiment/ # 实验配置与启动文件 +│ └── integration/ # 外部集成 +│ └── matlab_bridge/ # MATLAB/Simulink 桥接 (submodule) +├── Simulator/ # 仿真环境 +│ ├── gazebo_simulator/ # Gazebo 仿真 (模型/世界/launch) +│ ├── airsim_simulator/ # AirSim 仿真 +│ ├── realsense_gazebo_plugin/ +│ ├── velodyne_gazebo_plugins/ +│ └── livox_laser_gazebo_plugins/ +├── scripts/ # 脚本 +│ ├── build/ # 编译脚本 +│ ├── installation/ # 安装脚本 +│ └── simulation/ # 仿真启动脚本 +├── CMakeLists.txt # 顶层 catkin workspace 配置 +├── Makefile # 统一构建入口 +└── .github/workflows/ # CI/CD 配置 +``` + +## 模块依赖关系 + +``` + ┌─────────────────┐ + │ core/common │ + │ (prometheus_msgs│ + │ quadrotor_msgs)│ + └────────┬────────┘ + │ + ┌──────────────┼──────────────┐ + │ │ │ + ▼ ▼ ▼ + ┌────────────┐ ┌─────────────┐ ┌──────────┐ + │ control/ │ │ planning/ │ │perception│ + │uav_control │ │motion_plan. │ │ FAST_LIO │ + │ugv_control │ │ego_planner │ │sim_utils │ + │uav_ctrl_fmt│ │global_ugv │ └──────────┘ + └──────┬─────┘ └──────┬──────┘ + │ │ + ▼ ▼ + ┌─────────────┐ ┌──────────┐ + │communication│ │ swarm/ │ + │(ground stn) │ │swarm_ctrl│ + └─────────────┘ │formation │ + │searching │ + └──────────┘ +``` + +### 编译顺序 + +1. **core/common** — 必须最先编译（消息定义） +2. **Simulator/** — 仿真插件和模型 +3. **control/** — 控制模块 +4. **communication/** — 通信模块（依赖 core） +5. **planning/** — 规划模块（依赖 core, control） +6. **perception/** — 感知模块（依赖 core） +7. **swarm/** — 集群模块（依赖 core, control, communication） +8. **demo/** — 示例（依赖 core, control） + +## 构建方式 + +### 使用 Makefile（推荐） + +```bash +make help # 查看所有构建目标 +make all # 构建全部模块 +make control # 仅构建控制模块 +make planning # 仅构建规划模块 +make clean # 清理构建产物 +``` + +### 使用编译脚本 + +```bash +bash scripts/build/compile_all.sh # 编译全部 +bash scripts/build/compile_control.sh # 编译控制模块 +bash scripts/build/compile_planning.sh # 编译规划模块 +``` + +## 消息定义 + +所有自定义 ROS 消息和服务位于 `Modules/core/common/`: + +- **prometheus_msgs**: UAVState, UAVCommand, UAVSetup, SwarmCommand, DetectionInfo 等 +- **quadrotor_msgs**: PositionCommand, SO3Command 等（用于底层控制） + +## 代码风格 + +项目使用 `.clang-format` 定义 C++ 代码风格，基于 Google 风格并适配 ROS 开发习惯： +- 缩进: 4 空格 +- 行宽: 120 字符 +- 指针对齐: 左对齐 (`int* ptr`) + +格式化代码: +```bash +# 格式化单个文件 +clang-format -i path/to/file.cpp + +# 格式化整个模块 +find Modules/control -name "*.cpp" -o -name "*.h" | xargs clang-format -i +``` + +## Git 子模块 + +以下模块作为 Git 子模块管理（源码托管在 Gitee）： + +| 模块 | 路径 | 源仓库 | +|------|------|--------| +| swarm_control | Modules/swarm/swarm_control | gitee.com/amovlab1/swarm_control | +| swarm_formation | Modules/swarm/swarm_formation | gitee.com/amovlab1/Swarm-Formation | +| searching_pkg | Modules/swarm/searching_pkg | gitee.com/amovlab1/swarm-sch-track | +| matlab_bridge | Modules/integration/matlab_bridge | gitee.com/amovlab1/matlab_bridge | + +克隆时初始化子模块: +```bash +git clone --recursive https://github.com/amov-lab/Prometheus.git +``` diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000000..bda48f1575 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,12 @@ +# Top-level CMakeLists.txt for Prometheus catkin workspace +# This file enables `catkin_make` from the project root. +# +# Usage: +# catkin_make # Build all modules +# catkin_make --only-pkg-with-deps prometheus_uav_control # Build specific package +# +# For module-specific builds, use the scripts in scripts/build/ + +cmake_minimum_required(VERSION 2.8.12) +find_package(catkin REQUIRED) +catkin_workspace() diff --git a/Makefile b/Makefile new file mode 100644 index 0000000000..81c1d41139 --- /dev/null +++ b/Makefile @@ -0,0 +1,78 @@ +# Prometheus Build System +# Usage: +# make all - Build all modules +# make core - Build core (common messages/utils) +# make control - Build control modules +# make planning - Build planning modules +# make perception - Build perception modules +# make communication - Build communication module +# make swarm - Build swarm modules +# make demo - Build demo modules +# make simulator - Build simulator modules +# make clean - Clean all build artifacts + +SHELL := /bin/bash + +.PHONY: all core control planning perception communication swarm demo simulator clean help + +help: + @echo "Prometheus Build Targets:" + @echo " make all - Build all modules" + @echo " make core - Build core (messages & utils)" + @echo " make control - Build UAV/UGV control" + @echo " make planning - Build path planning modules" + @echo " make perception - Build perception modules (FAST_LIO, etc.)" + @echo " make communication - Build communication bridge" + @echo " make swarm - Build swarm modules" + @echo " make demo - Build tutorial & demo modules" + @echo " make simulator - Build Gazebo simulator" + @echo " make clean - Remove build/ and devel/" + @echo "" + @echo "Individual build scripts are in scripts/build/" + +# Core messages - must be built first +core: + catkin_make --source Modules/core/common --build build/common + +# Simulator modules +simulator: core + catkin_make --source Simulator/gazebo_simulator --build build/prometheus_gazebo + catkin_make --source Simulator/realsense_gazebo_plugin --build build/realsense_gazebo_plugin + catkin_make --source Simulator/velodyne_gazebo_plugins --build build/velodyne_gazebo_plugins + catkin_make --source Simulator/livox_laser_gazebo_plugins --build build/livox_laser_gazebo_plugins + +# Control modules +control: core simulator + catkin_make --source Modules/control/uav_control --build build/uav_control + +# Communication module +communication: core + catkin_make --source Modules/communication --build build/communication + +# Planning modules +planning: core control + catkin_make --source Modules/perception/simulator_utils --build build/simulator_utils + catkin_make --source Modules/planning/ego_planner_swarm --build build/ego_planner_swarm + catkin_make --source Modules/planning/motion_planning --build build/motion_planning + +# Perception modules +perception: core + catkin_make --source Modules/perception/FAST_LIO --build build/FAST_LIO + +# Demo modules +demo: core control + catkin_make --source Modules/demo/tutorial_demo --build build/tutorial_demo + +# Swarm modules +swarm: core communication control + catkin_make --source Modules/control/ugv_control --build build/ugv_control + catkin_make --source Modules/swarm/swarm_control --build build/swarm_control + catkin_make --source Modules/swarm/swarm_formation --build build/swarm_formation + catkin_make --source Modules/swarm/searching_pkg --build build/searching_pkg + +# Build everything +all: core communication simulator control demo planning perception swarm + +clean: + rm -rf build/ devel/ + @echo "Build artifacts cleaned." diff --git a/Modules/communication/package.xml b/Modules/communication/package.xml index 624633b5bc..0bae1fd613 100644 --- a/Modules/communication/package.xml +++ b/Modules/communication/package.xml @@ -5,7 +5,7 @@ The ground_station_bridge module Amov - Aomv + Apache-2.0 catkin roscpp diff --git a/Modules/uav_control/CMakeLists.txt b/Modules/control/uav_control/CMakeLists.txt similarity index 93% rename from Modules/uav_control/CMakeLists.txt rename to Modules/control/uav_control/CMakeLists.txt index ae898e69f3..ab829e3023 100644 --- a/Modules/uav_control/CMakeLists.txt +++ b/Modules/control/uav_control/CMakeLists.txt @@ -47,8 +47,8 @@ include_directories( include ${catkin_INCLUDE_DIRS} include/Position_Controller - ../common/include - ../communication/include + ../../core/common/include + ../../communication/include ${mavlink_INCLUDE_DIRS} ) @@ -56,7 +56,7 @@ include_directories( ############################### ## 声明可执行cpp文件 ## ############################### -add_library(uav_controller src/uav_controller.cpp ../communication/src/param_manager.cpp) +add_library(uav_controller src/uav_controller.cpp ../../communication/src/param_manager.cpp) add_library(uav_estimator src/uav_estimator.cpp) target_link_libraries(uav_estimator ${catkin_LIBRARIES}) @@ -86,4 +86,4 @@ install(DIRECTORY include/${PROJECT_NAME}/ ## Mark other files for installation (e.g. launch and bag files, etc.) install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch -) \ No newline at end of file +) diff --git a/Modules/uav_control/include/Filter/HighPassFilter.h b/Modules/control/uav_control/include/Filter/HighPassFilter.h similarity index 100% rename from Modules/uav_control/include/Filter/HighPassFilter.h rename to Modules/control/uav_control/include/Filter/HighPassFilter.h diff --git a/Modules/uav_control/include/Filter/LeadLagFilter.h b/Modules/control/uav_control/include/Filter/LeadLagFilter.h similarity index 100% rename from Modules/uav_control/include/Filter/LeadLagFilter.h rename to Modules/control/uav_control/include/Filter/LeadLagFilter.h diff --git a/Modules/uav_control/include/Filter/LowPassFilter.h b/Modules/control/uav_control/include/Filter/LowPassFilter.h similarity index 100% rename from Modules/uav_control/include/Filter/LowPassFilter.h rename to Modules/control/uav_control/include/Filter/LowPassFilter.h diff --git a/Modules/uav_control/include/Position_Controller/controller_utils.h b/Modules/control/uav_control/include/Position_Controller/controller_utils.h similarity index 100% rename from Modules/uav_control/include/Position_Controller/controller_utils.h rename to Modules/control/uav_control/include/Position_Controller/controller_utils.h diff --git a/Modules/uav_control/include/Position_Controller/pos_controller_NE.h b/Modules/control/uav_control/include/Position_Controller/pos_controller_NE.h similarity index 100% rename from Modules/uav_control/include/Position_Controller/pos_controller_NE.h rename to Modules/control/uav_control/include/Position_Controller/pos_controller_NE.h diff --git a/Modules/uav_control/include/Position_Controller/pos_controller_PID.h b/Modules/control/uav_control/include/Position_Controller/pos_controller_PID.h similarity index 100% rename from Modules/uav_control/include/Position_Controller/pos_controller_PID.h rename to Modules/control/uav_control/include/Position_Controller/pos_controller_PID.h diff --git a/Modules/uav_control/include/Position_Controller/pos_controller_UDE.h b/Modules/control/uav_control/include/Position_Controller/pos_controller_UDE.h similarity index 100% rename from Modules/uav_control/include/Position_Controller/pos_controller_UDE.h rename to Modules/control/uav_control/include/Position_Controller/pos_controller_UDE.h diff --git a/Modules/uav_control/include/controller_test.h b/Modules/control/uav_control/include/controller_test.h similarity index 100% rename from Modules/uav_control/include/controller_test.h rename to Modules/control/uav_control/include/controller_test.h diff --git a/Modules/uav_control/include/rc_input.h b/Modules/control/uav_control/include/rc_input.h similarity index 100% rename from Modules/uav_control/include/rc_input.h rename to Modules/control/uav_control/include/rc_input.h diff --git a/Modules/uav_control/include/uav_controller.h b/Modules/control/uav_control/include/uav_controller.h similarity index 100% rename from Modules/uav_control/include/uav_controller.h rename to Modules/control/uav_control/include/uav_controller.h diff --git a/Modules/uav_control/include/uav_estimator.h b/Modules/control/uav_control/include/uav_estimator.h similarity index 100% rename from Modules/uav_control/include/uav_estimator.h rename to Modules/control/uav_control/include/uav_estimator.h diff --git a/Modules/uav_control/launch/joy_node.launch b/Modules/control/uav_control/launch/joy_node.launch similarity index 100% rename from Modules/uav_control/launch/joy_node.launch rename to Modules/control/uav_control/launch/joy_node.launch diff --git a/Modules/uav_control/launch/sensor_tf_offset.yaml b/Modules/control/uav_control/launch/sensor_tf_offset.yaml similarity index 100% rename from Modules/uav_control/launch/sensor_tf_offset.yaml rename to Modules/control/uav_control/launch/sensor_tf_offset.yaml diff --git a/Modules/uav_control/launch/sensor_tf_offset_mid360.yaml b/Modules/control/uav_control/launch/sensor_tf_offset_mid360.yaml similarity index 100% rename from Modules/uav_control/launch/sensor_tf_offset_mid360.yaml rename to Modules/control/uav_control/launch/sensor_tf_offset_mid360.yaml diff --git a/Modules/uav_control/launch/uav_command_pub.launch b/Modules/control/uav_control/launch/uav_command_pub.launch similarity index 100% rename from Modules/uav_control/launch/uav_command_pub.launch rename to Modules/control/uav_control/launch/uav_command_pub.launch diff --git a/Modules/uav_control/launch/uav_command_pub.yaml b/Modules/control/uav_control/launch/uav_command_pub.yaml similarity index 100% rename from Modules/uav_control/launch/uav_command_pub.yaml rename to Modules/control/uav_control/launch/uav_command_pub.yaml diff --git a/Modules/uav_control/launch/uav_control_indoor.yaml b/Modules/control/uav_control/launch/uav_control_indoor.yaml similarity index 100% rename from Modules/uav_control/launch/uav_control_indoor.yaml rename to Modules/control/uav_control/launch/uav_control_indoor.yaml diff --git a/Modules/uav_control/launch/uav_control_indoor_mid360.yaml b/Modules/control/uav_control/launch/uav_control_indoor_mid360.yaml similarity index 100% rename from Modules/uav_control/launch/uav_control_indoor_mid360.yaml rename to Modules/control/uav_control/launch/uav_control_indoor_mid360.yaml diff --git a/Modules/uav_control/launch/uav_control_main_fake_odom.launch b/Modules/control/uav_control/launch/uav_control_main_fake_odom.launch similarity index 100% rename from Modules/uav_control/launch/uav_control_main_fake_odom.launch rename to Modules/control/uav_control/launch/uav_control_main_fake_odom.launch diff --git a/Modules/uav_control/launch/uav_control_main_indoor.launch b/Modules/control/uav_control/launch/uav_control_main_indoor.launch similarity index 100% rename from Modules/uav_control/launch/uav_control_main_indoor.launch rename to Modules/control/uav_control/launch/uav_control_main_indoor.launch diff --git a/Modules/uav_control/launch/uav_control_main_indoor_4uav.launch b/Modules/control/uav_control/launch/uav_control_main_indoor_4uav.launch similarity index 100% rename from Modules/uav_control/launch/uav_control_main_indoor_4uav.launch rename to Modules/control/uav_control/launch/uav_control_main_indoor_4uav.launch diff --git a/Modules/uav_control/launch/uav_control_main_indoor_mid360.launch b/Modules/control/uav_control/launch/uav_control_main_indoor_mid360.launch similarity index 100% rename from Modules/uav_control/launch/uav_control_main_indoor_mid360.launch rename to Modules/control/uav_control/launch/uav_control_main_indoor_mid360.launch diff --git a/Modules/uav_control/launch/uav_control_main_indoor_swarm.launch b/Modules/control/uav_control/launch/uav_control_main_indoor_swarm.launch similarity index 100% rename from Modules/uav_control/launch/uav_control_main_indoor_swarm.launch rename to Modules/control/uav_control/launch/uav_control_main_indoor_swarm.launch diff --git a/Modules/uav_control/launch/uav_control_main_intdoor_swarm.launch b/Modules/control/uav_control/launch/uav_control_main_intdoor_swarm.launch similarity index 100% rename from Modules/uav_control/launch/uav_control_main_intdoor_swarm.launch rename to Modules/control/uav_control/launch/uav_control_main_intdoor_swarm.launch diff --git a/Modules/uav_control/launch/uav_control_main_outdoor.launch b/Modules/control/uav_control/launch/uav_control_main_outdoor.launch similarity index 100% rename from Modules/uav_control/launch/uav_control_main_outdoor.launch rename to Modules/control/uav_control/launch/uav_control_main_outdoor.launch diff --git a/Modules/uav_control/launch/uav_control_main_outdoor_3uav.launch b/Modules/control/uav_control/launch/uav_control_main_outdoor_3uav.launch similarity index 100% rename from Modules/uav_control/launch/uav_control_main_outdoor_3uav.launch rename to Modules/control/uav_control/launch/uav_control_main_outdoor_3uav.launch diff --git a/Modules/uav_control/launch/uav_control_main_outdoor_4uav.launch b/Modules/control/uav_control/launch/uav_control_main_outdoor_4uav.launch similarity index 100% rename from Modules/uav_control/launch/uav_control_main_outdoor_4uav.launch rename to Modules/control/uav_control/launch/uav_control_main_outdoor_4uav.launch diff --git a/Modules/uav_control/launch/uav_control_outdoor.yaml b/Modules/control/uav_control/launch/uav_control_outdoor.yaml similarity index 100% rename from Modules/uav_control/launch/uav_control_outdoor.yaml rename to Modules/control/uav_control/launch/uav_control_outdoor.yaml diff --git a/Modules/uav_control/launch/uwb.launch b/Modules/control/uav_control/launch/uwb.launch similarity index 100% rename from Modules/uav_control/launch/uwb.launch rename to Modules/control/uav_control/launch/uwb.launch diff --git a/Modules/uav_control/launch_controller_test/launch/P230_uav_control_main_controller_test.launch b/Modules/control/uav_control/launch_controller_test/launch/P230_uav_control_main_controller_test.launch similarity index 100% rename from Modules/uav_control/launch_controller_test/launch/P230_uav_control_main_controller_test.launch rename to Modules/control/uav_control/launch_controller_test/launch/P230_uav_control_main_controller_test.launch diff --git a/Modules/uav_control/launch_controller_test/launch/P450_uav_control_main_controller_test.launch b/Modules/control/uav_control/launch_controller_test/launch/P450_uav_control_main_controller_test.launch similarity index 100% rename from Modules/uav_control/launch_controller_test/launch/P450_uav_control_main_controller_test.launch rename to Modules/control/uav_control/launch_controller_test/launch/P450_uav_control_main_controller_test.launch diff --git a/Modules/uav_control/launch_controller_test/launch/P600_uav_control_main_controller_test.launch b/Modules/control/uav_control/launch_controller_test/launch/P600_uav_control_main_controller_test.launch similarity index 100% rename from Modules/uav_control/launch_controller_test/launch/P600_uav_control_main_controller_test.launch rename to Modules/control/uav_control/launch_controller_test/launch/P600_uav_control_main_controller_test.launch diff --git a/Modules/uav_control/launch_controller_test/yaml/P230_controller_params.yaml b/Modules/control/uav_control/launch_controller_test/yaml/P230_controller_params.yaml similarity index 100% rename from Modules/uav_control/launch_controller_test/yaml/P230_controller_params.yaml rename to Modules/control/uav_control/launch_controller_test/yaml/P230_controller_params.yaml diff --git a/Modules/uav_control/launch_controller_test/yaml/P450_controller_params.yaml b/Modules/control/uav_control/launch_controller_test/yaml/P450_controller_params.yaml similarity index 100% rename from Modules/uav_control/launch_controller_test/yaml/P450_controller_params.yaml rename to Modules/control/uav_control/launch_controller_test/yaml/P450_controller_params.yaml diff --git a/Modules/uav_control/launch_controller_test/yaml/P600_controller_params.yaml b/Modules/control/uav_control/launch_controller_test/yaml/P600_controller_params.yaml similarity index 100% rename from Modules/uav_control/launch_controller_test/yaml/P600_controller_params.yaml rename to Modules/control/uav_control/launch_controller_test/yaml/P600_controller_params.yaml diff --git a/Modules/uav_control/launch_controller_test/yaml/controller_test.rviz b/Modules/control/uav_control/launch_controller_test/yaml/controller_test.rviz similarity index 100% rename from Modules/uav_control/launch_controller_test/yaml/controller_test.rviz rename to Modules/control/uav_control/launch_controller_test/yaml/controller_test.rviz diff --git a/Modules/uav_control/launch_controller_test/yaml/ref_trajectory.yaml b/Modules/control/uav_control/launch_controller_test/yaml/ref_trajectory.yaml similarity index 100% rename from Modules/uav_control/launch_controller_test/yaml/ref_trajectory.yaml rename to Modules/control/uav_control/launch_controller_test/yaml/ref_trajectory.yaml diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/odom_visualization/meshes/hummingbird.mesh b/Modules/control/uav_control/meshes/hummingbird.mesh similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/odom_visualization/meshes/hummingbird.mesh rename to Modules/control/uav_control/meshes/hummingbird.mesh diff --git a/Modules/uav_control/package.xml b/Modules/control/uav_control/package.xml similarity index 95% rename from Modules/uav_control/package.xml rename to Modules/control/uav_control/package.xml index aecf64f087..6919bb8014 100644 --- a/Modules/uav_control/package.xml +++ b/Modules/control/uav_control/package.xml @@ -6,7 +6,7 @@ Yuhua Qi - TODO + Apache-2.0 message_generation message_runtime diff --git a/Modules/uav_control/src/uav_control_node.cpp b/Modules/control/uav_control/src/uav_control_node.cpp similarity index 100% rename from Modules/uav_control/src/uav_control_node.cpp rename to Modules/control/uav_control/src/uav_control_node.cpp diff --git a/Modules/uav_control/src/uav_controller.cpp b/Modules/control/uav_control/src/uav_controller.cpp similarity index 100% rename from Modules/uav_control/src/uav_controller.cpp rename to Modules/control/uav_control/src/uav_controller.cpp diff --git a/Modules/uav_control/src/uav_estimator.cpp b/Modules/control/uav_control/src/uav_estimator.cpp similarity index 100% rename from Modules/uav_control/src/uav_estimator.cpp rename to Modules/control/uav_control/src/uav_estimator.cpp diff --git a/Modules/uav_control/utils/joy_node.cpp b/Modules/control/uav_control/utils/joy_node.cpp similarity index 100% rename from Modules/uav_control/utils/joy_node.cpp rename to Modules/control/uav_control/utils/joy_node.cpp diff --git a/Modules/uav_control/utils/rc_test.cpp b/Modules/control/uav_control/utils/rc_test.cpp similarity index 100% rename from Modules/uav_control/utils/rc_test.cpp rename to Modules/control/uav_control/utils/rc_test.cpp diff --git a/Modules/uav_control/utils/uav_command_pub.cpp b/Modules/control/uav_control/utils/uav_command_pub.cpp similarity index 100% rename from Modules/uav_control/utils/uav_command_pub.cpp rename to Modules/control/uav_control/utils/uav_command_pub.cpp diff --git a/Modules/uav_control_fmt/CMakeLists.txt b/Modules/control/uav_control_fmt/CMakeLists.txt similarity index 98% rename from Modules/uav_control_fmt/CMakeLists.txt rename to Modules/control/uav_control_fmt/CMakeLists.txt index 807cfff18d..3d0e8f98b3 100644 --- a/Modules/uav_control_fmt/CMakeLists.txt +++ b/Modules/control/uav_control_fmt/CMakeLists.txt @@ -44,7 +44,7 @@ catkin_package( include_directories( include ${catkin_INCLUDE_DIRS} - ../common/include + ../../core/common/include ) @@ -73,4 +73,4 @@ install(DIRECTORY include/${PROJECT_NAME}/ ## Mark other files for installation (e.g. launch and bag files, etc.) install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch -) \ No newline at end of file +) diff --git a/Modules/uav_control_fmt/README.md b/Modules/control/uav_control_fmt/README.md similarity index 100% rename from Modules/uav_control_fmt/README.md rename to Modules/control/uav_control_fmt/README.md diff --git a/Modules/uav_control_fmt/fmt_test.cpp b/Modules/control/uav_control_fmt/fmt_test.cpp similarity index 100% rename from Modules/uav_control_fmt/fmt_test.cpp rename to Modules/control/uav_control_fmt/fmt_test.cpp diff --git a/Modules/uav_control_fmt/fmt_test.h b/Modules/control/uav_control_fmt/fmt_test.h similarity index 100% rename from Modules/uav_control_fmt/fmt_test.h rename to Modules/control/uav_control_fmt/fmt_test.h diff --git a/Modules/uav_control_fmt/include/controller_test.h b/Modules/control/uav_control_fmt/include/controller_test.h similarity index 100% rename from Modules/uav_control_fmt/include/controller_test.h rename to Modules/control/uav_control_fmt/include/controller_test.h diff --git a/Modules/uav_control_fmt/include/fmt_test.h b/Modules/control/uav_control_fmt/include/fmt_test.h similarity index 100% rename from Modules/uav_control_fmt/include/fmt_test.h rename to Modules/control/uav_control_fmt/include/fmt_test.h diff --git a/Modules/uav_control_fmt/include/rc_input.h b/Modules/control/uav_control_fmt/include/rc_input.h similarity index 100% rename from Modules/uav_control_fmt/include/rc_input.h rename to Modules/control/uav_control_fmt/include/rc_input.h diff --git a/Modules/uav_control_fmt/package.xml b/Modules/control/uav_control_fmt/package.xml similarity index 95% rename from Modules/uav_control_fmt/package.xml rename to Modules/control/uav_control_fmt/package.xml index 50c7249e5a..0ecea44616 100644 --- a/Modules/uav_control_fmt/package.xml +++ b/Modules/control/uav_control_fmt/package.xml @@ -6,7 +6,7 @@ Yuhua Qi - TODO + Apache-2.0 message_generation message_runtime diff --git a/Modules/uav_control_fmt/src/fmt_msg_receiver.cpp b/Modules/control/uav_control_fmt/src/fmt_msg_receiver.cpp similarity index 100% rename from Modules/uav_control_fmt/src/fmt_msg_receiver.cpp rename to Modules/control/uav_control_fmt/src/fmt_msg_receiver.cpp diff --git a/Modules/uav_control_fmt/src/fmt_test.cpp b/Modules/control/uav_control_fmt/src/fmt_test.cpp similarity index 100% rename from Modules/uav_control_fmt/src/fmt_test.cpp rename to Modules/control/uav_control_fmt/src/fmt_test.cpp diff --git a/Modules/uav_control_fmt/src/fmt_test_backup.cpp b/Modules/control/uav_control_fmt/src/fmt_test_backup.cpp similarity index 100% rename from Modules/uav_control_fmt/src/fmt_test_backup.cpp rename to Modules/control/uav_control_fmt/src/fmt_test_backup.cpp diff --git a/Modules/uav_control_fmt/src/uav_command_pub.cpp b/Modules/control/uav_control_fmt/src/uav_command_pub.cpp similarity index 100% rename from Modules/uav_control_fmt/src/uav_command_pub.cpp rename to Modules/control/uav_control_fmt/src/uav_command_pub.cpp diff --git a/Modules/ugv_control/CMakeLists.txt b/Modules/control/ugv_control/CMakeLists.txt similarity index 98% rename from Modules/ugv_control/CMakeLists.txt rename to Modules/control/ugv_control/CMakeLists.txt index fc1b6478e0..5b14672ddf 100644 --- a/Modules/ugv_control/CMakeLists.txt +++ b/Modules/control/ugv_control/CMakeLists.txt @@ -56,8 +56,8 @@ catkin_package( include_directories( include ${catkin_INCLUDE_DIRS} - ../common/include - ../swarm_control/include + ../../core/common/include + ../../swarm/swarm_control/include ) diff --git a/Modules/ugv_control/include/Smoother.h b/Modules/control/ugv_control/include/Smoother.h similarity index 100% rename from Modules/ugv_control/include/Smoother.h rename to Modules/control/ugv_control/include/Smoother.h diff --git a/Modules/ugv_control/include/ugv_controller.h b/Modules/control/ugv_control/include/ugv_controller.h similarity index 100% rename from Modules/ugv_control/include/ugv_controller.h rename to Modules/control/ugv_control/include/ugv_controller.h diff --git a/Modules/ugv_control/include/ugv_estimator.h b/Modules/control/ugv_control/include/ugv_estimator.h similarity index 100% rename from Modules/ugv_control/include/ugv_estimator.h rename to Modules/control/ugv_control/include/ugv_estimator.h diff --git a/Modules/ugv_control/launch/bridge.launch b/Modules/control/ugv_control/launch/bridge.launch similarity index 100% rename from Modules/ugv_control/launch/bridge.launch rename to Modules/control/ugv_control/launch/bridge.launch diff --git a/Modules/ugv_control/launch/r200_ugv_control_main.launch b/Modules/control/ugv_control/launch/r200_ugv_control_main.launch similarity index 100% rename from Modules/ugv_control/launch/r200_ugv_control_main.launch rename to Modules/control/ugv_control/launch/r200_ugv_control_main.launch diff --git a/Modules/ugv_control/launch/ugv1_communication.launch b/Modules/control/ugv_control/launch/ugv1_communication.launch similarity index 100% rename from Modules/ugv_control/launch/ugv1_communication.launch rename to Modules/control/ugv_control/launch/ugv1_communication.launch diff --git a/Modules/ugv_control/launch/ugv_control_lingao.yaml b/Modules/control/ugv_control/launch/ugv_control_lingao.yaml similarity index 100% rename from Modules/ugv_control/launch/ugv_control_lingao.yaml rename to Modules/control/ugv_control/launch/ugv_control_lingao.yaml diff --git a/Modules/ugv_control/launch/ugv_control_main.launch b/Modules/control/ugv_control/launch/ugv_control_main.launch similarity index 100% rename from Modules/ugv_control/launch/ugv_control_main.launch rename to Modules/control/ugv_control/launch/ugv_control_main.launch diff --git a/Modules/ugv_control/launch/ugv_control_scoutmini.yaml b/Modules/control/ugv_control/launch/ugv_control_scoutmini.yaml similarity index 100% rename from Modules/ugv_control/launch/ugv_control_scoutmini.yaml rename to Modules/control/ugv_control/launch/ugv_control_scoutmini.yaml diff --git a/Modules/ugv_control/launch/ugv_control_wheel.yaml b/Modules/control/ugv_control/launch/ugv_control_wheel.yaml similarity index 100% rename from Modules/ugv_control/launch/ugv_control_wheel.yaml rename to Modules/control/ugv_control/launch/ugv_control_wheel.yaml diff --git a/Modules/ugv_control/launch/ugv_terminal_control.launch b/Modules/control/ugv_control/launch/ugv_terminal_control.launch similarity index 100% rename from Modules/ugv_control/launch/ugv_terminal_control.launch rename to Modules/control/ugv_control/launch/ugv_terminal_control.launch diff --git a/Modules/ugv_control/launch/ugv_vrpn.launch b/Modules/control/ugv_control/launch/ugv_vrpn.launch similarity index 100% rename from Modules/ugv_control/launch/ugv_vrpn.launch rename to Modules/control/ugv_control/launch/ugv_vrpn.launch diff --git a/Modules/ugv_control/meshes/car.dae b/Modules/control/ugv_control/meshes/car.dae similarity index 100% rename from Modules/ugv_control/meshes/car.dae rename to Modules/control/ugv_control/meshes/car.dae diff --git a/Modules/ugv_control/meshes/car2.dae b/Modules/control/ugv_control/meshes/car2.dae similarity index 100% rename from Modules/ugv_control/meshes/car2.dae rename to Modules/control/ugv_control/meshes/car2.dae diff --git a/Modules/ugv_control/meshes/car_yellow.dae b/Modules/control/ugv_control/meshes/car_yellow.dae similarity index 100% rename from Modules/ugv_control/meshes/car_yellow.dae rename to Modules/control/ugv_control/meshes/car_yellow.dae diff --git a/Modules/ugv_control/package.xml b/Modules/control/ugv_control/package.xml similarity index 95% rename from Modules/ugv_control/package.xml rename to Modules/control/ugv_control/package.xml index 8a4a86deee..56df5ee10f 100644 --- a/Modules/ugv_control/package.xml +++ b/Modules/control/ugv_control/package.xml @@ -6,7 +6,7 @@ Yuhua Qi Yuhua Qi - TODO + Apache-2.0 http://www.amovauto.com/ https://github.com/potato77/prometheus_ugv_control.git diff --git a/Modules/ugv_control/sh/ugv1_autoload.sh b/Modules/control/ugv_control/sh/ugv1_autoload.sh similarity index 100% rename from Modules/ugv_control/sh/ugv1_autoload.sh rename to Modules/control/ugv_control/sh/ugv1_autoload.sh diff --git a/Modules/ugv_control/sh/ugv_terminal_control.sh b/Modules/control/ugv_control/sh/ugv_terminal_control.sh similarity index 100% rename from Modules/ugv_control/sh/ugv_terminal_control.sh rename to Modules/control/ugv_control/sh/ugv_terminal_control.sh diff --git a/Modules/ugv_control/src/Smoother.cpp b/Modules/control/ugv_control/src/Smoother.cpp similarity index 100% rename from Modules/ugv_control/src/Smoother.cpp rename to Modules/control/ugv_control/src/Smoother.cpp diff --git a/Modules/ugv_control/src/fake_vicon.cpp b/Modules/control/ugv_control/src/fake_vicon.cpp similarity index 100% rename from Modules/ugv_control/src/fake_vicon.cpp rename to Modules/control/ugv_control/src/fake_vicon.cpp diff --git a/Modules/ugv_control/src/ugv_control_node.cpp b/Modules/control/ugv_control/src/ugv_control_node.cpp similarity index 100% rename from Modules/ugv_control/src/ugv_control_node.cpp rename to Modules/control/ugv_control/src/ugv_control_node.cpp diff --git a/Modules/ugv_control/src/ugv_controller.cpp b/Modules/control/ugv_control/src/ugv_controller.cpp similarity index 100% rename from Modules/ugv_control/src/ugv_controller.cpp rename to Modules/control/ugv_control/src/ugv_controller.cpp diff --git a/Modules/ugv_control/src/ugv_estimator.cpp b/Modules/control/ugv_control/src/ugv_estimator.cpp similarity index 100% rename from Modules/ugv_control/src/ugv_estimator.cpp rename to Modules/control/ugv_control/src/ugv_estimator.cpp diff --git a/Modules/ugv_control/src/ugv_terminal_control.cpp b/Modules/control/ugv_control/src/ugv_terminal_control.cpp similarity index 100% rename from Modules/ugv_control/src/ugv_terminal_control.cpp rename to Modules/control/ugv_control/src/ugv_terminal_control.cpp diff --git a/Modules/common/include/geometry_utils.h b/Modules/core/common/include/geometry_utils.h similarity index 100% rename from Modules/common/include/geometry_utils.h rename to Modules/core/common/include/geometry_utils.h diff --git a/Modules/common/include/math_utils.h b/Modules/core/common/include/math_utils.h similarity index 100% rename from Modules/common/include/math_utils.h rename to Modules/core/common/include/math_utils.h diff --git a/Modules/common/include/printf_utils.h b/Modules/core/common/include/printf_utils.h similarity index 100% rename from Modules/common/include/printf_utils.h rename to Modules/core/common/include/printf_utils.h diff --git a/Modules/common/prometheus_msgs/CMakeLists.txt b/Modules/core/common/prometheus_msgs/CMakeLists.txt similarity index 100% rename from Modules/common/prometheus_msgs/CMakeLists.txt rename to Modules/core/common/prometheus_msgs/CMakeLists.txt diff --git a/Modules/common/prometheus_msgs/action/CheckForObjects.action b/Modules/core/common/prometheus_msgs/action/CheckForObjects.action similarity index 100% rename from Modules/common/prometheus_msgs/action/CheckForObjects.action rename to Modules/core/common/prometheus_msgs/action/CheckForObjects.action diff --git a/Modules/common/prometheus_msgs/msg/ArucoInfo.msg b/Modules/core/common/prometheus_msgs/msg/ArucoInfo.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/ArucoInfo.msg rename to Modules/core/common/prometheus_msgs/msg/ArucoInfo.msg diff --git a/Modules/common/prometheus_msgs/msg/BasicDataTypeAndValue.msg b/Modules/core/common/prometheus_msgs/msg/BasicDataTypeAndValue.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/BasicDataTypeAndValue.msg rename to Modules/core/common/prometheus_msgs/msg/BasicDataTypeAndValue.msg diff --git a/Modules/common/prometheus_msgs/msg/BoundingBox.msg b/Modules/core/common/prometheus_msgs/msg/BoundingBox.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/BoundingBox.msg rename to Modules/core/common/prometheus_msgs/msg/BoundingBox.msg diff --git a/Modules/common/prometheus_msgs/msg/BoundingBoxes.msg b/Modules/core/common/prometheus_msgs/msg/BoundingBoxes.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/BoundingBoxes.msg rename to Modules/core/common/prometheus_msgs/msg/BoundingBoxes.msg diff --git a/Modules/common/prometheus_msgs/msg/Bspline.msg b/Modules/core/common/prometheus_msgs/msg/Bspline.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/Bspline.msg rename to Modules/core/common/prometheus_msgs/msg/Bspline.msg diff --git a/Modules/common/prometheus_msgs/msg/Control.msg b/Modules/core/common/prometheus_msgs/msg/Control.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/Control.msg rename to Modules/core/common/prometheus_msgs/msg/Control.msg diff --git a/Modules/common/prometheus_msgs/msg/CustomDataSegment.msg b/Modules/core/common/prometheus_msgs/msg/CustomDataSegment.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/CustomDataSegment.msg rename to Modules/core/common/prometheus_msgs/msg/CustomDataSegment.msg diff --git a/Modules/common/prometheus_msgs/msg/DepthCompressed.msg b/Modules/core/common/prometheus_msgs/msg/DepthCompressed.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/DepthCompressed.msg rename to Modules/core/common/prometheus_msgs/msg/DepthCompressed.msg diff --git a/Modules/common/prometheus_msgs/msg/DetectionInfo.msg b/Modules/core/common/prometheus_msgs/msg/DetectionInfo.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/DetectionInfo.msg rename to Modules/core/common/prometheus_msgs/msg/DetectionInfo.msg diff --git a/Modules/common/prometheus_msgs/msg/DetectionInfoSub.msg b/Modules/core/common/prometheus_msgs/msg/DetectionInfoSub.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/DetectionInfoSub.msg rename to Modules/core/common/prometheus_msgs/msg/DetectionInfoSub.msg diff --git a/Modules/common/prometheus_msgs/msg/FormationAssign.msg b/Modules/core/common/prometheus_msgs/msg/FormationAssign.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/FormationAssign.msg rename to Modules/core/common/prometheus_msgs/msg/FormationAssign.msg diff --git a/Modules/common/prometheus_msgs/msg/GPSData.msg b/Modules/core/common/prometheus_msgs/msg/GPSData.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/GPSData.msg rename to Modules/core/common/prometheus_msgs/msg/GPSData.msg diff --git a/Modules/common/prometheus_msgs/msg/GimbalControl.msg b/Modules/core/common/prometheus_msgs/msg/GimbalControl.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/GimbalControl.msg rename to Modules/core/common/prometheus_msgs/msg/GimbalControl.msg diff --git a/Modules/common/prometheus_msgs/msg/GimbalState.msg b/Modules/core/common/prometheus_msgs/msg/GimbalState.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/GimbalState.msg rename to Modules/core/common/prometheus_msgs/msg/GimbalState.msg diff --git a/Modules/common/prometheus_msgs/msg/GlobalAruco.msg b/Modules/core/common/prometheus_msgs/msg/GlobalAruco.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/GlobalAruco.msg rename to Modules/core/common/prometheus_msgs/msg/GlobalAruco.msg diff --git a/Modules/common/prometheus_msgs/msg/LinktrackNode2.msg b/Modules/core/common/prometheus_msgs/msg/LinktrackNode2.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/LinktrackNode2.msg rename to Modules/core/common/prometheus_msgs/msg/LinktrackNode2.msg diff --git a/Modules/common/prometheus_msgs/msg/LinktrackNodeframe2.msg b/Modules/core/common/prometheus_msgs/msg/LinktrackNodeframe2.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/LinktrackNodeframe2.msg rename to Modules/core/common/prometheus_msgs/msg/LinktrackNodeframe2.msg diff --git a/Modules/common/prometheus_msgs/msg/LivoxCustomMsg.msg b/Modules/core/common/prometheus_msgs/msg/LivoxCustomMsg.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/LivoxCustomMsg.msg rename to Modules/core/common/prometheus_msgs/msg/LivoxCustomMsg.msg diff --git a/Modules/common/prometheus_msgs/msg/LivoxCustomPoint.msg b/Modules/core/common/prometheus_msgs/msg/LivoxCustomPoint.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/LivoxCustomPoint.msg rename to Modules/core/common/prometheus_msgs/msg/LivoxCustomPoint.msg diff --git a/Modules/common/prometheus_msgs/msg/MultiArucoInfo.msg b/Modules/core/common/prometheus_msgs/msg/MultiArucoInfo.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/MultiArucoInfo.msg rename to Modules/core/common/prometheus_msgs/msg/MultiArucoInfo.msg diff --git a/Modules/common/prometheus_msgs/msg/MultiBsplines.msg b/Modules/core/common/prometheus_msgs/msg/MultiBsplines.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/MultiBsplines.msg rename to Modules/core/common/prometheus_msgs/msg/MultiBsplines.msg diff --git a/Modules/common/prometheus_msgs/msg/MultiDetectionInfo.msg b/Modules/core/common/prometheus_msgs/msg/MultiDetectionInfo.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/MultiDetectionInfo.msg rename to Modules/core/common/prometheus_msgs/msg/MultiDetectionInfo.msg diff --git a/Modules/common/prometheus_msgs/msg/MultiDetectionInfoSub.msg b/Modules/core/common/prometheus_msgs/msg/MultiDetectionInfoSub.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/MultiDetectionInfoSub.msg rename to Modules/core/common/prometheus_msgs/msg/MultiDetectionInfoSub.msg diff --git a/Modules/common/prometheus_msgs/msg/MultiUAVState.msg b/Modules/core/common/prometheus_msgs/msg/MultiUAVState.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/MultiUAVState.msg rename to Modules/core/common/prometheus_msgs/msg/MultiUAVState.msg diff --git a/Modules/common/prometheus_msgs/msg/MultiUGVState.msg b/Modules/core/common/prometheus_msgs/msg/MultiUGVState.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/MultiUGVState.msg rename to Modules/core/common/prometheus_msgs/msg/MultiUGVState.msg diff --git a/Modules/common/prometheus_msgs/msg/OffsetPose.msg b/Modules/core/common/prometheus_msgs/msg/OffsetPose.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/OffsetPose.msg rename to Modules/core/common/prometheus_msgs/msg/OffsetPose.msg diff --git a/Modules/common/prometheus_msgs/msg/ParamSettings.msg b/Modules/core/common/prometheus_msgs/msg/ParamSettings.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/ParamSettings.msg rename to Modules/core/common/prometheus_msgs/msg/ParamSettings.msg diff --git a/Modules/common/prometheus_msgs/msg/PositionReference.msg b/Modules/core/common/prometheus_msgs/msg/PositionReference.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/PositionReference.msg rename to Modules/core/common/prometheus_msgs/msg/PositionReference.msg diff --git a/Modules/common/prometheus_msgs/msg/ROI.msg b/Modules/core/common/prometheus_msgs/msg/ROI.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/ROI.msg rename to Modules/core/common/prometheus_msgs/msg/ROI.msg diff --git a/Modules/common/prometheus_msgs/msg/StartScript.msg b/Modules/core/common/prometheus_msgs/msg/StartScript.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/StartScript.msg rename to Modules/core/common/prometheus_msgs/msg/StartScript.msg diff --git a/Modules/common/prometheus_msgs/msg/StationCommand.msg b/Modules/core/common/prometheus_msgs/msg/StationCommand.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/StationCommand.msg rename to Modules/core/common/prometheus_msgs/msg/StationCommand.msg diff --git a/Modules/common/prometheus_msgs/msg/SwarmCommand.msg b/Modules/core/common/prometheus_msgs/msg/SwarmCommand.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/SwarmCommand.msg rename to Modules/core/common/prometheus_msgs/msg/SwarmCommand.msg diff --git a/Modules/common/prometheus_msgs/msg/Target.msg b/Modules/core/common/prometheus_msgs/msg/Target.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/Target.msg rename to Modules/core/common/prometheus_msgs/msg/Target.msg diff --git a/Modules/common/prometheus_msgs/msg/TargetsInFrame.msg b/Modules/core/common/prometheus_msgs/msg/TargetsInFrame.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/TargetsInFrame.msg rename to Modules/core/common/prometheus_msgs/msg/TargetsInFrame.msg diff --git a/Modules/common/prometheus_msgs/msg/TextInfo.msg b/Modules/core/common/prometheus_msgs/msg/TextInfo.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/TextInfo.msg rename to Modules/core/common/prometheus_msgs/msg/TextInfo.msg diff --git a/Modules/common/prometheus_msgs/msg/UAVCommand.msg b/Modules/core/common/prometheus_msgs/msg/UAVCommand.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/UAVCommand.msg rename to Modules/core/common/prometheus_msgs/msg/UAVCommand.msg diff --git a/Modules/common/prometheus_msgs/msg/UAVControlState.msg b/Modules/core/common/prometheus_msgs/msg/UAVControlState.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/UAVControlState.msg rename to Modules/core/common/prometheus_msgs/msg/UAVControlState.msg diff --git a/Modules/common/prometheus_msgs/msg/UAVSetup.msg b/Modules/core/common/prometheus_msgs/msg/UAVSetup.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/UAVSetup.msg rename to Modules/core/common/prometheus_msgs/msg/UAVSetup.msg diff --git a/Modules/common/prometheus_msgs/msg/UAVState.msg b/Modules/core/common/prometheus_msgs/msg/UAVState.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/UAVState.msg rename to Modules/core/common/prometheus_msgs/msg/UAVState.msg diff --git a/Modules/common/prometheus_msgs/msg/UGVCommand.msg b/Modules/core/common/prometheus_msgs/msg/UGVCommand.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/UGVCommand.msg rename to Modules/core/common/prometheus_msgs/msg/UGVCommand.msg diff --git a/Modules/common/prometheus_msgs/msg/UGVState.msg b/Modules/core/common/prometheus_msgs/msg/UGVState.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/UGVState.msg rename to Modules/core/common/prometheus_msgs/msg/UGVState.msg diff --git a/Modules/common/prometheus_msgs/msg/VisionDiff.msg b/Modules/core/common/prometheus_msgs/msg/VisionDiff.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/VisionDiff.msg rename to Modules/core/common/prometheus_msgs/msg/VisionDiff.msg diff --git a/Modules/common/prometheus_msgs/msg/WindowPosition.msg b/Modules/core/common/prometheus_msgs/msg/WindowPosition.msg similarity index 100% rename from Modules/common/prometheus_msgs/msg/WindowPosition.msg rename to Modules/core/common/prometheus_msgs/msg/WindowPosition.msg diff --git a/Modules/common/prometheus_msgs/package.xml b/Modules/core/common/prometheus_msgs/package.xml similarity index 97% rename from Modules/common/prometheus_msgs/package.xml rename to Modules/core/common/prometheus_msgs/package.xml index d9695c65a0..38c0efa1bd 100644 --- a/Modules/common/prometheus_msgs/package.xml +++ b/Modules/core/common/prometheus_msgs/package.xml @@ -6,7 +6,7 @@ Yuhua Qi - TODO + Apache-2.0 message_generation message_runtime diff --git a/Modules/common/prometheus_msgs/srv/GetLocationSource.srv b/Modules/core/common/prometheus_msgs/srv/GetLocationSource.srv similarity index 100% rename from Modules/common/prometheus_msgs/srv/GetLocationSource.srv rename to Modules/core/common/prometheus_msgs/srv/GetLocationSource.srv diff --git a/Modules/common/prometheus_msgs/srv/GimbalFollowTrackResSevice.srv b/Modules/core/common/prometheus_msgs/srv/GimbalFollowTrackResSevice.srv similarity index 100% rename from Modules/common/prometheus_msgs/srv/GimbalFollowTrackResSevice.srv rename to Modules/core/common/prometheus_msgs/srv/GimbalFollowTrackResSevice.srv diff --git a/Modules/common/prometheus_msgs/srv/SwitchLocationSource.srv b/Modules/core/common/prometheus_msgs/srv/SwitchLocationSource.srv similarity index 100% rename from Modules/common/prometheus_msgs/srv/SwitchLocationSource.srv rename to Modules/core/common/prometheus_msgs/srv/SwitchLocationSource.srv diff --git a/Modules/common/quadrotor_msgs/CMakeLists.txt b/Modules/core/common/quadrotor_msgs/CMakeLists.txt similarity index 100% rename from Modules/common/quadrotor_msgs/CMakeLists.txt rename to Modules/core/common/quadrotor_msgs/CMakeLists.txt diff --git a/Modules/common/quadrotor_msgs/msg/AuxCommand.msg b/Modules/core/common/quadrotor_msgs/msg/AuxCommand.msg similarity index 100% rename from Modules/common/quadrotor_msgs/msg/AuxCommand.msg rename to Modules/core/common/quadrotor_msgs/msg/AuxCommand.msg diff --git a/Modules/common/quadrotor_msgs/msg/Corrections.msg b/Modules/core/common/quadrotor_msgs/msg/Corrections.msg similarity index 100% rename from Modules/common/quadrotor_msgs/msg/Corrections.msg rename to Modules/core/common/quadrotor_msgs/msg/Corrections.msg diff --git a/Modules/common/quadrotor_msgs/msg/Gains.msg b/Modules/core/common/quadrotor_msgs/msg/Gains.msg similarity index 100% rename from Modules/common/quadrotor_msgs/msg/Gains.msg rename to Modules/core/common/quadrotor_msgs/msg/Gains.msg diff --git a/Modules/common/quadrotor_msgs/msg/LQRTrajectory.msg b/Modules/core/common/quadrotor_msgs/msg/LQRTrajectory.msg similarity index 100% rename from Modules/common/quadrotor_msgs/msg/LQRTrajectory.msg rename to Modules/core/common/quadrotor_msgs/msg/LQRTrajectory.msg diff --git a/Modules/common/quadrotor_msgs/msg/Odometry.msg b/Modules/core/common/quadrotor_msgs/msg/Odometry.msg similarity index 100% rename from Modules/common/quadrotor_msgs/msg/Odometry.msg rename to Modules/core/common/quadrotor_msgs/msg/Odometry.msg diff --git a/Modules/common/quadrotor_msgs/msg/OutputData.msg b/Modules/core/common/quadrotor_msgs/msg/OutputData.msg similarity index 100% rename from Modules/common/quadrotor_msgs/msg/OutputData.msg rename to Modules/core/common/quadrotor_msgs/msg/OutputData.msg diff --git a/Modules/common/quadrotor_msgs/msg/PPROutputData.msg b/Modules/core/common/quadrotor_msgs/msg/PPROutputData.msg similarity index 100% rename from Modules/common/quadrotor_msgs/msg/PPROutputData.msg rename to Modules/core/common/quadrotor_msgs/msg/PPROutputData.msg diff --git a/Modules/common/quadrotor_msgs/msg/PolynomialTrajectory.msg b/Modules/core/common/quadrotor_msgs/msg/PolynomialTrajectory.msg similarity index 100% rename from Modules/common/quadrotor_msgs/msg/PolynomialTrajectory.msg rename to Modules/core/common/quadrotor_msgs/msg/PolynomialTrajectory.msg diff --git a/Modules/common/quadrotor_msgs/msg/PositionCommand.msg b/Modules/core/common/quadrotor_msgs/msg/PositionCommand.msg similarity index 100% rename from Modules/common/quadrotor_msgs/msg/PositionCommand.msg rename to Modules/core/common/quadrotor_msgs/msg/PositionCommand.msg diff --git a/Modules/common/quadrotor_msgs/msg/Px4ctrlDebug.msg b/Modules/core/common/quadrotor_msgs/msg/Px4ctrlDebug.msg similarity index 100% rename from Modules/common/quadrotor_msgs/msg/Px4ctrlDebug.msg rename to Modules/core/common/quadrotor_msgs/msg/Px4ctrlDebug.msg diff --git a/Modules/common/quadrotor_msgs/msg/SO3Command.msg b/Modules/core/common/quadrotor_msgs/msg/SO3Command.msg similarity index 100% rename from Modules/common/quadrotor_msgs/msg/SO3Command.msg rename to Modules/core/common/quadrotor_msgs/msg/SO3Command.msg diff --git a/Modules/common/quadrotor_msgs/msg/Serial.msg b/Modules/core/common/quadrotor_msgs/msg/Serial.msg similarity index 100% rename from Modules/common/quadrotor_msgs/msg/Serial.msg rename to Modules/core/common/quadrotor_msgs/msg/Serial.msg diff --git a/Modules/common/quadrotor_msgs/msg/StatusData.msg b/Modules/core/common/quadrotor_msgs/msg/StatusData.msg similarity index 100% rename from Modules/common/quadrotor_msgs/msg/StatusData.msg rename to Modules/core/common/quadrotor_msgs/msg/StatusData.msg diff --git a/Modules/common/quadrotor_msgs/msg/TRPYCommand.msg b/Modules/core/common/quadrotor_msgs/msg/TRPYCommand.msg similarity index 100% rename from Modules/common/quadrotor_msgs/msg/TRPYCommand.msg rename to Modules/core/common/quadrotor_msgs/msg/TRPYCommand.msg diff --git a/Modules/common/quadrotor_msgs/package.xml b/Modules/core/common/quadrotor_msgs/package.xml similarity index 100% rename from Modules/common/quadrotor_msgs/package.xml rename to Modules/core/common/quadrotor_msgs/package.xml diff --git a/Experiment/CMakeLists.txt b/Modules/demo/experiment/CMakeLists.txt similarity index 100% rename from Experiment/CMakeLists.txt rename to Modules/demo/experiment/CMakeLists.txt diff --git a/Experiment/config/px4_config.yaml b/Modules/demo/experiment/config/px4_config.yaml similarity index 100% rename from Experiment/config/px4_config.yaml rename to Modules/demo/experiment/config/px4_config.yaml diff --git a/Experiment/config/px4_pluginlists.yaml b/Modules/demo/experiment/config/px4_pluginlists.yaml similarity index 100% rename from Experiment/config/px4_pluginlists.yaml rename to Modules/demo/experiment/config/px4_pluginlists.yaml diff --git a/Experiment/config/uav_control_indoor.yaml b/Modules/demo/experiment/config/uav_control_indoor.yaml similarity index 100% rename from Experiment/config/uav_control_indoor.yaml rename to Modules/demo/experiment/config/uav_control_indoor.yaml diff --git a/Experiment/launch/prometheus_experiment.launch b/Modules/demo/experiment/launch/prometheus_experiment.launch similarity index 100% rename from Experiment/launch/prometheus_experiment.launch rename to Modules/demo/experiment/launch/prometheus_experiment.launch diff --git a/Experiment/package.xml b/Modules/demo/experiment/package.xml similarity index 96% rename from Experiment/package.xml rename to Modules/demo/experiment/package.xml index de76d1d55d..95b30f778a 100644 --- a/Experiment/package.xml +++ b/Modules/demo/experiment/package.xml @@ -7,7 +7,7 @@ Yuhua Qi Yuhua Qi - TODO + Apache-2.0 https://www.amovlab.com https://github.com/potato77/prometheus_experiment.git diff --git a/Modules/future_aircraft/CMakeLists.txt b/Modules/demo/future_aircraft/CMakeLists.txt similarity index 99% rename from Modules/future_aircraft/CMakeLists.txt rename to Modules/demo/future_aircraft/CMakeLists.txt index 4898dbc586..cd9e1eaf19 100644 --- a/Modules/future_aircraft/CMakeLists.txt +++ b/Modules/demo/future_aircraft/CMakeLists.txt @@ -57,7 +57,7 @@ catkin_package( include_directories( include ../tutorial_demo/advanced/autonomous_landing/include ${catkin_INCLUDE_DIRS} - ../common/include + ../../core/common/include ) diff --git a/Modules/future_aircraft/conf/calib.yaml b/Modules/demo/future_aircraft/conf/calib.yaml similarity index 100% rename from Modules/future_aircraft/conf/calib.yaml rename to Modules/demo/future_aircraft/conf/calib.yaml diff --git a/Modules/future_aircraft/conf/calib_sitl.yaml b/Modules/demo/future_aircraft/conf/calib_sitl.yaml similarity index 100% rename from Modules/future_aircraft/conf/calib_sitl.yaml rename to Modules/demo/future_aircraft/conf/calib_sitl.yaml diff --git a/Modules/future_aircraft/launch/future_aircraft.launch b/Modules/demo/future_aircraft/launch/future_aircraft.launch similarity index 100% rename from Modules/future_aircraft/launch/future_aircraft.launch rename to Modules/demo/future_aircraft/launch/future_aircraft.launch diff --git a/Modules/future_aircraft/launch/test.launch b/Modules/demo/future_aircraft/launch/test.launch similarity index 100% rename from Modules/future_aircraft/launch/test.launch rename to Modules/demo/future_aircraft/launch/test.launch diff --git a/Modules/future_aircraft/package.xml b/Modules/demo/future_aircraft/package.xml similarity index 95% rename from Modules/future_aircraft/package.xml rename to Modules/demo/future_aircraft/package.xml index e7fa468ff8..96c5b492a4 100644 --- a/Modules/future_aircraft/package.xml +++ b/Modules/demo/future_aircraft/package.xml @@ -6,7 +6,7 @@ Yuhua Qi - TODO + Apache-2.0 message_generation message_runtime diff --git a/Modules/future_aircraft/readme.md b/Modules/demo/future_aircraft/readme.md similarity index 100% rename from Modules/future_aircraft/readme.md rename to Modules/demo/future_aircraft/readme.md diff --git a/Modules/future_aircraft/scripts/locus.py b/Modules/demo/future_aircraft/scripts/locus.py similarity index 100% rename from Modules/future_aircraft/scripts/locus.py rename to Modules/demo/future_aircraft/scripts/locus.py diff --git a/Modules/future_aircraft/src/ellipse_det.cpp b/Modules/demo/future_aircraft/src/ellipse_det.cpp similarity index 100% rename from Modules/future_aircraft/src/ellipse_det.cpp rename to Modules/demo/future_aircraft/src/ellipse_det.cpp diff --git a/Modules/future_aircraft/src/ellipse_detector/ellipse_detector.cpp b/Modules/demo/future_aircraft/src/ellipse_detector/ellipse_detector.cpp similarity index 100% rename from Modules/future_aircraft/src/ellipse_detector/ellipse_detector.cpp rename to Modules/demo/future_aircraft/src/ellipse_detector/ellipse_detector.cpp diff --git a/Modules/future_aircraft/src/ellipse_detector/ellipse_detector.h b/Modules/demo/future_aircraft/src/ellipse_detector/ellipse_detector.h similarity index 100% rename from Modules/future_aircraft/src/ellipse_detector/ellipse_detector.h rename to Modules/demo/future_aircraft/src/ellipse_detector/ellipse_detector.h diff --git a/Modules/future_aircraft/src/future_aircraft.cpp b/Modules/demo/future_aircraft/src/future_aircraft.cpp similarity index 100% rename from Modules/future_aircraft/src/future_aircraft.cpp rename to Modules/demo/future_aircraft/src/future_aircraft.cpp diff --git a/Modules/tutorial_demo/CMakeLists.txt b/Modules/demo/tutorial_demo/CMakeLists.txt similarity index 98% rename from Modules/tutorial_demo/CMakeLists.txt rename to Modules/demo/tutorial_demo/CMakeLists.txt index bca9893fc9..29bf068d9e 100755 --- a/Modules/tutorial_demo/CMakeLists.txt +++ b/Modules/demo/tutorial_demo/CMakeLists.txt @@ -56,8 +56,8 @@ include_directories( include advanced/include ${catkin_INCLUDE_DIRS} - ../common/include - ../communication/include + ../../core/common/include + ../../communication/include ${OpenCV_INCLUDE_DIRS} ) message(STATUS "include dirs") diff --git a/Modules/tutorial_demo/advanced/aruco_tracking/launch/aruco_tracking.launch b/Modules/demo/tutorial_demo/advanced/aruco_tracking/launch/aruco_tracking.launch similarity index 100% rename from Modules/tutorial_demo/advanced/aruco_tracking/launch/aruco_tracking.launch rename to Modules/demo/tutorial_demo/advanced/aruco_tracking/launch/aruco_tracking.launch diff --git a/Modules/tutorial_demo/advanced/aruco_tracking/launch/aruco_tracking_control.launch b/Modules/demo/tutorial_demo/advanced/aruco_tracking/launch/aruco_tracking_control.launch similarity index 100% rename from Modules/tutorial_demo/advanced/aruco_tracking/launch/aruco_tracking_control.launch rename to Modules/demo/tutorial_demo/advanced/aruco_tracking/launch/aruco_tracking_control.launch diff --git a/Modules/tutorial_demo/advanced/aruco_tracking/launch/aruco_tracking_prosim.launch b/Modules/demo/tutorial_demo/advanced/aruco_tracking/launch/aruco_tracking_prosim.launch similarity index 100% rename from Modules/tutorial_demo/advanced/aruco_tracking/launch/aruco_tracking_prosim.launch rename to Modules/demo/tutorial_demo/advanced/aruco_tracking/launch/aruco_tracking_prosim.launch diff --git a/Modules/tutorial_demo/advanced/aruco_tracking/src/aruco_tracking.cpp b/Modules/demo/tutorial_demo/advanced/aruco_tracking/src/aruco_tracking.cpp similarity index 100% rename from Modules/tutorial_demo/advanced/aruco_tracking/src/aruco_tracking.cpp rename to Modules/demo/tutorial_demo/advanced/aruco_tracking/src/aruco_tracking.cpp diff --git a/Modules/tutorial_demo/advanced/aruco_tracking/src/prosim_aruco_tracking.cpp b/Modules/demo/tutorial_demo/advanced/aruco_tracking/src/prosim_aruco_tracking.cpp similarity index 100% rename from Modules/tutorial_demo/advanced/aruco_tracking/src/prosim_aruco_tracking.cpp rename to Modules/demo/tutorial_demo/advanced/aruco_tracking/src/prosim_aruco_tracking.cpp diff --git a/Modules/tutorial_demo/advanced/formation_control/launch/formation_control.launch b/Modules/demo/tutorial_demo/advanced/formation_control/launch/formation_control.launch similarity index 100% rename from Modules/tutorial_demo/advanced/formation_control/launch/formation_control.launch rename to Modules/demo/tutorial_demo/advanced/formation_control/launch/formation_control.launch diff --git a/Modules/tutorial_demo/advanced/formation_control/launch/swarm_control.launch b/Modules/demo/tutorial_demo/advanced/formation_control/launch/swarm_control.launch similarity index 100% rename from Modules/tutorial_demo/advanced/formation_control/launch/swarm_control.launch rename to Modules/demo/tutorial_demo/advanced/formation_control/launch/swarm_control.launch diff --git a/Modules/tutorial_demo/advanced/formation_control/src/formation_control.cpp b/Modules/demo/tutorial_demo/advanced/formation_control/src/formation_control.cpp similarity index 100% rename from Modules/tutorial_demo/advanced/formation_control/src/formation_control.cpp rename to Modules/demo/tutorial_demo/advanced/formation_control/src/formation_control.cpp diff --git a/Modules/tutorial_demo/advanced/formation_control/src/swarm_control.cpp b/Modules/demo/tutorial_demo/advanced/formation_control/src/swarm_control.cpp similarity index 100% rename from Modules/tutorial_demo/advanced/formation_control/src/swarm_control.cpp rename to Modules/demo/tutorial_demo/advanced/formation_control/src/swarm_control.cpp diff --git a/Modules/tutorial_demo/advanced/gimbal_yolov5_tracking/launch/gimbal_yolov5_tracking_prosim.launch b/Modules/demo/tutorial_demo/advanced/gimbal_yolov5_tracking/launch/gimbal_yolov5_tracking_prosim.launch similarity index 100% rename from Modules/tutorial_demo/advanced/gimbal_yolov5_tracking/launch/gimbal_yolov5_tracking_prosim.launch rename to Modules/demo/tutorial_demo/advanced/gimbal_yolov5_tracking/launch/gimbal_yolov5_tracking_prosim.launch diff --git a/Modules/tutorial_demo/advanced/gimbal_yolov5_tracking/src/prosim_gimbal_yolov5_tracking.cpp b/Modules/demo/tutorial_demo/advanced/gimbal_yolov5_tracking/src/prosim_gimbal_yolov5_tracking.cpp similarity index 100% rename from Modules/tutorial_demo/advanced/gimbal_yolov5_tracking/src/prosim_gimbal_yolov5_tracking.cpp rename to Modules/demo/tutorial_demo/advanced/gimbal_yolov5_tracking/src/prosim_gimbal_yolov5_tracking.cpp diff --git a/Modules/tutorial_demo/advanced/gimbal_yolov5_tracking_land/launch/gimbal_yolov5_tracking_land_prosim.launch b/Modules/demo/tutorial_demo/advanced/gimbal_yolov5_tracking_land/launch/gimbal_yolov5_tracking_land_prosim.launch similarity index 100% rename from Modules/tutorial_demo/advanced/gimbal_yolov5_tracking_land/launch/gimbal_yolov5_tracking_land_prosim.launch rename to Modules/demo/tutorial_demo/advanced/gimbal_yolov5_tracking_land/launch/gimbal_yolov5_tracking_land_prosim.launch diff --git a/Modules/tutorial_demo/advanced/gimbal_yolov5_tracking_land/src/prosim_gimbal_yolov5_tracking_land.cpp b/Modules/demo/tutorial_demo/advanced/gimbal_yolov5_tracking_land/src/prosim_gimbal_yolov5_tracking_land.cpp similarity index 100% rename from Modules/tutorial_demo/advanced/gimbal_yolov5_tracking_land/src/prosim_gimbal_yolov5_tracking_land.cpp rename to Modules/demo/tutorial_demo/advanced/gimbal_yolov5_tracking_land/src/prosim_gimbal_yolov5_tracking_land.cpp diff --git a/Modules/tutorial_demo/advanced/include/mission_utils.h b/Modules/demo/tutorial_demo/advanced/include/mission_utils.h similarity index 100% rename from Modules/tutorial_demo/advanced/include/mission_utils.h rename to Modules/demo/tutorial_demo/advanced/include/mission_utils.h diff --git a/Modules/tutorial_demo/advanced/yolov5_tracking/launch/yolov5_tracking.launch b/Modules/demo/tutorial_demo/advanced/yolov5_tracking/launch/yolov5_tracking.launch similarity index 100% rename from Modules/tutorial_demo/advanced/yolov5_tracking/launch/yolov5_tracking.launch rename to Modules/demo/tutorial_demo/advanced/yolov5_tracking/launch/yolov5_tracking.launch diff --git a/Modules/tutorial_demo/advanced/yolov5_tracking/launch/yolov5_tracking_control.launch b/Modules/demo/tutorial_demo/advanced/yolov5_tracking/launch/yolov5_tracking_control.launch similarity index 100% rename from Modules/tutorial_demo/advanced/yolov5_tracking/launch/yolov5_tracking_control.launch rename to Modules/demo/tutorial_demo/advanced/yolov5_tracking/launch/yolov5_tracking_control.launch diff --git a/Modules/tutorial_demo/advanced/yolov5_tracking/launch/yolov5_tracking_prosim.launch b/Modules/demo/tutorial_demo/advanced/yolov5_tracking/launch/yolov5_tracking_prosim.launch similarity index 100% rename from Modules/tutorial_demo/advanced/yolov5_tracking/launch/yolov5_tracking_prosim.launch rename to Modules/demo/tutorial_demo/advanced/yolov5_tracking/launch/yolov5_tracking_prosim.launch diff --git a/Modules/tutorial_demo/advanced/yolov5_tracking/src/prosim_yolov5_tracking.cpp b/Modules/demo/tutorial_demo/advanced/yolov5_tracking/src/prosim_yolov5_tracking.cpp similarity index 100% rename from Modules/tutorial_demo/advanced/yolov5_tracking/src/prosim_yolov5_tracking.cpp rename to Modules/demo/tutorial_demo/advanced/yolov5_tracking/src/prosim_yolov5_tracking.cpp diff --git a/Modules/tutorial_demo/advanced/yolov5_tracking/src/yolov5_tracking.cpp b/Modules/demo/tutorial_demo/advanced/yolov5_tracking/src/yolov5_tracking.cpp similarity index 100% rename from Modules/tutorial_demo/advanced/yolov5_tracking/src/yolov5_tracking.cpp rename to Modules/demo/tutorial_demo/advanced/yolov5_tracking/src/yolov5_tracking.cpp diff --git a/Modules/tutorial_demo/basic/body_xyz_pos_control/launch/body_xyz_pos_control.launch b/Modules/demo/tutorial_demo/basic/body_xyz_pos_control/launch/body_xyz_pos_control.launch similarity index 100% rename from Modules/tutorial_demo/basic/body_xyz_pos_control/launch/body_xyz_pos_control.launch rename to Modules/demo/tutorial_demo/basic/body_xyz_pos_control/launch/body_xyz_pos_control.launch diff --git a/Modules/tutorial_demo/basic/body_xyz_pos_control/scripts/body_xyz_pos_control.py b/Modules/demo/tutorial_demo/basic/body_xyz_pos_control/scripts/body_xyz_pos_control.py similarity index 100% rename from Modules/tutorial_demo/basic/body_xyz_pos_control/scripts/body_xyz_pos_control.py rename to Modules/demo/tutorial_demo/basic/body_xyz_pos_control/scripts/body_xyz_pos_control.py diff --git a/Modules/tutorial_demo/basic/body_xyz_pos_control/src/body_xyz_pos_control.cpp b/Modules/demo/tutorial_demo/basic/body_xyz_pos_control/src/body_xyz_pos_control.cpp similarity index 100% rename from Modules/tutorial_demo/basic/body_xyz_pos_control/src/body_xyz_pos_control.cpp rename to Modules/demo/tutorial_demo/basic/body_xyz_pos_control/src/body_xyz_pos_control.cpp diff --git a/Modules/tutorial_demo/basic/circular_trajectory_control/launch/circular_trajectory_control.launch b/Modules/demo/tutorial_demo/basic/circular_trajectory_control/launch/circular_trajectory_control.launch similarity index 100% rename from Modules/tutorial_demo/basic/circular_trajectory_control/launch/circular_trajectory_control.launch rename to Modules/demo/tutorial_demo/basic/circular_trajectory_control/launch/circular_trajectory_control.launch diff --git a/Modules/tutorial_demo/basic/circular_trajectory_control/scripts/circular_trajectory_control.py b/Modules/demo/tutorial_demo/basic/circular_trajectory_control/scripts/circular_trajectory_control.py similarity index 100% rename from Modules/tutorial_demo/basic/circular_trajectory_control/scripts/circular_trajectory_control.py rename to Modules/demo/tutorial_demo/basic/circular_trajectory_control/scripts/circular_trajectory_control.py diff --git a/Modules/tutorial_demo/basic/circular_trajectory_control/src/circular_trajectory_control.cpp b/Modules/demo/tutorial_demo/basic/circular_trajectory_control/src/circular_trajectory_control.cpp similarity index 100% rename from Modules/tutorial_demo/basic/circular_trajectory_control/src/circular_trajectory_control.cpp rename to Modules/demo/tutorial_demo/basic/circular_trajectory_control/src/circular_trajectory_control.cpp diff --git a/Modules/tutorial_demo/basic/enu_xyz_pos_control/launch/enu_xyz_pos_control.launch b/Modules/demo/tutorial_demo/basic/enu_xyz_pos_control/launch/enu_xyz_pos_control.launch similarity index 100% rename from Modules/tutorial_demo/basic/enu_xyz_pos_control/launch/enu_xyz_pos_control.launch rename to Modules/demo/tutorial_demo/basic/enu_xyz_pos_control/launch/enu_xyz_pos_control.launch diff --git a/Modules/tutorial_demo/basic/enu_xyz_pos_control/scripts/enu_xyz_pos_control.py b/Modules/demo/tutorial_demo/basic/enu_xyz_pos_control/scripts/enu_xyz_pos_control.py similarity index 100% rename from Modules/tutorial_demo/basic/enu_xyz_pos_control/scripts/enu_xyz_pos_control.py rename to Modules/demo/tutorial_demo/basic/enu_xyz_pos_control/scripts/enu_xyz_pos_control.py diff --git a/Modules/tutorial_demo/basic/enu_xyz_pos_control/src/enu_xyz_pos_control.cpp b/Modules/demo/tutorial_demo/basic/enu_xyz_pos_control/src/enu_xyz_pos_control.cpp similarity index 100% rename from Modules/tutorial_demo/basic/enu_xyz_pos_control/src/enu_xyz_pos_control.cpp rename to Modules/demo/tutorial_demo/basic/enu_xyz_pos_control/src/enu_xyz_pos_control.cpp diff --git a/Modules/tutorial_demo/basic/global_pos_control/launch/global_pos_control.launch b/Modules/demo/tutorial_demo/basic/global_pos_control/launch/global_pos_control.launch similarity index 100% rename from Modules/tutorial_demo/basic/global_pos_control/launch/global_pos_control.launch rename to Modules/demo/tutorial_demo/basic/global_pos_control/launch/global_pos_control.launch diff --git a/Modules/tutorial_demo/basic/global_pos_control/src/global_pos_control.cpp b/Modules/demo/tutorial_demo/basic/global_pos_control/src/global_pos_control.cpp similarity index 100% rename from Modules/tutorial_demo/basic/global_pos_control/src/global_pos_control.cpp rename to Modules/demo/tutorial_demo/basic/global_pos_control/src/global_pos_control.cpp diff --git a/Modules/tutorial_demo/basic/takeoff_land/launch/takeoff_land.launch b/Modules/demo/tutorial_demo/basic/takeoff_land/launch/takeoff_land.launch similarity index 100% rename from Modules/tutorial_demo/basic/takeoff_land/launch/takeoff_land.launch rename to Modules/demo/tutorial_demo/basic/takeoff_land/launch/takeoff_land.launch diff --git a/Modules/tutorial_demo/basic/takeoff_land/scripts/takeoff_land.py b/Modules/demo/tutorial_demo/basic/takeoff_land/scripts/takeoff_land.py similarity index 100% rename from Modules/tutorial_demo/basic/takeoff_land/scripts/takeoff_land.py rename to Modules/demo/tutorial_demo/basic/takeoff_land/scripts/takeoff_land.py diff --git a/Modules/tutorial_demo/basic/takeoff_land/src/takeoff_land.cpp b/Modules/demo/tutorial_demo/basic/takeoff_land/src/takeoff_land.cpp similarity index 100% rename from Modules/tutorial_demo/basic/takeoff_land/src/takeoff_land.cpp rename to Modules/demo/tutorial_demo/basic/takeoff_land/src/takeoff_land.cpp diff --git a/Modules/tutorial_demo/basic/takeoff_land/src/takeoff_land_no_rc.cpp b/Modules/demo/tutorial_demo/basic/takeoff_land/src/takeoff_land_no_rc.cpp similarity index 100% rename from Modules/tutorial_demo/basic/takeoff_land/src/takeoff_land_no_rc.cpp rename to Modules/demo/tutorial_demo/basic/takeoff_land/src/takeoff_land_no_rc.cpp diff --git a/Modules/tutorial_demo/basic/waypoint_pos_control/launch/waypoint_pos_control.launch b/Modules/demo/tutorial_demo/basic/waypoint_pos_control/launch/waypoint_pos_control.launch similarity index 100% rename from Modules/tutorial_demo/basic/waypoint_pos_control/launch/waypoint_pos_control.launch rename to Modules/demo/tutorial_demo/basic/waypoint_pos_control/launch/waypoint_pos_control.launch diff --git a/Modules/tutorial_demo/basic/waypoint_pos_control/src/waypoint_pos_control.cpp b/Modules/demo/tutorial_demo/basic/waypoint_pos_control/src/waypoint_pos_control.cpp similarity index 100% rename from Modules/tutorial_demo/basic/waypoint_pos_control/src/waypoint_pos_control.cpp rename to Modules/demo/tutorial_demo/basic/waypoint_pos_control/src/waypoint_pos_control.cpp diff --git a/Modules/tutorial_demo/package.xml b/Modules/demo/tutorial_demo/package.xml similarity index 95% rename from Modules/tutorial_demo/package.xml rename to Modules/demo/tutorial_demo/package.xml index 4f38609c34..8f2321f4d0 100755 --- a/Modules/tutorial_demo/package.xml +++ b/Modules/demo/tutorial_demo/package.xml @@ -6,7 +6,7 @@ Yuhua Qi - TODO + Apache-2.0 message_generation message_runtime diff --git a/Modules/matlab_bridge b/Modules/integration/matlab_bridge similarity index 100% rename from Modules/matlab_bridge rename to Modules/integration/matlab_bridge diff --git a/Modules/FAST_LIO/CMakeLists.txt b/Modules/perception/FAST_LIO/CMakeLists.txt similarity index 100% rename from Modules/FAST_LIO/CMakeLists.txt rename to Modules/perception/FAST_LIO/CMakeLists.txt diff --git a/Modules/FAST_LIO/LICENSE b/Modules/perception/FAST_LIO/LICENSE similarity index 100% rename from Modules/FAST_LIO/LICENSE rename to Modules/perception/FAST_LIO/LICENSE diff --git a/Modules/FAST_LIO/Log/dbg.txt b/Modules/perception/FAST_LIO/Log/dbg.txt similarity index 100% rename from Modules/FAST_LIO/Log/dbg.txt rename to Modules/perception/FAST_LIO/Log/dbg.txt diff --git a/Modules/FAST_LIO/Log/fast_lio_time_log_analysis.m b/Modules/perception/FAST_LIO/Log/fast_lio_time_log_analysis.m similarity index 100% rename from Modules/FAST_LIO/Log/fast_lio_time_log_analysis.m rename to Modules/perception/FAST_LIO/Log/fast_lio_time_log_analysis.m diff --git a/Modules/FAST_LIO/Log/guide.md b/Modules/perception/FAST_LIO/Log/guide.md similarity index 100% rename from Modules/FAST_LIO/Log/guide.md rename to Modules/perception/FAST_LIO/Log/guide.md diff --git a/Modules/FAST_LIO/Log/imu.txt b/Modules/perception/FAST_LIO/Log/imu.txt similarity index 100% rename from Modules/FAST_LIO/Log/imu.txt rename to Modules/perception/FAST_LIO/Log/imu.txt diff --git a/Modules/FAST_LIO/Log/mat_out.txt b/Modules/perception/FAST_LIO/Log/mat_out.txt similarity index 100% rename from Modules/FAST_LIO/Log/mat_out.txt rename to Modules/perception/FAST_LIO/Log/mat_out.txt diff --git a/Modules/FAST_LIO/Log/plot.py b/Modules/perception/FAST_LIO/Log/plot.py similarity index 100% rename from Modules/FAST_LIO/Log/plot.py rename to Modules/perception/FAST_LIO/Log/plot.py diff --git a/Modules/FAST_LIO/Log/pos_log.txt b/Modules/perception/FAST_LIO/Log/pos_log.txt similarity index 100% rename from Modules/FAST_LIO/Log/pos_log.txt rename to Modules/perception/FAST_LIO/Log/pos_log.txt diff --git a/Modules/FAST_LIO/PCD/1 b/Modules/perception/FAST_LIO/PCD/1 similarity index 100% rename from Modules/FAST_LIO/PCD/1 rename to Modules/perception/FAST_LIO/PCD/1 diff --git a/Modules/FAST_LIO/PCD/scans.pcd b/Modules/perception/FAST_LIO/PCD/scans.pcd similarity index 100% rename from Modules/FAST_LIO/PCD/scans.pcd rename to Modules/perception/FAST_LIO/PCD/scans.pcd diff --git a/Modules/FAST_LIO/README.md b/Modules/perception/FAST_LIO/README.md similarity index 100% rename from Modules/FAST_LIO/README.md rename to Modules/perception/FAST_LIO/README.md diff --git a/Modules/FAST_LIO/config/avia.yaml b/Modules/perception/FAST_LIO/config/avia.yaml similarity index 100% rename from Modules/FAST_LIO/config/avia.yaml rename to Modules/perception/FAST_LIO/config/avia.yaml diff --git a/Modules/FAST_LIO/config/horizon.yaml b/Modules/perception/FAST_LIO/config/horizon.yaml similarity index 100% rename from Modules/FAST_LIO/config/horizon.yaml rename to Modules/perception/FAST_LIO/config/horizon.yaml diff --git a/Modules/FAST_LIO/config/mid360.yaml b/Modules/perception/FAST_LIO/config/mid360.yaml similarity index 100% rename from Modules/FAST_LIO/config/mid360.yaml rename to Modules/perception/FAST_LIO/config/mid360.yaml diff --git a/Modules/FAST_LIO/config/mid360_airsim.yaml b/Modules/perception/FAST_LIO/config/mid360_airsim.yaml similarity index 100% rename from Modules/FAST_LIO/config/mid360_airsim.yaml rename to Modules/perception/FAST_LIO/config/mid360_airsim.yaml diff --git a/Modules/FAST_LIO/config/mid360_gazebo.yaml b/Modules/perception/FAST_LIO/config/mid360_gazebo.yaml similarity index 100% rename from Modules/FAST_LIO/config/mid360_gazebo.yaml rename to Modules/perception/FAST_LIO/config/mid360_gazebo.yaml diff --git a/Modules/FAST_LIO/config/ouster64.yaml b/Modules/perception/FAST_LIO/config/ouster64.yaml similarity index 100% rename from Modules/FAST_LIO/config/ouster64.yaml rename to Modules/perception/FAST_LIO/config/ouster64.yaml diff --git a/Modules/FAST_LIO/config/velodyne.yaml b/Modules/perception/FAST_LIO/config/velodyne.yaml similarity index 100% rename from Modules/FAST_LIO/config/velodyne.yaml rename to Modules/perception/FAST_LIO/config/velodyne.yaml diff --git a/Modules/FAST_LIO/include/Exp_mat.h b/Modules/perception/FAST_LIO/include/Exp_mat.h similarity index 100% rename from Modules/FAST_LIO/include/Exp_mat.h rename to Modules/perception/FAST_LIO/include/Exp_mat.h diff --git a/Modules/FAST_LIO/include/IKFoM_toolkit/esekfom/esekfom.hpp b/Modules/perception/FAST_LIO/include/IKFoM_toolkit/esekfom/esekfom.hpp similarity index 100% rename from Modules/FAST_LIO/include/IKFoM_toolkit/esekfom/esekfom.hpp rename to Modules/perception/FAST_LIO/include/IKFoM_toolkit/esekfom/esekfom.hpp diff --git a/Modules/FAST_LIO/include/IKFoM_toolkit/esekfom/util.hpp b/Modules/perception/FAST_LIO/include/IKFoM_toolkit/esekfom/util.hpp similarity index 100% rename from Modules/FAST_LIO/include/IKFoM_toolkit/esekfom/util.hpp rename to Modules/perception/FAST_LIO/include/IKFoM_toolkit/esekfom/util.hpp diff --git a/Modules/FAST_LIO/include/IKFoM_toolkit/mtk/build_manifold.hpp b/Modules/perception/FAST_LIO/include/IKFoM_toolkit/mtk/build_manifold.hpp similarity index 100% rename from Modules/FAST_LIO/include/IKFoM_toolkit/mtk/build_manifold.hpp rename to Modules/perception/FAST_LIO/include/IKFoM_toolkit/mtk/build_manifold.hpp diff --git a/Modules/FAST_LIO/include/IKFoM_toolkit/mtk/src/SubManifold.hpp b/Modules/perception/FAST_LIO/include/IKFoM_toolkit/mtk/src/SubManifold.hpp similarity index 100% rename from Modules/FAST_LIO/include/IKFoM_toolkit/mtk/src/SubManifold.hpp rename to Modules/perception/FAST_LIO/include/IKFoM_toolkit/mtk/src/SubManifold.hpp diff --git a/Modules/FAST_LIO/include/IKFoM_toolkit/mtk/src/mtkmath.hpp b/Modules/perception/FAST_LIO/include/IKFoM_toolkit/mtk/src/mtkmath.hpp similarity index 100% rename from Modules/FAST_LIO/include/IKFoM_toolkit/mtk/src/mtkmath.hpp rename to Modules/perception/FAST_LIO/include/IKFoM_toolkit/mtk/src/mtkmath.hpp diff --git a/Modules/FAST_LIO/include/IKFoM_toolkit/mtk/src/vectview.hpp b/Modules/perception/FAST_LIO/include/IKFoM_toolkit/mtk/src/vectview.hpp similarity index 100% rename from Modules/FAST_LIO/include/IKFoM_toolkit/mtk/src/vectview.hpp rename to Modules/perception/FAST_LIO/include/IKFoM_toolkit/mtk/src/vectview.hpp diff --git a/Modules/FAST_LIO/include/IKFoM_toolkit/mtk/startIdx.hpp b/Modules/perception/FAST_LIO/include/IKFoM_toolkit/mtk/startIdx.hpp similarity index 100% rename from Modules/FAST_LIO/include/IKFoM_toolkit/mtk/startIdx.hpp rename to Modules/perception/FAST_LIO/include/IKFoM_toolkit/mtk/startIdx.hpp diff --git a/Modules/FAST_LIO/include/IKFoM_toolkit/mtk/types/S2.hpp b/Modules/perception/FAST_LIO/include/IKFoM_toolkit/mtk/types/S2.hpp similarity index 100% rename from Modules/FAST_LIO/include/IKFoM_toolkit/mtk/types/S2.hpp rename to Modules/perception/FAST_LIO/include/IKFoM_toolkit/mtk/types/S2.hpp diff --git a/Modules/FAST_LIO/include/IKFoM_toolkit/mtk/types/SOn.hpp b/Modules/perception/FAST_LIO/include/IKFoM_toolkit/mtk/types/SOn.hpp similarity index 100% rename from Modules/FAST_LIO/include/IKFoM_toolkit/mtk/types/SOn.hpp rename to Modules/perception/FAST_LIO/include/IKFoM_toolkit/mtk/types/SOn.hpp diff --git a/Modules/FAST_LIO/include/IKFoM_toolkit/mtk/types/vect.hpp b/Modules/perception/FAST_LIO/include/IKFoM_toolkit/mtk/types/vect.hpp similarity index 100% rename from Modules/FAST_LIO/include/IKFoM_toolkit/mtk/types/vect.hpp rename to Modules/perception/FAST_LIO/include/IKFoM_toolkit/mtk/types/vect.hpp diff --git a/Modules/FAST_LIO/include/IKFoM_toolkit/mtk/types/wrapped_cv_mat.hpp b/Modules/perception/FAST_LIO/include/IKFoM_toolkit/mtk/types/wrapped_cv_mat.hpp similarity index 100% rename from Modules/FAST_LIO/include/IKFoM_toolkit/mtk/types/wrapped_cv_mat.hpp rename to Modules/perception/FAST_LIO/include/IKFoM_toolkit/mtk/types/wrapped_cv_mat.hpp diff --git a/Modules/FAST_LIO/include/common_lib.h b/Modules/perception/FAST_LIO/include/common_lib.h similarity index 100% rename from Modules/FAST_LIO/include/common_lib.h rename to Modules/perception/FAST_LIO/include/common_lib.h diff --git a/Modules/FAST_LIO/include/ikd-Tree/README.md b/Modules/perception/FAST_LIO/include/ikd-Tree/README.md similarity index 100% rename from Modules/FAST_LIO/include/ikd-Tree/README.md rename to Modules/perception/FAST_LIO/include/ikd-Tree/README.md diff --git a/Modules/FAST_LIO/include/ikd-Tree/ikd_Tree.cpp b/Modules/perception/FAST_LIO/include/ikd-Tree/ikd_Tree.cpp similarity index 100% rename from Modules/FAST_LIO/include/ikd-Tree/ikd_Tree.cpp rename to Modules/perception/FAST_LIO/include/ikd-Tree/ikd_Tree.cpp diff --git a/Modules/FAST_LIO/include/ikd-Tree/ikd_Tree.h b/Modules/perception/FAST_LIO/include/ikd-Tree/ikd_Tree.h similarity index 100% rename from Modules/FAST_LIO/include/ikd-Tree/ikd_Tree.h rename to Modules/perception/FAST_LIO/include/ikd-Tree/ikd_Tree.h diff --git a/Modules/FAST_LIO/include/matplotlibcpp.h b/Modules/perception/FAST_LIO/include/matplotlibcpp.h similarity index 100% rename from Modules/FAST_LIO/include/matplotlibcpp.h rename to Modules/perception/FAST_LIO/include/matplotlibcpp.h diff --git a/Modules/FAST_LIO/include/so3_math.h b/Modules/perception/FAST_LIO/include/so3_math.h similarity index 100% rename from Modules/FAST_LIO/include/so3_math.h rename to Modules/perception/FAST_LIO/include/so3_math.h diff --git a/Modules/FAST_LIO/include/use-ikfom.hpp b/Modules/perception/FAST_LIO/include/use-ikfom.hpp similarity index 100% rename from Modules/FAST_LIO/include/use-ikfom.hpp rename to Modules/perception/FAST_LIO/include/use-ikfom.hpp diff --git a/Modules/FAST_LIO/launch/gdb_debug_example.launch b/Modules/perception/FAST_LIO/launch/gdb_debug_example.launch similarity index 100% rename from Modules/FAST_LIO/launch/gdb_debug_example.launch rename to Modules/perception/FAST_LIO/launch/gdb_debug_example.launch diff --git a/Modules/FAST_LIO/launch/mapping_avia.launch b/Modules/perception/FAST_LIO/launch/mapping_avia.launch similarity index 100% rename from Modules/FAST_LIO/launch/mapping_avia.launch rename to Modules/perception/FAST_LIO/launch/mapping_avia.launch diff --git a/Modules/FAST_LIO/launch/mapping_horizon.launch b/Modules/perception/FAST_LIO/launch/mapping_horizon.launch similarity index 100% rename from Modules/FAST_LIO/launch/mapping_horizon.launch rename to Modules/perception/FAST_LIO/launch/mapping_horizon.launch diff --git a/Modules/FAST_LIO/launch/mapping_mid360.launch b/Modules/perception/FAST_LIO/launch/mapping_mid360.launch similarity index 100% rename from Modules/FAST_LIO/launch/mapping_mid360.launch rename to Modules/perception/FAST_LIO/launch/mapping_mid360.launch diff --git a/Modules/FAST_LIO/launch/mapping_mid360_airsim.launch b/Modules/perception/FAST_LIO/launch/mapping_mid360_airsim.launch similarity index 100% rename from Modules/FAST_LIO/launch/mapping_mid360_airsim.launch rename to Modules/perception/FAST_LIO/launch/mapping_mid360_airsim.launch diff --git a/Modules/FAST_LIO/launch/mapping_mid360_gazebo.launch b/Modules/perception/FAST_LIO/launch/mapping_mid360_gazebo.launch similarity index 100% rename from Modules/FAST_LIO/launch/mapping_mid360_gazebo.launch rename to Modules/perception/FAST_LIO/launch/mapping_mid360_gazebo.launch diff --git a/Modules/FAST_LIO/launch/mapping_ouster64.launch b/Modules/perception/FAST_LIO/launch/mapping_ouster64.launch similarity index 100% rename from Modules/FAST_LIO/launch/mapping_ouster64.launch rename to Modules/perception/FAST_LIO/launch/mapping_ouster64.launch diff --git a/Modules/FAST_LIO/launch/mapping_velodyne.launch b/Modules/perception/FAST_LIO/launch/mapping_velodyne.launch similarity index 100% rename from Modules/FAST_LIO/launch/mapping_velodyne.launch rename to Modules/perception/FAST_LIO/launch/mapping_velodyne.launch diff --git a/Modules/FAST_LIO/msg/Pose6D.msg b/Modules/perception/FAST_LIO/msg/Pose6D.msg similarity index 100% rename from Modules/FAST_LIO/msg/Pose6D.msg rename to Modules/perception/FAST_LIO/msg/Pose6D.msg diff --git a/Modules/FAST_LIO/package.xml b/Modules/perception/FAST_LIO/package.xml similarity index 100% rename from Modules/FAST_LIO/package.xml rename to Modules/perception/FAST_LIO/package.xml diff --git a/Modules/FAST_LIO/rviz_cfg/.gitignore b/Modules/perception/FAST_LIO/rviz_cfg/.gitignore similarity index 100% rename from Modules/FAST_LIO/rviz_cfg/.gitignore rename to Modules/perception/FAST_LIO/rviz_cfg/.gitignore diff --git a/Modules/FAST_LIO/rviz_cfg/loam_livox.rviz b/Modules/perception/FAST_LIO/rviz_cfg/loam_livox.rviz similarity index 100% rename from Modules/FAST_LIO/rviz_cfg/loam_livox.rviz rename to Modules/perception/FAST_LIO/rviz_cfg/loam_livox.rviz diff --git a/Modules/FAST_LIO/src/IMU_Processing.hpp b/Modules/perception/FAST_LIO/src/IMU_Processing.hpp similarity index 100% rename from Modules/FAST_LIO/src/IMU_Processing.hpp rename to Modules/perception/FAST_LIO/src/IMU_Processing.hpp diff --git a/Modules/FAST_LIO/src/fliter_points.cpp b/Modules/perception/FAST_LIO/src/fliter_points.cpp similarity index 100% rename from Modules/FAST_LIO/src/fliter_points.cpp rename to Modules/perception/FAST_LIO/src/fliter_points.cpp diff --git a/Modules/FAST_LIO/src/laserMapping.cpp b/Modules/perception/FAST_LIO/src/laserMapping.cpp similarity index 100% rename from Modules/FAST_LIO/src/laserMapping.cpp rename to Modules/perception/FAST_LIO/src/laserMapping.cpp diff --git a/Modules/FAST_LIO/src/preprocess.cpp b/Modules/perception/FAST_LIO/src/preprocess.cpp similarity index 100% rename from Modules/FAST_LIO/src/preprocess.cpp rename to Modules/perception/FAST_LIO/src/preprocess.cpp diff --git a/Modules/FAST_LIO/src/preprocess.h b/Modules/perception/FAST_LIO/src/preprocess.h similarity index 100% rename from Modules/FAST_LIO/src/preprocess.h rename to Modules/perception/FAST_LIO/src/preprocess.h diff --git a/Modules/simulator_utils/CMakeLists.txt b/Modules/perception/simulator_utils/CMakeLists.txt similarity index 98% rename from Modules/simulator_utils/CMakeLists.txt rename to Modules/perception/simulator_utils/CMakeLists.txt index 05b3ed4523..4cf2d5ef0a 100644 --- a/Modules/simulator_utils/CMakeLists.txt +++ b/Modules/perception/simulator_utils/CMakeLists.txt @@ -38,7 +38,7 @@ include_directories( ${EIGEN3_INCLUDE_DIR} ${PCL_INCLUDE_DIRS} # ${CMAKE_CURRENT_SOURCE_DIR}/include/ode - ../common/include + ../../core/common/include ) ############################### diff --git a/Modules/simulator_utils/back_up files/fake_odom_node.cpp b/Modules/perception/simulator_utils/back_up files/fake_odom_node.cpp similarity index 100% rename from Modules/simulator_utils/back_up files/fake_odom_node.cpp rename to Modules/perception/simulator_utils/back_up files/fake_odom_node.cpp diff --git a/Modules/simulator_utils/back_up files/fake_uav.cpp b/Modules/perception/simulator_utils/back_up files/fake_uav.cpp similarity index 100% rename from Modules/simulator_utils/back_up files/fake_uav.cpp rename to Modules/perception/simulator_utils/back_up files/fake_uav.cpp diff --git a/Modules/simulator_utils/back_up files/fake_uav.h b/Modules/perception/simulator_utils/back_up files/fake_uav.h similarity index 100% rename from Modules/simulator_utils/back_up files/fake_uav.h rename to Modules/perception/simulator_utils/back_up files/fake_uav.h diff --git a/Modules/simulator_utils/back_up files/fake_ugv.cpp b/Modules/perception/simulator_utils/back_up files/fake_ugv.cpp similarity index 100% rename from Modules/simulator_utils/back_up files/fake_ugv.cpp rename to Modules/perception/simulator_utils/back_up files/fake_ugv.cpp diff --git a/Modules/simulator_utils/back_up files/fake_ugv.h b/Modules/perception/simulator_utils/back_up files/fake_ugv.h similarity index 100% rename from Modules/simulator_utils/back_up files/fake_ugv.h rename to Modules/perception/simulator_utils/back_up files/fake_ugv.h diff --git a/Modules/simulator_utils/fake_odom/fake_odom_node.cpp b/Modules/perception/simulator_utils/fake_odom/fake_odom_node.cpp similarity index 100% rename from Modules/simulator_utils/fake_odom/fake_odom_node.cpp rename to Modules/perception/simulator_utils/fake_odom/fake_odom_node.cpp diff --git a/Modules/simulator_utils/fake_odom/fake_uav.cpp b/Modules/perception/simulator_utils/fake_odom/fake_uav.cpp similarity index 100% rename from Modules/simulator_utils/fake_odom/fake_uav.cpp rename to Modules/perception/simulator_utils/fake_odom/fake_uav.cpp diff --git a/Modules/simulator_utils/include/Quadrotor_dynamics.h b/Modules/perception/simulator_utils/include/Quadrotor_dynamics.h similarity index 100% rename from Modules/simulator_utils/include/Quadrotor_dynamics.h rename to Modules/perception/simulator_utils/include/Quadrotor_dynamics.h diff --git a/Modules/simulator_utils/include/fake_uav.h b/Modules/perception/simulator_utils/include/fake_uav.h similarity index 100% rename from Modules/simulator_utils/include/fake_uav.h rename to Modules/perception/simulator_utils/include/fake_uav.h diff --git a/Modules/simulator_utils/include/map_generator.h b/Modules/perception/simulator_utils/include/map_generator.h similarity index 100% rename from Modules/simulator_utils/include/map_generator.h rename to Modules/perception/simulator_utils/include/map_generator.h diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/CHANGELOG b/Modules/perception/simulator_utils/include/ode/CHANGELOG similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/CHANGELOG rename to Modules/perception/simulator_utils/include/ode/CHANGELOG diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/Jamroot b/Modules/perception/simulator_utils/include/ode/Jamroot similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/Jamroot rename to Modules/perception/simulator_utils/include/ode/Jamroot diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/README b/Modules/perception/simulator_utils/include/ode/README similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/README rename to Modules/perception/simulator_utils/include/ode/README diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/array_algebra.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/algebra/array_algebra.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/array_algebra.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/algebra/array_algebra.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/default_operations.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/algebra/default_operations.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/default_operations.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/algebra/default_operations.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/for_each.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/algebra/detail/for_each.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/for_each.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/algebra/detail/for_each.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/macros.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/algebra/detail/macros.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/macros.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/algebra/detail/macros.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/reduce.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/algebra/detail/reduce.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/reduce.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/algebra/detail/reduce.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/fusion_algebra.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/algebra/fusion_algebra.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/fusion_algebra.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/algebra/fusion_algebra.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/range_algebra.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/algebra/range_algebra.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/range_algebra.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/algebra/range_algebra.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/vector_space_algebra.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/algebra/vector_space_algebra.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/vector_space_algebra.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/algebra/vector_space_algebra.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/config.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/config.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/config.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/config.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/gsl/gsl_wrapper.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/external/gsl/gsl_wrapper.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/gsl/gsl_wrapper.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/external/gsl/gsl_wrapper.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mkl/mkl_operations.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/external/mkl/mkl_operations.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mkl/mkl_operations.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/external/mkl/mkl_operations.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mtl4/implicit_euler_mtl4.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/external/mtl4/implicit_euler_mtl4.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mtl4/implicit_euler_mtl4.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/external/mtl4/implicit_euler_mtl4.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mtl4/mtl4_resize.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/external/mtl4/mtl4_resize.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mtl4/mtl4_resize.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/external/mtl4/mtl4_resize.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_algebra.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/external/thrust/thrust_algebra.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_algebra.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/external/thrust/thrust_algebra.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_operations.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/external/thrust/thrust_operations.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_operations.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/external/thrust/thrust_operations.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_resize.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/external/thrust/thrust_resize.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_resize.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/external/thrust/thrust_resize.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/vexcl/vexcl_resize.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/external/vexcl/vexcl_resize.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/vexcl/vexcl_resize.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/external/vexcl/vexcl_resize.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/viennacl/viennacl_operations.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/external/viennacl/viennacl_operations.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/viennacl/viennacl_operations.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/external/viennacl/viennacl_operations.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/viennacl/viennacl_resize.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/external/viennacl/viennacl_resize.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/viennacl/viennacl_resize.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/external/viennacl/viennacl_resize.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_adaptive.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/integrate/detail/integrate_adaptive.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_adaptive.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/integrate/detail/integrate_adaptive.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_const.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/integrate/detail/integrate_const.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_const.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/integrate/detail/integrate_const.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_n_steps.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/integrate/detail/integrate_n_steps.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_n_steps.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/integrate/detail/integrate_n_steps.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_times.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/integrate/detail/integrate_times.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_times.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/integrate/detail/integrate_times.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/integrate/integrate.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/integrate/integrate.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate_adaptive.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/integrate/integrate_adaptive.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate_adaptive.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/integrate/integrate_adaptive.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate_const.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/integrate/integrate_const.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate_const.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/integrate/integrate_const.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate_n_steps.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/integrate/integrate_n_steps.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate_n_steps.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/integrate/integrate_n_steps.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate_times.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/integrate/integrate_times.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate_times.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/integrate/integrate_times.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/null_observer.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/integrate/null_observer.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/null_observer.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/integrate/null_observer.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/observer_collection.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/integrate/observer_collection.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/observer_collection.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/integrate/observer_collection.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/adams_bashforth.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/adams_bashforth.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/adams_bashforth.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/adams_bashforth.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/adams_bashforth_moulton.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/adams_bashforth_moulton.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/adams_bashforth_moulton.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/adams_bashforth_moulton.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/adams_moulton.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/adams_moulton.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/adams_moulton.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/adams_moulton.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/algebra_stepper_base.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/base/algebra_stepper_base.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/algebra_stepper_base.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/base/algebra_stepper_base.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/explicit_error_stepper_base.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/base/explicit_error_stepper_base.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/explicit_error_stepper_base.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/base/explicit_error_stepper_base.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/explicit_error_stepper_fsal_base.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/base/explicit_error_stepper_fsal_base.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/explicit_error_stepper_fsal_base.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/base/explicit_error_stepper_fsal_base.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/explicit_stepper_base.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/base/explicit_stepper_base.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/explicit_stepper_base.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/base/explicit_stepper_base.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/symplectic_rkn_stepper_base.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/base/symplectic_rkn_stepper_base.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/symplectic_rkn_stepper_base.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/base/symplectic_rkn_stepper_base.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/bulirsch_stoer.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/bulirsch_stoer.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/bulirsch_stoer.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/bulirsch_stoer.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/bulirsch_stoer_dense_out.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/bulirsch_stoer_dense_out.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/bulirsch_stoer_dense_out.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/bulirsch_stoer_dense_out.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/controlled_runge_kutta.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/controlled_runge_kutta.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/controlled_runge_kutta.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/controlled_runge_kutta.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/controlled_step_result.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/controlled_step_result.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/controlled_step_result.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/controlled_step_result.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/dense_output_runge_kutta.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/dense_output_runge_kutta.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/dense_output_runge_kutta.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/dense_output_runge_kutta.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_bashforth_call_algebra.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/detail/adams_bashforth_call_algebra.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_bashforth_call_algebra.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/detail/adams_bashforth_call_algebra.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_bashforth_coefficients.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/detail/adams_bashforth_coefficients.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_bashforth_coefficients.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/detail/adams_bashforth_coefficients.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_moulton_call_algebra.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/detail/adams_moulton_call_algebra.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_moulton_call_algebra.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/detail/adams_moulton_call_algebra.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_moulton_coefficients.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/detail/adams_moulton_coefficients.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_moulton_coefficients.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/detail/adams_moulton_coefficients.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_algorithm.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_algorithm.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_algorithm.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_algorithm.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_call_algebra.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_call_algebra.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_call_algebra.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_call_algebra.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_operations.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_operations.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_operations.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_operations.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/rotating_buffer.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/detail/rotating_buffer.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/rotating_buffer.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/detail/rotating_buffer.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/euler.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/euler.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/euler.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/euler.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/explicit_error_generic_rk.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/explicit_error_generic_rk.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/explicit_error_generic_rk.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/explicit_error_generic_rk.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/explicit_generic_rk.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/explicit_generic_rk.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/explicit_generic_rk.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/explicit_generic_rk.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_controlled_runge_kutta.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/generation_controlled_runge_kutta.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_controlled_runge_kutta.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/generation_controlled_runge_kutta.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_dense_output_runge_kutta.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/generation_dense_output_runge_kutta.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_dense_output_runge_kutta.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/generation_dense_output_runge_kutta.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_rosenbrock4.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/generation_rosenbrock4.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_rosenbrock4.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/generation_rosenbrock4.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54_classic.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54_classic.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54_classic.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54_classic.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_dopri5.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_dopri5.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_dopri5.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_dopri5.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_fehlberg78.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_fehlberg78.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_fehlberg78.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_fehlberg78.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/make_controlled.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/make_controlled.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/make_controlled.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/make_controlled.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/make_dense_output.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/make_dense_output.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/make_dense_output.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/make_dense_output.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/implicit_euler.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/implicit_euler.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/implicit_euler.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/implicit_euler.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/modified_midpoint.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/modified_midpoint.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/modified_midpoint.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/modified_midpoint.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/rosenbrock4.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/rosenbrock4.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/rosenbrock4.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/rosenbrock4.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/rosenbrock4_controller.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/rosenbrock4_controller.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/rosenbrock4_controller.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/rosenbrock4_controller.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/rosenbrock4_dense_output.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/rosenbrock4_dense_output.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/rosenbrock4_dense_output.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/rosenbrock4_dense_output.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta4.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/runge_kutta4.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta4.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/runge_kutta4.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta4_classic.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/runge_kutta4_classic.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta4_classic.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/runge_kutta4_classic.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_cash_karp54.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/runge_kutta_cash_karp54.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_cash_karp54.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/runge_kutta_cash_karp54.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_cash_karp54_classic.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/runge_kutta_cash_karp54_classic.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_cash_karp54_classic.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/runge_kutta_cash_karp54_classic.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_dopri5.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/runge_kutta_dopri5.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_dopri5.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/runge_kutta_dopri5.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_fehlberg78.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/runge_kutta_fehlberg78.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_fehlberg78.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/runge_kutta_fehlberg78.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/stepper_categories.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/stepper_categories.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/stepper_categories.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/stepper_categories.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/symplectic_euler.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/symplectic_euler.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/symplectic_euler.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/symplectic_euler.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/symplectic_rkn_sb3a_m4_mclachlan.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/symplectic_rkn_sb3a_m4_mclachlan.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/symplectic_rkn_sb3a_m4_mclachlan.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/symplectic_rkn_sb3a_m4_mclachlan.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/symplectic_rkn_sb3a_mclachlan.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/symplectic_rkn_sb3a_mclachlan.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/symplectic_rkn_sb3a_mclachlan.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/stepper/symplectic_rkn_sb3a_mclachlan.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/bind.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/util/bind.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/bind.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/util/bind.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/copy.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/util/copy.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/copy.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/util/copy.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/detail/is_range.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/util/detail/is_range.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/detail/is_range.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/util/detail/is_range.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/detail/less_with_sign.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/util/detail/less_with_sign.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/detail/less_with_sign.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/util/detail/less_with_sign.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/is_pair.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/util/is_pair.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/is_pair.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/util/is_pair.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/is_resizeable.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/util/is_resizeable.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/is_resizeable.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/util/is_resizeable.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/resize.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/util/resize.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/resize.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/util/resize.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/resizer.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/util/resizer.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/resizer.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/util/resizer.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/same_instance.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/util/same_instance.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/same_instance.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/util/same_instance.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/same_size.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/util/same_size.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/same_size.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/util/same_size.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/state_wrapper.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/util/state_wrapper.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/state_wrapper.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/util/state_wrapper.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/ublas_wrapper.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/util/ublas_wrapper.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/ublas_wrapper.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/util/ublas_wrapper.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/unit_helper.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/util/unit_helper.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/unit_helper.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/util/unit_helper.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/unwrap_reference.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/util/unwrap_reference.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/unwrap_reference.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/util/unwrap_reference.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/version.hpp b/Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/version.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/version.hpp rename to Modules/perception/simulator_utils/include/ode/boost/numeric/odeint/version.hpp diff 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a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/stepper.qbk b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/doc/concepts/stepper.qbk similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/stepper.qbk rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/doc/concepts/stepper.qbk diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/symplectic_system.qbk b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/doc/concepts/symplectic_system.qbk similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/symplectic_system.qbk rename to 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b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/doc/tutorial_stiff_systems.qbk similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_stiff_systems.qbk rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/doc/tutorial_stiff_systems.qbk diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_thrust_cuda.qbk b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/doc/tutorial_thrust_cuda.qbk similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_thrust_cuda.qbk rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/doc/tutorial_thrust_cuda.qbk diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_vexcl_opencl.qbk b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/doc/tutorial_vexcl_opencl.qbk similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/tutorial_vexcl_opencl.qbk rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/doc/tutorial_vexcl_opencl.qbk diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/Jamfile.v2 b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/2d_lattice/Jamfile.v2 similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/Jamfile.v2 rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/2d_lattice/Jamfile.v2 diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/lattice2d.hpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/2d_lattice/lattice2d.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/lattice2d.hpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/2d_lattice/lattice2d.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/nested_range_algebra.hpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/2d_lattice/nested_range_algebra.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/nested_range_algebra.hpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/2d_lattice/nested_range_algebra.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/spreading.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/2d_lattice/spreading.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/spreading.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/2d_lattice/spreading.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/vector_vector_resize.hpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/2d_lattice/vector_vector_resize.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/vector_vector_resize.hpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/2d_lattice/vector_vector_resize.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/Jamfile.v2 b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/Jamfile.v2 similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/Jamfile.v2 rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/Jamfile.v2 diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/bind_member_functions.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/bind_member_functions.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/bind_member_functions.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/bind_member_functions.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/bind_member_functions_cpp11.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/bind_member_functions_cpp11.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/bind_member_functions_cpp11.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/bind_member_functions_cpp11.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/bulirsch_stoer.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/bulirsch_stoer.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/bulirsch_stoer.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/bulirsch_stoer.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/chaotic_system.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/chaotic_system.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/chaotic_system.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/chaotic_system.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/elliptic.py b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/elliptic.py similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/elliptic.py rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/elliptic.py diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/elliptic_functions.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/elliptic_functions.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/elliptic_functions.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/elliptic_functions.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/fpu.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/fpu.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/fpu.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/fpu.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/generation_functions.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/generation_functions.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/generation_functions.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/generation_functions.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/gmpxx/lorenz_gmpxx.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/gmpxx/lorenz_gmpxx.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/gmpxx/lorenz_gmpxx.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/gmpxx/lorenz_gmpxx.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/gram_schmidt.hpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/gram_schmidt.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/gram_schmidt.hpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/gram_schmidt.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/harmonic_oscillator.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/harmonic_oscillator.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/harmonic_oscillator.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/harmonic_oscillator.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/harmonic_oscillator_units.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/harmonic_oscillator_units.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/harmonic_oscillator_units.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/harmonic_oscillator_units.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/heun.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/heun.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/heun.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/heun.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/list_lattice.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/list_lattice.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/list_lattice.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/list_lattice.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/lorenz_point.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/lorenz_point.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/lorenz_point.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/lorenz_point.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/mtl/Jamfile.v2 b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/mtl/Jamfile.v2 similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/mtl/Jamfile.v2 rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/mtl/Jamfile.v2 diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/mtl/gauss_packet.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/mtl/gauss_packet.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/mtl/gauss_packet.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/mtl/gauss_packet.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/mtl/implicit_euler_mtl.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/mtl/implicit_euler_mtl.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/mtl/implicit_euler_mtl.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/mtl/implicit_euler_mtl.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/my_vector.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/my_vector.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/my_vector.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/my_vector.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/phase_oscillator_ensemble.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/phase_oscillator_ensemble.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/phase_oscillator_ensemble.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/phase_oscillator_ensemble.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/point_type.hpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/point_type.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/point_type.hpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/point_type.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/quadmath/Jamfile.v2 b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/quadmath/Jamfile.v2 similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/quadmath/Jamfile.v2 rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/quadmath/Jamfile.v2 diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/quadmath/black_hole.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/quadmath/black_hole.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/quadmath/black_hole.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/quadmath/black_hole.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/resizing_lattice.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/resizing_lattice.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/resizing_lattice.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/resizing_lattice.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/simple1d.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/simple1d.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/simple1d.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/simple1d.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/solar_system.agr b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/solar_system.agr similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/solar_system.agr rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/solar_system.agr diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/solar_system.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/solar_system.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/solar_system.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/solar_system.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/stepper_details.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/stepper_details.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/stepper_details.cpp rename to 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a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/ublas/lorenz_ublas.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/ublas/lorenz_ublas.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/ublas/lorenz_ublas.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/ublas/lorenz_ublas.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/van_der_pol_stiff.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/examples/van_der_pol_stiff.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/van_der_pol_stiff.cpp rename to 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--git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/generic_odeint_rk4_lorenz.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/performance/generic_odeint_rk4_lorenz.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/generic_odeint_rk4_lorenz.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/performance/generic_odeint_rk4_lorenz.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/gsl_rk4_lorenz.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/performance/gsl_rk4_lorenz.cpp similarity index 100% rename from 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a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/nr_rk4_phase_lattice.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/performance/nr_rk4_phase_lattice.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/nr_rk4_phase_lattice.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/performance/nr_rk4_phase_lattice.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/odeint_rk4_lorenz_array.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/performance/odeint_rk4_lorenz_array.cpp similarity index 100% rename from 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a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/odeint_rk4_phase_lattice.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/performance/odeint_rk4_phase_lattice.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/odeint_rk4_phase_lattice.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/performance/odeint_rk4_phase_lattice.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/odeint_rk4_phase_lattice_mkl.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/performance/odeint_rk4_phase_lattice_mkl.cpp similarity index 100% rename from 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a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/plot_result.py b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/performance/plot_result.py similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/plot_result.py rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/performance/plot_result.py diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/rk4_lorenz.f b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/performance/rk4_lorenz.f similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/performance/rk4_lorenz.f rename to 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Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/performance/rt_generic_rk4_phase_lattice.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/Jamfile.v2 b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/Jamfile.v2 similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/Jamfile.v2 rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/Jamfile.v2 diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/adams_bashforth.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/adams_bashforth.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/adams_bashforth.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/adams_bashforth.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/adams_bashforth_moulton.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/adams_bashforth_moulton.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/adams_bashforth_moulton.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/adams_bashforth_moulton.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/adams_moulton.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/adams_moulton.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/adams_moulton.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/adams_moulton.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/boost_units_helpers.hpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/boost_units_helpers.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/boost_units_helpers.hpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/boost_units_helpers.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/bulirsch_stoer.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/bulirsch_stoer.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/bulirsch_stoer.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/bulirsch_stoer.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/const_range.hpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/const_range.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/const_range.hpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/const_range.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/default_operations.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/default_operations.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/default_operations.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/default_operations.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/diagnostic_state_type.hpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/diagnostic_state_type.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/diagnostic_state_type.hpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/diagnostic_state_type.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/dummy_odes.hpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/dummy_odes.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/dummy_odes.hpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/dummy_odes.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/dummy_steppers.hpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/dummy_steppers.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/dummy_steppers.hpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/dummy_steppers.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/euler_stepper.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/euler_stepper.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/euler_stepper.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/euler_stepper.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/fusion_algebra.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/fusion_algebra.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/fusion_algebra.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/fusion_algebra.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/generation.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/generation.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/generation.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/generation.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/generic_error_stepper.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/generic_error_stepper.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/generic_error_stepper.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/generic_error_stepper.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/generic_stepper.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/generic_stepper.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/generic_stepper.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/generic_stepper.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/implicit_euler.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/implicit_euler.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/implicit_euler.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/implicit_euler.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/integrate.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/integrate.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/integrate.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/integrate.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/integrate_implicit.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/integrate_implicit.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/integrate_implicit.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/integrate_implicit.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/integrate_times.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/integrate_times.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/integrate_times.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/integrate_times.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/is_pair.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/is_pair.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/is_pair.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/is_pair.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/is_resizeable.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/is_resizeable.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/is_resizeable.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/is_resizeable.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/Jamfile.v2 b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/numeric/Jamfile.v2 similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/Jamfile.v2 rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/numeric/Jamfile.v2 diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/rosenbrock.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/numeric/rosenbrock.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/rosenbrock.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/numeric/rosenbrock.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/runge_kutta.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/numeric/runge_kutta.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/runge_kutta.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/numeric/runge_kutta.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/symplectic.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/numeric/symplectic.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/symplectic.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/numeric/symplectic.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/prepare_stepper_testing.hpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/prepare_stepper_testing.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/prepare_stepper_testing.hpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/prepare_stepper_testing.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/range_algebra.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/range_algebra.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/range_algebra.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/range_algebra.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/resize.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/resize.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/resize.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/resize.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/resizing.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/resizing.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/resizing.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/resizing.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/rosenbrock4.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/rosenbrock4.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/rosenbrock4.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/rosenbrock4.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/runge_kutta_concepts.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/runge_kutta_concepts.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/runge_kutta_concepts.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/runge_kutta_concepts.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/runge_kutta_controlled_concepts.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/runge_kutta_controlled_concepts.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/runge_kutta_controlled_concepts.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/runge_kutta_controlled_concepts.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/runge_kutta_error_concepts.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/runge_kutta_error_concepts.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/runge_kutta_error_concepts.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/runge_kutta_error_concepts.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/same_size.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/same_size.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/same_size.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/same_size.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/stepper_copying.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/stepper_copying.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/stepper_copying.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/stepper_copying.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/stepper_with_ranges.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/stepper_with_ranges.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/stepper_with_ranges.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/stepper_with_ranges.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/stepper_with_units.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/stepper_with_units.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/stepper_with_units.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/stepper_with_units.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/symplectic_steppers.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/symplectic_steppers.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/symplectic_steppers.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/symplectic_steppers.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/trivial_state.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/trivial_state.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/trivial_state.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/trivial_state.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/vector_space_1d.hpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/vector_space_1d.hpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/vector_space_1d.hpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test/vector_space_1d.hpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gmp/Jamfile.v2 b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test_external/gmp/Jamfile.v2 similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gmp/Jamfile.v2 rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test_external/gmp/Jamfile.v2 diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gmp/check_gmp.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test_external/gmp/check_gmp.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gmp/check_gmp.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test_external/gmp/check_gmp.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gmp/gmp_integrate.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test_external/gmp/gmp_integrate.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gmp/gmp_integrate.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test_external/gmp/gmp_integrate.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gsl/Jamfile.v2 b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test_external/gsl/Jamfile.v2 similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gsl/Jamfile.v2 rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test_external/gsl/Jamfile.v2 diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gsl/check_gsl.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test_external/gsl/check_gsl.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gsl/check_gsl.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test_external/gsl/check_gsl.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mkl/Jamfile.v2 b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test_external/mkl/Jamfile.v2 similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mkl/Jamfile.v2 rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test_external/mkl/Jamfile.v2 diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mkl/check_mkl.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test_external/mkl/check_mkl.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mkl/check_mkl.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test_external/mkl/check_mkl.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mtl4/Jamfile.v2 b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test_external/mtl4/Jamfile.v2 similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mtl4/Jamfile.v2 rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test_external/mtl4/Jamfile.v2 diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mtl4/mtl4_resize.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test_external/mtl4/mtl4_resize.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mtl4/mtl4_resize.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test_external/mtl4/mtl4_resize.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/thrust/Makefile b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test_external/thrust/Makefile similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/thrust/Makefile rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test_external/thrust/Makefile diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/thrust/check_thrust.cu b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test_external/thrust/check_thrust.cu similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/thrust/check_thrust.cu rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test_external/thrust/check_thrust.cu diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/vexcl/Jamfile.v2 b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test_external/vexcl/Jamfile.v2 similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/vexcl/Jamfile.v2 rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test_external/vexcl/Jamfile.v2 diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/vexcl/lorenz.cpp b/Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test_external/vexcl/lorenz.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/vexcl/lorenz.cpp rename to Modules/perception/simulator_utils/include/ode/libs/numeric/odeint/test_external/vexcl/lorenz.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/my_visualization/include/my_visualization/plan_visual.h b/Modules/perception/simulator_utils/include/plan_visual.h similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/my_visualization/include/my_visualization/plan_visual.h rename to Modules/perception/simulator_utils/include/plan_visual.h diff --git a/Modules/simulator_utils/launch/fake_odom.launch b/Modules/perception/simulator_utils/launch/fake_odom.launch similarity index 100% rename from Modules/simulator_utils/launch/fake_odom.launch rename to Modules/perception/simulator_utils/launch/fake_odom.launch diff --git a/Modules/simulator_utils/launch/laser_sim.launch b/Modules/perception/simulator_utils/launch/laser_sim.launch similarity index 100% rename from Modules/simulator_utils/launch/laser_sim.launch rename to Modules/perception/simulator_utils/launch/laser_sim.launch diff --git a/Modules/simulator_utils/launch/map_generator.launch b/Modules/perception/simulator_utils/launch/map_generator.launch similarity index 100% rename from Modules/simulator_utils/launch/map_generator.launch rename to Modules/perception/simulator_utils/launch/map_generator.launch diff --git a/Modules/simulator_utils/launch/map_generator.rviz b/Modules/perception/simulator_utils/launch/map_generator.rviz similarity index 100% rename from Modules/simulator_utils/launch/map_generator.rviz rename to Modules/perception/simulator_utils/launch/map_generator.rviz diff --git a/Modules/simulator_utils/launch/map_generator_with_fake_odom.launch b/Modules/perception/simulator_utils/launch/map_generator_with_fake_odom.launch similarity index 100% rename from Modules/simulator_utils/launch/map_generator_with_fake_odom.launch rename to Modules/perception/simulator_utils/launch/map_generator_with_fake_odom.launch diff --git a/Modules/simulator_utils/map_generator/laser_sim_node.cpp b/Modules/perception/simulator_utils/map_generator/laser_sim_node.cpp similarity index 100% rename from Modules/simulator_utils/map_generator/laser_sim_node.cpp rename to Modules/perception/simulator_utils/map_generator/laser_sim_node.cpp diff --git a/Modules/simulator_utils/map_generator/map_generator.cpp b/Modules/perception/simulator_utils/map_generator/map_generator.cpp similarity index 100% rename from Modules/simulator_utils/map_generator/map_generator.cpp rename to Modules/perception/simulator_utils/map_generator/map_generator.cpp diff --git a/Modules/simulator_utils/map_generator/map_generator_node.cpp b/Modules/perception/simulator_utils/map_generator/map_generator_node.cpp similarity index 100% rename from Modules/simulator_utils/map_generator/map_generator_node.cpp rename to Modules/perception/simulator_utils/map_generator/map_generator_node.cpp diff --git a/Modules/simulator_utils/meshes/hummingbird.mesh b/Modules/perception/simulator_utils/meshes/hummingbird.mesh similarity index 100% rename from Modules/simulator_utils/meshes/hummingbird.mesh rename to Modules/perception/simulator_utils/meshes/hummingbird.mesh diff --git a/Modules/simulator_utils/package.xml b/Modules/perception/simulator_utils/package.xml similarity index 95% rename from Modules/simulator_utils/package.xml rename to Modules/perception/simulator_utils/package.xml index ff87bc7d3e..3da0cc0223 100644 --- a/Modules/simulator_utils/package.xml +++ b/Modules/perception/simulator_utils/package.xml @@ -6,7 +6,7 @@ Yuhua Qi - TODO + Apache-2.0 catkin roscpp diff --git a/Modules/simulator_utils/quadrotor_dynamics/quadrotor_dynamics.cpp b/Modules/perception/simulator_utils/quadrotor_dynamics/quadrotor_dynamics.cpp similarity index 100% rename from Modules/simulator_utils/quadrotor_dynamics/quadrotor_dynamics.cpp rename to Modules/perception/simulator_utils/quadrotor_dynamics/quadrotor_dynamics.cpp diff --git a/Modules/simulator_utils/rviz_visualization/min_snap_visual.cpp b/Modules/perception/simulator_utils/rviz_visualization/min_snap_visual.cpp similarity index 100% rename from Modules/simulator_utils/rviz_visualization/min_snap_visual.cpp rename to Modules/perception/simulator_utils/rviz_visualization/min_snap_visual.cpp diff --git a/Modules/simulator_utils/rviz_visualization/obvp_visual.cpp b/Modules/perception/simulator_utils/rviz_visualization/obvp_visual.cpp similarity index 100% rename from Modules/simulator_utils/rviz_visualization/obvp_visual.cpp rename to Modules/perception/simulator_utils/rviz_visualization/obvp_visual.cpp diff --git a/Modules/simulator_utils/rviz_visualization/plan_visual.cpp b/Modules/perception/simulator_utils/rviz_visualization/plan_visual.cpp similarity index 100% rename from Modules/simulator_utils/rviz_visualization/plan_visual.cpp rename to Modules/perception/simulator_utils/rviz_visualization/plan_visual.cpp diff --git a/Modules/simulator_utils/simulator_utils.md b/Modules/perception/simulator_utils/simulator_utils.md similarity index 100% rename from Modules/simulator_utils/simulator_utils.md rename to Modules/perception/simulator_utils/simulator_utils.md diff --git a/Modules/ego_planner_swarm/bspline_opt/CMakeLists.txt b/Modules/planning/ego_planner_swarm/bspline_opt/CMakeLists.txt similarity index 100% rename from Modules/ego_planner_swarm/bspline_opt/CMakeLists.txt rename to Modules/planning/ego_planner_swarm/bspline_opt/CMakeLists.txt diff --git a/Modules/ego_planner_swarm/bspline_opt/include/bspline_opt/bspline_optimizer.h b/Modules/planning/ego_planner_swarm/bspline_opt/include/bspline_opt/bspline_optimizer.h similarity index 100% rename from Modules/ego_planner_swarm/bspline_opt/include/bspline_opt/bspline_optimizer.h rename to Modules/planning/ego_planner_swarm/bspline_opt/include/bspline_opt/bspline_optimizer.h diff --git a/Modules/ego_planner_swarm/bspline_opt/include/bspline_opt/gradient_descent_optimizer.h b/Modules/planning/ego_planner_swarm/bspline_opt/include/bspline_opt/gradient_descent_optimizer.h similarity index 100% rename from Modules/ego_planner_swarm/bspline_opt/include/bspline_opt/gradient_descent_optimizer.h rename to Modules/planning/ego_planner_swarm/bspline_opt/include/bspline_opt/gradient_descent_optimizer.h diff --git a/Modules/ego_planner_swarm/bspline_opt/include/bspline_opt/lbfgs.hpp b/Modules/planning/ego_planner_swarm/bspline_opt/include/bspline_opt/lbfgs.hpp similarity index 100% rename from Modules/ego_planner_swarm/bspline_opt/include/bspline_opt/lbfgs.hpp rename to Modules/planning/ego_planner_swarm/bspline_opt/include/bspline_opt/lbfgs.hpp diff --git a/Modules/ego_planner_swarm/bspline_opt/include/bspline_opt/uniform_bspline.h b/Modules/planning/ego_planner_swarm/bspline_opt/include/bspline_opt/uniform_bspline.h similarity index 100% rename from Modules/ego_planner_swarm/bspline_opt/include/bspline_opt/uniform_bspline.h rename to Modules/planning/ego_planner_swarm/bspline_opt/include/bspline_opt/uniform_bspline.h diff --git a/Modules/ego_planner_swarm/bspline_opt/package.xml b/Modules/planning/ego_planner_swarm/bspline_opt/package.xml similarity index 99% rename from Modules/ego_planner_swarm/bspline_opt/package.xml rename to Modules/planning/ego_planner_swarm/bspline_opt/package.xml index 02e098be55..4d8ec5f69d 100644 --- a/Modules/ego_planner_swarm/bspline_opt/package.xml +++ b/Modules/planning/ego_planner_swarm/bspline_opt/package.xml @@ -13,7 +13,7 @@ - TODO + Apache-2.0 diff --git a/Modules/ego_planner_swarm/bspline_opt/src/bspline_optimizer.cpp b/Modules/planning/ego_planner_swarm/bspline_opt/src/bspline_optimizer.cpp similarity index 100% rename from Modules/ego_planner_swarm/bspline_opt/src/bspline_optimizer.cpp rename to Modules/planning/ego_planner_swarm/bspline_opt/src/bspline_optimizer.cpp diff --git a/Modules/ego_planner_swarm/bspline_opt/src/gradient_descent_optimizer.cpp b/Modules/planning/ego_planner_swarm/bspline_opt/src/gradient_descent_optimizer.cpp similarity index 100% rename from Modules/ego_planner_swarm/bspline_opt/src/gradient_descent_optimizer.cpp rename to Modules/planning/ego_planner_swarm/bspline_opt/src/gradient_descent_optimizer.cpp diff --git a/Modules/ego_planner_swarm/bspline_opt/src/uniform_bspline.cpp b/Modules/planning/ego_planner_swarm/bspline_opt/src/uniform_bspline.cpp similarity index 100% rename from Modules/ego_planner_swarm/bspline_opt/src/uniform_bspline.cpp rename to Modules/planning/ego_planner_swarm/bspline_opt/src/uniform_bspline.cpp diff --git a/Modules/ego_planner_swarm/drone_detect/CMakeLists.txt b/Modules/planning/ego_planner_swarm/drone_detect/CMakeLists.txt similarity index 100% rename from Modules/ego_planner_swarm/drone_detect/CMakeLists.txt rename to Modules/planning/ego_planner_swarm/drone_detect/CMakeLists.txt diff --git a/Modules/ego_planner_swarm/drone_detect/LICENSE b/Modules/planning/ego_planner_swarm/drone_detect/LICENSE similarity index 100% rename from Modules/ego_planner_swarm/drone_detect/LICENSE rename to Modules/planning/ego_planner_swarm/drone_detect/LICENSE diff --git a/Modules/ego_planner_swarm/drone_detect/README.md b/Modules/planning/ego_planner_swarm/drone_detect/README.md similarity index 100% rename from Modules/ego_planner_swarm/drone_detect/README.md rename to Modules/planning/ego_planner_swarm/drone_detect/README.md diff --git a/Modules/ego_planner_swarm/drone_detect/config/camera.yaml b/Modules/planning/ego_planner_swarm/drone_detect/config/camera.yaml similarity index 100% rename from Modules/ego_planner_swarm/drone_detect/config/camera.yaml rename to Modules/planning/ego_planner_swarm/drone_detect/config/camera.yaml diff --git a/Modules/ego_planner_swarm/drone_detect/config/default.yaml b/Modules/planning/ego_planner_swarm/drone_detect/config/default.yaml similarity index 100% rename from Modules/ego_planner_swarm/drone_detect/config/default.yaml rename to Modules/planning/ego_planner_swarm/drone_detect/config/default.yaml diff --git a/Modules/ego_planner_swarm/drone_detect/doc/demo.jpg b/Modules/planning/ego_planner_swarm/drone_detect/doc/demo.jpg similarity index 100% rename from Modules/ego_planner_swarm/drone_detect/doc/demo.jpg rename to Modules/planning/ego_planner_swarm/drone_detect/doc/demo.jpg diff --git a/Modules/ego_planner_swarm/drone_detect/doc/example.jpg b/Modules/planning/ego_planner_swarm/drone_detect/doc/example.jpg similarity index 100% rename from Modules/ego_planner_swarm/drone_detect/doc/example.jpg rename to Modules/planning/ego_planner_swarm/drone_detect/doc/example.jpg diff --git a/Modules/ego_planner_swarm/drone_detect/include/drone_detector/drone_detector.h b/Modules/planning/ego_planner_swarm/drone_detect/include/drone_detector/drone_detector.h similarity index 100% rename from Modules/ego_planner_swarm/drone_detect/include/drone_detector/drone_detector.h rename to Modules/planning/ego_planner_swarm/drone_detect/include/drone_detector/drone_detector.h diff --git a/Modules/ego_planner_swarm/drone_detect/launch/drone_detect.launch b/Modules/planning/ego_planner_swarm/drone_detect/launch/drone_detect.launch similarity index 100% rename from Modules/ego_planner_swarm/drone_detect/launch/drone_detect.launch rename to Modules/planning/ego_planner_swarm/drone_detect/launch/drone_detect.launch diff --git a/Modules/ego_planner_swarm/drone_detect/launch/ros_package_template_overlying_params.launch b/Modules/planning/ego_planner_swarm/drone_detect/launch/ros_package_template_overlying_params.launch similarity index 100% rename from Modules/ego_planner_swarm/drone_detect/launch/ros_package_template_overlying_params.launch rename to Modules/planning/ego_planner_swarm/drone_detect/launch/ros_package_template_overlying_params.launch diff --git a/Modules/ego_planner_swarm/drone_detect/package.xml b/Modules/planning/ego_planner_swarm/drone_detect/package.xml similarity index 100% rename from Modules/ego_planner_swarm/drone_detect/package.xml rename to Modules/planning/ego_planner_swarm/drone_detect/package.xml diff --git a/Modules/ego_planner_swarm/drone_detect/src/drone_detect_node.cpp b/Modules/planning/ego_planner_swarm/drone_detect/src/drone_detect_node.cpp similarity index 100% rename from Modules/ego_planner_swarm/drone_detect/src/drone_detect_node.cpp rename to Modules/planning/ego_planner_swarm/drone_detect/src/drone_detect_node.cpp diff --git a/Modules/ego_planner_swarm/drone_detect/src/drone_detector.cpp b/Modules/planning/ego_planner_swarm/drone_detect/src/drone_detector.cpp similarity index 100% rename from Modules/ego_planner_swarm/drone_detect/src/drone_detector.cpp rename to Modules/planning/ego_planner_swarm/drone_detect/src/drone_detector.cpp diff --git a/Modules/ego_planner_swarm/drone_detect/test/test_drone_detector.cpp b/Modules/planning/ego_planner_swarm/drone_detect/test/test_drone_detector.cpp similarity index 100% rename from Modules/ego_planner_swarm/drone_detect/test/test_drone_detector.cpp rename to Modules/planning/ego_planner_swarm/drone_detect/test/test_drone_detector.cpp diff --git a/Modules/ego_planner_swarm/ego_planner.md b/Modules/planning/ego_planner_swarm/ego_planner.md similarity index 100% rename from Modules/ego_planner_swarm/ego_planner.md rename to Modules/planning/ego_planner_swarm/ego_planner.md diff --git a/Modules/ego_planner_swarm/path_searching/CMakeLists.txt b/Modules/planning/ego_planner_swarm/path_searching/CMakeLists.txt similarity index 100% rename from Modules/ego_planner_swarm/path_searching/CMakeLists.txt rename to Modules/planning/ego_planner_swarm/path_searching/CMakeLists.txt diff --git a/Modules/ego_planner_swarm/path_searching/include/path_searching/dyn_a_star.h b/Modules/planning/ego_planner_swarm/path_searching/include/path_searching/dyn_a_star.h similarity index 100% rename from Modules/ego_planner_swarm/path_searching/include/path_searching/dyn_a_star.h rename to Modules/planning/ego_planner_swarm/path_searching/include/path_searching/dyn_a_star.h diff --git a/Modules/ego_planner_swarm/path_searching/package.xml b/Modules/planning/ego_planner_swarm/path_searching/package.xml similarity index 98% rename from Modules/ego_planner_swarm/path_searching/package.xml rename to Modules/planning/ego_planner_swarm/path_searching/package.xml index 0394974a84..18eae520b7 100644 --- a/Modules/ego_planner_swarm/path_searching/package.xml +++ b/Modules/planning/ego_planner_swarm/path_searching/package.xml @@ -13,7 +13,7 @@ - TODO + Apache-2.0 diff --git a/Modules/ego_planner_swarm/path_searching/src/dyn_a_star.cpp b/Modules/planning/ego_planner_swarm/path_searching/src/dyn_a_star.cpp similarity index 100% rename from Modules/ego_planner_swarm/path_searching/src/dyn_a_star.cpp rename to Modules/planning/ego_planner_swarm/path_searching/src/dyn_a_star.cpp diff --git a/Modules/ego_planner_swarm/plan_env/CMakeLists.txt b/Modules/planning/ego_planner_swarm/plan_env/CMakeLists.txt similarity index 100% rename from Modules/ego_planner_swarm/plan_env/CMakeLists.txt rename to Modules/planning/ego_planner_swarm/plan_env/CMakeLists.txt diff --git a/Modules/ego_planner_swarm/plan_env/include/plan_env/grid_map.h b/Modules/planning/ego_planner_swarm/plan_env/include/plan_env/grid_map.h similarity index 100% rename from Modules/ego_planner_swarm/plan_env/include/plan_env/grid_map.h rename to Modules/planning/ego_planner_swarm/plan_env/include/plan_env/grid_map.h diff --git a/Modules/ego_planner_swarm/plan_env/include/plan_env/linear_obj_model.hpp b/Modules/planning/ego_planner_swarm/plan_env/include/plan_env/linear_obj_model.hpp similarity index 100% rename from Modules/ego_planner_swarm/plan_env/include/plan_env/linear_obj_model.hpp rename to Modules/planning/ego_planner_swarm/plan_env/include/plan_env/linear_obj_model.hpp diff --git a/Modules/ego_planner_swarm/plan_env/include/plan_env/obj_predictor.h b/Modules/planning/ego_planner_swarm/plan_env/include/plan_env/obj_predictor.h similarity index 100% rename from Modules/ego_planner_swarm/plan_env/include/plan_env/obj_predictor.h rename to Modules/planning/ego_planner_swarm/plan_env/include/plan_env/obj_predictor.h diff --git a/Modules/ego_planner_swarm/plan_env/include/plan_env/raycast.h b/Modules/planning/ego_planner_swarm/plan_env/include/plan_env/raycast.h similarity index 100% rename from Modules/ego_planner_swarm/plan_env/include/plan_env/raycast.h rename to Modules/planning/ego_planner_swarm/plan_env/include/plan_env/raycast.h diff --git a/Modules/ego_planner_swarm/plan_env/package.xml b/Modules/planning/ego_planner_swarm/plan_env/package.xml similarity index 98% rename from Modules/ego_planner_swarm/plan_env/package.xml rename to Modules/planning/ego_planner_swarm/plan_env/package.xml index 6fc6f7c085..48562937f0 100755 --- a/Modules/ego_planner_swarm/plan_env/package.xml +++ b/Modules/planning/ego_planner_swarm/plan_env/package.xml @@ -13,7 +13,7 @@ - TODO + Apache-2.0 diff --git a/Modules/ego_planner_swarm/plan_env/src/grid_map.cpp b/Modules/planning/ego_planner_swarm/plan_env/src/grid_map.cpp similarity index 100% rename from Modules/ego_planner_swarm/plan_env/src/grid_map.cpp rename to Modules/planning/ego_planner_swarm/plan_env/src/grid_map.cpp diff --git a/Modules/ego_planner_swarm/plan_env/src/laser_to_pointcloud.cpp b/Modules/planning/ego_planner_swarm/plan_env/src/laser_to_pointcloud.cpp similarity index 100% rename from Modules/ego_planner_swarm/plan_env/src/laser_to_pointcloud.cpp rename to Modules/planning/ego_planner_swarm/plan_env/src/laser_to_pointcloud.cpp diff --git a/Modules/ego_planner_swarm/plan_env/src/obj_generator.cpp b/Modules/planning/ego_planner_swarm/plan_env/src/obj_generator.cpp similarity index 100% rename from Modules/ego_planner_swarm/plan_env/src/obj_generator.cpp rename to Modules/planning/ego_planner_swarm/plan_env/src/obj_generator.cpp diff --git a/Modules/ego_planner_swarm/plan_env/src/obj_predictor.cpp b/Modules/planning/ego_planner_swarm/plan_env/src/obj_predictor.cpp similarity index 100% rename from Modules/ego_planner_swarm/plan_env/src/obj_predictor.cpp rename to Modules/planning/ego_planner_swarm/plan_env/src/obj_predictor.cpp diff --git a/Modules/ego_planner_swarm/plan_env/src/raycast.cpp b/Modules/planning/ego_planner_swarm/plan_env/src/raycast.cpp similarity index 100% rename from Modules/ego_planner_swarm/plan_env/src/raycast.cpp rename to Modules/planning/ego_planner_swarm/plan_env/src/raycast.cpp diff --git a/Modules/ego_planner_swarm/plan_env/src/su17_depth_to_cloud.cpp b/Modules/planning/ego_planner_swarm/plan_env/src/su17_depth_to_cloud.cpp similarity index 100% rename from Modules/ego_planner_swarm/plan_env/src/su17_depth_to_cloud.cpp rename to Modules/planning/ego_planner_swarm/plan_env/src/su17_depth_to_cloud.cpp diff --git a/Modules/ego_planner_swarm/plan_env/src/su17_rvl_decoder.cpp b/Modules/planning/ego_planner_swarm/plan_env/src/su17_rvl_decoder.cpp similarity index 100% rename from Modules/ego_planner_swarm/plan_env/src/su17_rvl_decoder.cpp rename to Modules/planning/ego_planner_swarm/plan_env/src/su17_rvl_decoder.cpp diff --git a/Modules/ego_planner_swarm/plan_env/src/su17_rvl_encoder.cpp b/Modules/planning/ego_planner_swarm/plan_env/src/su17_rvl_encoder.cpp similarity index 100% rename from Modules/ego_planner_swarm/plan_env/src/su17_rvl_encoder.cpp rename to Modules/planning/ego_planner_swarm/plan_env/src/su17_rvl_encoder.cpp diff --git a/Modules/ego_planner_swarm/plan_manage/CMakeLists.txt b/Modules/planning/ego_planner_swarm/plan_manage/CMakeLists.txt similarity index 93% rename from Modules/ego_planner_swarm/plan_manage/CMakeLists.txt rename to Modules/planning/ego_planner_swarm/plan_manage/CMakeLists.txt index e1c028fda8..52b182db07 100644 --- a/Modules/ego_planner_swarm/plan_manage/CMakeLists.txt +++ b/Modules/planning/ego_planner_swarm/plan_manage/CMakeLists.txt @@ -37,8 +37,8 @@ include_directories( ${catkin_INCLUDE_DIRS} ${PROJECT_SOURCE_DIR}/include ${EIGEN3_INCLUDE_DIR} ${PCL_INCLUDE_DIRS} - ${PROJECT_SOURCE_DIR}/../../uav_control/include - ${PROJECT_SOURCE_DIR}/../../common/include + ${PROJECT_SOURCE_DIR}/../../../control/uav_control/include + ${PROJECT_SOURCE_DIR}/../../../core/common/include ) diff --git a/Modules/ego_planner_swarm/plan_manage/include/plan_manage/ego_replan_fsm.h b/Modules/planning/ego_planner_swarm/plan_manage/include/plan_manage/ego_replan_fsm.h similarity index 100% rename from Modules/ego_planner_swarm/plan_manage/include/plan_manage/ego_replan_fsm.h rename to Modules/planning/ego_planner_swarm/plan_manage/include/plan_manage/ego_replan_fsm.h diff --git a/Modules/ego_planner_swarm/plan_manage/include/plan_manage/planner_manager.h b/Modules/planning/ego_planner_swarm/plan_manage/include/plan_manage/planner_manager.h similarity index 100% rename from Modules/ego_planner_swarm/plan_manage/include/plan_manage/planner_manager.h rename to Modules/planning/ego_planner_swarm/plan_manage/include/plan_manage/planner_manager.h diff --git a/Modules/ego_planner_swarm/plan_manage/launch/advanced_param.xml b/Modules/planning/ego_planner_swarm/plan_manage/launch/advanced_param.xml similarity index 100% rename from Modules/ego_planner_swarm/plan_manage/launch/advanced_param.xml rename to Modules/planning/ego_planner_swarm/plan_manage/launch/advanced_param.xml diff --git a/Modules/ego_planner_swarm/plan_manage/launch/default.rviz b/Modules/planning/ego_planner_swarm/plan_manage/launch/default.rviz similarity index 100% rename from Modules/ego_planner_swarm/plan_manage/launch/default.rviz rename to Modules/planning/ego_planner_swarm/plan_manage/launch/default.rviz diff --git a/Modules/ego_planner_swarm/plan_manage/launch/run_in_sim.launch b/Modules/planning/ego_planner_swarm/plan_manage/launch/run_in_sim.launch similarity index 100% rename from Modules/ego_planner_swarm/plan_manage/launch/run_in_sim.launch rename to Modules/planning/ego_planner_swarm/plan_manage/launch/run_in_sim.launch diff --git a/Modules/ego_planner_swarm/plan_manage/launch/rviz.launch b/Modules/planning/ego_planner_swarm/plan_manage/launch/rviz.launch similarity index 100% rename from Modules/ego_planner_swarm/plan_manage/launch/rviz.launch rename to Modules/planning/ego_planner_swarm/plan_manage/launch/rviz.launch diff --git a/Modules/ego_planner_swarm/plan_manage/launch/simple_run.launch b/Modules/planning/ego_planner_swarm/plan_manage/launch/simple_run.launch similarity index 100% rename from Modules/ego_planner_swarm/plan_manage/launch/simple_run.launch rename to Modules/planning/ego_planner_swarm/plan_manage/launch/simple_run.launch diff --git a/Modules/ego_planner_swarm/plan_manage/launch/simulator.xml b/Modules/planning/ego_planner_swarm/plan_manage/launch/simulator.xml similarity index 100% rename from Modules/ego_planner_swarm/plan_manage/launch/simulator.xml rename to Modules/planning/ego_planner_swarm/plan_manage/launch/simulator.xml diff --git a/Modules/ego_planner_swarm/plan_manage/launch/single_run_in_sim.launch b/Modules/planning/ego_planner_swarm/plan_manage/launch/single_run_in_sim.launch similarity index 100% rename from Modules/ego_planner_swarm/plan_manage/launch/single_run_in_sim.launch rename to Modules/planning/ego_planner_swarm/plan_manage/launch/single_run_in_sim.launch diff --git a/Modules/ego_planner_swarm/plan_manage/launch/swarm.launch b/Modules/planning/ego_planner_swarm/plan_manage/launch/swarm.launch similarity index 100% rename from Modules/ego_planner_swarm/plan_manage/launch/swarm.launch rename to Modules/planning/ego_planner_swarm/plan_manage/launch/swarm.launch diff --git a/Modules/ego_planner_swarm/plan_manage/launch/swarm_large.launch b/Modules/planning/ego_planner_swarm/plan_manage/launch/swarm_large.launch similarity index 100% rename from Modules/ego_planner_swarm/plan_manage/launch/swarm_large.launch rename to Modules/planning/ego_planner_swarm/plan_manage/launch/swarm_large.launch diff --git a/Modules/ego_planner_swarm/plan_manage/launch_for_prometheus/advanced_param.xml b/Modules/planning/ego_planner_swarm/plan_manage/launch_for_prometheus/advanced_param.xml similarity index 100% rename from Modules/ego_planner_swarm/plan_manage/launch_for_prometheus/advanced_param.xml rename to Modules/planning/ego_planner_swarm/plan_manage/launch_for_prometheus/advanced_param.xml diff --git a/Modules/ego_planner_swarm/plan_manage/launch_for_prometheus/advanced_param_p600.xml b/Modules/planning/ego_planner_swarm/plan_manage/launch_for_prometheus/advanced_param_p600.xml similarity index 100% rename from Modules/ego_planner_swarm/plan_manage/launch_for_prometheus/advanced_param_p600.xml rename to Modules/planning/ego_planner_swarm/plan_manage/launch_for_prometheus/advanced_param_p600.xml diff --git a/Modules/ego_planner_swarm/plan_manage/launch_for_prometheus/advanced_param_swarm.xml b/Modules/planning/ego_planner_swarm/plan_manage/launch_for_prometheus/advanced_param_swarm.xml similarity index 100% rename from Modules/ego_planner_swarm/plan_manage/launch_for_prometheus/advanced_param_swarm.xml rename to Modules/planning/ego_planner_swarm/plan_manage/launch_for_prometheus/advanced_param_swarm.xml diff --git a/Modules/ego_planner_swarm/plan_manage/launch_for_prometheus/ego.rviz b/Modules/planning/ego_planner_swarm/plan_manage/launch_for_prometheus/ego.rviz similarity index 100% rename from Modules/ego_planner_swarm/plan_manage/launch_for_prometheus/ego.rviz rename to Modules/planning/ego_planner_swarm/plan_manage/launch_for_prometheus/ego.rviz diff --git a/Modules/ego_planner_swarm/plan_manage/launch_for_prometheus/ego_control_config.yaml b/Modules/planning/ego_planner_swarm/plan_manage/launch_for_prometheus/ego_control_config.yaml similarity index 100% rename from Modules/ego_planner_swarm/plan_manage/launch_for_prometheus/ego_control_config.yaml rename to Modules/planning/ego_planner_swarm/plan_manage/launch_for_prometheus/ego_control_config.yaml diff --git a/Modules/ego_planner_swarm/plan_manage/launch_for_prometheus/pub_preset_goal.launch b/Modules/planning/ego_planner_swarm/plan_manage/launch_for_prometheus/pub_preset_goal.launch similarity index 100% rename from Modules/ego_planner_swarm/plan_manage/launch_for_prometheus/pub_preset_goal.launch rename to Modules/planning/ego_planner_swarm/plan_manage/launch_for_prometheus/pub_preset_goal.launch diff --git a/Modules/ego_planner_swarm/plan_manage/launch_for_prometheus/real_ego_planner_basic.launch b/Modules/planning/ego_planner_swarm/plan_manage/launch_for_prometheus/real_ego_planner_basic.launch similarity index 100% rename from Modules/ego_planner_swarm/plan_manage/launch_for_prometheus/real_ego_planner_basic.launch rename to Modules/planning/ego_planner_swarm/plan_manage/launch_for_prometheus/real_ego_planner_basic.launch diff --git a/Modules/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_fastlio_mid360.launch b/Modules/planning/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_fastlio_mid360.launch similarity index 100% rename from Modules/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_fastlio_mid360.launch rename to Modules/planning/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_fastlio_mid360.launch diff --git a/Modules/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_octomap_mid360.launch b/Modules/planning/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_octomap_mid360.launch similarity index 100% rename from Modules/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_octomap_mid360.launch rename to Modules/planning/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_octomap_mid360.launch diff --git a/Modules/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_planner_4uav.launch b/Modules/planning/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_planner_4uav.launch similarity index 100% rename from Modules/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_planner_4uav.launch rename to Modules/planning/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_planner_4uav.launch diff --git a/Modules/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_planner_basic.launch b/Modules/planning/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_planner_basic.launch similarity index 100% rename from Modules/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_planner_basic.launch rename to Modules/planning/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_planner_basic.launch diff --git a/Modules/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_planner_basic_depth.launch b/Modules/planning/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_planner_basic_depth.launch similarity index 100% rename from Modules/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_planner_basic_depth.launch rename to Modules/planning/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_planner_basic_depth.launch diff --git a/Modules/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_planner_basic_octomap.launch b/Modules/planning/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_planner_basic_octomap.launch similarity index 100% rename from Modules/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_planner_basic_octomap.launch rename to Modules/planning/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_planner_basic_octomap.launch diff --git a/Modules/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_planner_basic_octomap_d435i_swarm_depth.launch b/Modules/planning/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_planner_basic_octomap_d435i_swarm_depth.launch similarity index 100% rename from Modules/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_planner_basic_octomap_d435i_swarm_depth.launch rename to Modules/planning/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_planner_basic_octomap_d435i_swarm_depth.launch diff --git a/Modules/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_planner_basic_octomap_lidar_swarm.launch b/Modules/planning/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_planner_basic_octomap_lidar_swarm.launch similarity index 100% rename from Modules/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_planner_basic_octomap_lidar_swarm.launch rename to Modules/planning/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_planner_basic_octomap_lidar_swarm.launch diff --git a/Modules/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_planner_basic_octomap_swarm_depth.launch b/Modules/planning/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_planner_basic_octomap_swarm_depth.launch similarity index 100% rename from Modules/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_planner_basic_octomap_swarm_depth.launch rename to Modules/planning/ego_planner_swarm/plan_manage/launch_for_prometheus/sitl_ego_planner_basic_octomap_swarm_depth.launch diff --git a/Modules/ego_planner_swarm/plan_manage/package.xml b/Modules/planning/ego_planner_swarm/plan_manage/package.xml similarity index 99% rename from Modules/ego_planner_swarm/plan_manage/package.xml rename to Modules/planning/ego_planner_swarm/plan_manage/package.xml index c3776ea678..bd9058eb6d 100644 --- a/Modules/ego_planner_swarm/plan_manage/package.xml +++ b/Modules/planning/ego_planner_swarm/plan_manage/package.xml @@ -13,7 +13,7 @@ - TODO + Apache-2.0 diff --git a/Modules/ego_planner_swarm/plan_manage/src/ego_planner_node.cpp b/Modules/planning/ego_planner_swarm/plan_manage/src/ego_planner_node.cpp similarity index 100% rename from Modules/ego_planner_swarm/plan_manage/src/ego_planner_node.cpp rename to Modules/planning/ego_planner_swarm/plan_manage/src/ego_planner_node.cpp diff --git a/Modules/ego_planner_swarm/plan_manage/src/ego_replan_fsm.cpp b/Modules/planning/ego_planner_swarm/plan_manage/src/ego_replan_fsm.cpp similarity index 100% rename from Modules/ego_planner_swarm/plan_manage/src/ego_replan_fsm.cpp rename to Modules/planning/ego_planner_swarm/plan_manage/src/ego_replan_fsm.cpp diff --git a/Modules/ego_planner_swarm/plan_manage/src/planner_manager.cpp b/Modules/planning/ego_planner_swarm/plan_manage/src/planner_manager.cpp similarity index 100% rename from Modules/ego_planner_swarm/plan_manage/src/planner_manager.cpp rename to Modules/planning/ego_planner_swarm/plan_manage/src/planner_manager.cpp diff --git a/Modules/ego_planner_swarm/plan_manage/src/traj_server.cpp b/Modules/planning/ego_planner_swarm/plan_manage/src/traj_server.cpp similarity index 100% rename from Modules/ego_planner_swarm/plan_manage/src/traj_server.cpp rename to Modules/planning/ego_planner_swarm/plan_manage/src/traj_server.cpp diff --git a/Modules/ego_planner_swarm/plan_manage/src_for_prometheus/motion_goal_swarm.cpp b/Modules/planning/ego_planner_swarm/plan_manage/src_for_prometheus/motion_goal_swarm.cpp similarity index 100% rename from Modules/ego_planner_swarm/plan_manage/src_for_prometheus/motion_goal_swarm.cpp rename to Modules/planning/ego_planner_swarm/plan_manage/src_for_prometheus/motion_goal_swarm.cpp diff --git a/Modules/ego_planner_swarm/plan_manage/src_for_prometheus/pub_goal.cpp b/Modules/planning/ego_planner_swarm/plan_manage/src_for_prometheus/pub_goal.cpp similarity index 100% rename from Modules/ego_planner_swarm/plan_manage/src_for_prometheus/pub_goal.cpp rename to Modules/planning/ego_planner_swarm/plan_manage/src_for_prometheus/pub_goal.cpp diff --git a/Modules/ego_planner_swarm/plan_manage/src_for_prometheus/pub_preset_goal.cpp b/Modules/planning/ego_planner_swarm/plan_manage/src_for_prometheus/pub_preset_goal.cpp similarity index 100% rename from Modules/ego_planner_swarm/plan_manage/src_for_prometheus/pub_preset_goal.cpp rename to Modules/planning/ego_planner_swarm/plan_manage/src_for_prometheus/pub_preset_goal.cpp diff --git a/Modules/ego_planner_swarm/plan_manage/src_for_prometheus/traj_server_for_prometheus.cpp b/Modules/planning/ego_planner_swarm/plan_manage/src_for_prometheus/traj_server_for_prometheus.cpp similarity index 100% rename from Modules/ego_planner_swarm/plan_manage/src_for_prometheus/traj_server_for_prometheus.cpp rename to Modules/planning/ego_planner_swarm/plan_manage/src_for_prometheus/traj_server_for_prometheus.cpp diff --git a/Modules/ego_planner_swarm/rosmsg_tcp_bridge/CMakeLists.txt b/Modules/planning/ego_planner_swarm/rosmsg_tcp_bridge/CMakeLists.txt similarity index 100% rename from Modules/ego_planner_swarm/rosmsg_tcp_bridge/CMakeLists.txt rename to Modules/planning/ego_planner_swarm/rosmsg_tcp_bridge/CMakeLists.txt diff --git a/Modules/ego_planner_swarm/rosmsg_tcp_bridge/launch/bridge.launch b/Modules/planning/ego_planner_swarm/rosmsg_tcp_bridge/launch/bridge.launch similarity index 100% rename from Modules/ego_planner_swarm/rosmsg_tcp_bridge/launch/bridge.launch rename to Modules/planning/ego_planner_swarm/rosmsg_tcp_bridge/launch/bridge.launch diff --git a/Modules/ego_planner_swarm/rosmsg_tcp_bridge/package.xml b/Modules/planning/ego_planner_swarm/rosmsg_tcp_bridge/package.xml similarity index 98% rename from Modules/ego_planner_swarm/rosmsg_tcp_bridge/package.xml rename to Modules/planning/ego_planner_swarm/rosmsg_tcp_bridge/package.xml index 677652f772..93c44701a9 100644 --- a/Modules/ego_planner_swarm/rosmsg_tcp_bridge/package.xml +++ b/Modules/planning/ego_planner_swarm/rosmsg_tcp_bridge/package.xml @@ -13,7 +13,7 @@ - TODO + Apache-2.0 diff --git a/Modules/ego_planner_swarm/rosmsg_tcp_bridge/src/bridge_node.cpp b/Modules/planning/ego_planner_swarm/rosmsg_tcp_bridge/src/bridge_node.cpp similarity index 100% rename from Modules/ego_planner_swarm/rosmsg_tcp_bridge/src/bridge_node.cpp rename to Modules/planning/ego_planner_swarm/rosmsg_tcp_bridge/src/bridge_node.cpp diff --git a/Modules/ego_planner_swarm/traj_utils/CMakeLists.txt b/Modules/planning/ego_planner_swarm/traj_utils/CMakeLists.txt similarity index 100% rename from Modules/ego_planner_swarm/traj_utils/CMakeLists.txt rename to Modules/planning/ego_planner_swarm/traj_utils/CMakeLists.txt diff --git a/Modules/ego_planner_swarm/traj_utils/include/traj_utils/plan_container.hpp b/Modules/planning/ego_planner_swarm/traj_utils/include/traj_utils/plan_container.hpp similarity index 100% rename from Modules/ego_planner_swarm/traj_utils/include/traj_utils/plan_container.hpp rename to Modules/planning/ego_planner_swarm/traj_utils/include/traj_utils/plan_container.hpp diff --git a/Modules/ego_planner_swarm/traj_utils/include/traj_utils/planning_visualization.h b/Modules/planning/ego_planner_swarm/traj_utils/include/traj_utils/planning_visualization.h similarity index 100% rename from Modules/ego_planner_swarm/traj_utils/include/traj_utils/planning_visualization.h rename to Modules/planning/ego_planner_swarm/traj_utils/include/traj_utils/planning_visualization.h diff --git a/Modules/ego_planner_swarm/traj_utils/include/traj_utils/polynomial_traj.h b/Modules/planning/ego_planner_swarm/traj_utils/include/traj_utils/polynomial_traj.h similarity index 100% rename from Modules/ego_planner_swarm/traj_utils/include/traj_utils/polynomial_traj.h rename to Modules/planning/ego_planner_swarm/traj_utils/include/traj_utils/polynomial_traj.h diff --git a/Modules/ego_planner_swarm/traj_utils/msg/Bspline.msg b/Modules/planning/ego_planner_swarm/traj_utils/msg/Bspline.msg similarity index 100% rename from Modules/ego_planner_swarm/traj_utils/msg/Bspline.msg rename to Modules/planning/ego_planner_swarm/traj_utils/msg/Bspline.msg diff --git a/Modules/ego_planner_swarm/traj_utils/msg/DataDisp.msg b/Modules/planning/ego_planner_swarm/traj_utils/msg/DataDisp.msg similarity index 100% rename from Modules/ego_planner_swarm/traj_utils/msg/DataDisp.msg rename to Modules/planning/ego_planner_swarm/traj_utils/msg/DataDisp.msg diff --git a/Modules/ego_planner_swarm/traj_utils/msg/MultiBsplines.msg b/Modules/planning/ego_planner_swarm/traj_utils/msg/MultiBsplines.msg similarity index 100% rename from Modules/ego_planner_swarm/traj_utils/msg/MultiBsplines.msg rename to Modules/planning/ego_planner_swarm/traj_utils/msg/MultiBsplines.msg diff --git a/Modules/ego_planner_swarm/traj_utils/package.xml b/Modules/planning/ego_planner_swarm/traj_utils/package.xml similarity index 99% rename from Modules/ego_planner_swarm/traj_utils/package.xml rename to Modules/planning/ego_planner_swarm/traj_utils/package.xml index 481ac26997..8e59e4fb39 100644 --- a/Modules/ego_planner_swarm/traj_utils/package.xml +++ b/Modules/planning/ego_planner_swarm/traj_utils/package.xml @@ -13,7 +13,7 @@ - TODO + Apache-2.0 diff --git a/Modules/ego_planner_swarm/traj_utils/src/planning_visualization.cpp b/Modules/planning/ego_planner_swarm/traj_utils/src/planning_visualization.cpp similarity index 100% rename from Modules/ego_planner_swarm/traj_utils/src/planning_visualization.cpp rename to Modules/planning/ego_planner_swarm/traj_utils/src/planning_visualization.cpp diff --git a/Modules/ego_planner_swarm/traj_utils/src/polynomial_traj.cpp b/Modules/planning/ego_planner_swarm/traj_utils/src/polynomial_traj.cpp similarity index 100% rename from Modules/ego_planner_swarm/traj_utils/src/polynomial_traj.cpp rename to Modules/planning/ego_planner_swarm/traj_utils/src/polynomial_traj.cpp diff --git a/Modules/global_planner_ugv/CMakeLists.txt b/Modules/planning/global_planner_ugv/CMakeLists.txt similarity index 97% rename from Modules/global_planner_ugv/CMakeLists.txt rename to Modules/planning/global_planner_ugv/CMakeLists.txt index 7d9b03bb06..10f5b74499 100644 --- a/Modules/global_planner_ugv/CMakeLists.txt +++ b/Modules/planning/global_planner_ugv/CMakeLists.txt @@ -30,7 +30,7 @@ include_directories( ${catkin_INCLUDE_DIRS} ${Eigen3_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} - ${PROJECT_SOURCE_DIR}/../common/include + ${PROJECT_SOURCE_DIR}/../../core/common/include ) link_directories(${PCL_LIBRARY_DIRS}) diff --git a/Modules/global_planner_ugv/config/advanced_param.xml b/Modules/planning/global_planner_ugv/config/advanced_param.xml similarity index 100% rename from Modules/global_planner_ugv/config/advanced_param.xml rename to Modules/planning/global_planner_ugv/config/advanced_param.xml diff --git a/Modules/global_planner_ugv/config/rviz_cxy_case2.rviz b/Modules/planning/global_planner_ugv/config/rviz_cxy_case2.rviz similarity index 100% rename from Modules/global_planner_ugv/config/rviz_cxy_case2.rviz rename to Modules/planning/global_planner_ugv/config/rviz_cxy_case2.rviz diff --git a/Modules/global_planner_ugv/include/A_star.h b/Modules/planning/global_planner_ugv/include/A_star.h similarity index 100% rename from Modules/global_planner_ugv/include/A_star.h rename to Modules/planning/global_planner_ugv/include/A_star.h diff --git a/Modules/global_planner_ugv/include/global_planner_ugv.h b/Modules/planning/global_planner_ugv/include/global_planner_ugv.h similarity index 100% rename from Modules/global_planner_ugv/include/global_planner_ugv.h rename to Modules/planning/global_planner_ugv/include/global_planner_ugv.h diff --git a/Modules/global_planner_ugv/include/occupy_map.h b/Modules/planning/global_planner_ugv/include/occupy_map.h similarity index 100% rename from Modules/global_planner_ugv/include/occupy_map.h rename to Modules/planning/global_planner_ugv/include/occupy_map.h diff --git a/Modules/global_planner_ugv/launch/global_planner_ugv_control.launch b/Modules/planning/global_planner_ugv/launch/global_planner_ugv_control.launch similarity index 100% rename from Modules/global_planner_ugv/launch/global_planner_ugv_control.launch rename to Modules/planning/global_planner_ugv/launch/global_planner_ugv_control.launch diff --git a/Modules/global_planner_ugv/launch/ground_station_ugv.launch b/Modules/planning/global_planner_ugv/launch/ground_station_ugv.launch similarity index 100% rename from Modules/global_planner_ugv/launch/ground_station_ugv.launch rename to Modules/planning/global_planner_ugv/launch/ground_station_ugv.launch diff --git a/Modules/global_planner_ugv/launch/rviz_global_planner_ugv.launch b/Modules/planning/global_planner_ugv/launch/rviz_global_planner_ugv.launch similarity index 100% rename from Modules/global_planner_ugv/launch/rviz_global_planner_ugv.launch rename to Modules/planning/global_planner_ugv/launch/rviz_global_planner_ugv.launch diff --git a/Modules/global_planner_ugv/launch/rviz_global_planner_ugv.rviz b/Modules/planning/global_planner_ugv/launch/rviz_global_planner_ugv.rviz similarity index 100% rename from Modules/global_planner_ugv/launch/rviz_global_planner_ugv.rviz rename to Modules/planning/global_planner_ugv/launch/rviz_global_planner_ugv.rviz diff --git a/Modules/global_planner_ugv/package.xml b/Modules/planning/global_planner_ugv/package.xml similarity index 97% rename from Modules/global_planner_ugv/package.xml rename to Modules/planning/global_planner_ugv/package.xml index 91d84702ef..c4450d8717 100644 --- a/Modules/global_planner_ugv/package.xml +++ b/Modules/planning/global_planner_ugv/package.xml @@ -6,7 +6,7 @@ Yuhua Qi - TODO + Apache-2.0 catkin diff --git a/Modules/global_planner_ugv/sh/global_planner_ugv_control.sh b/Modules/planning/global_planner_ugv/sh/global_planner_ugv_control.sh similarity index 100% rename from Modules/global_planner_ugv/sh/global_planner_ugv_control.sh rename to Modules/planning/global_planner_ugv/sh/global_planner_ugv_control.sh diff --git a/Modules/global_planner_ugv/src/A_star.cpp b/Modules/planning/global_planner_ugv/src/A_star.cpp similarity index 100% rename from Modules/global_planner_ugv/src/A_star.cpp rename to Modules/planning/global_planner_ugv/src/A_star.cpp diff --git a/Modules/global_planner_ugv/src/global_planner_ugv.cpp b/Modules/planning/global_planner_ugv/src/global_planner_ugv.cpp similarity index 100% rename from Modules/global_planner_ugv/src/global_planner_ugv.cpp rename to Modules/planning/global_planner_ugv/src/global_planner_ugv.cpp diff --git a/Modules/global_planner_ugv/src/global_planner_ugv_node.cpp b/Modules/planning/global_planner_ugv/src/global_planner_ugv_node.cpp similarity index 100% rename from Modules/global_planner_ugv/src/global_planner_ugv_node.cpp rename to Modules/planning/global_planner_ugv/src/global_planner_ugv_node.cpp diff --git a/Modules/global_planner_ugv/src/ground_station_ugv.cpp b/Modules/planning/global_planner_ugv/src/ground_station_ugv.cpp similarity index 100% rename from Modules/global_planner_ugv/src/ground_station_ugv.cpp rename to Modules/planning/global_planner_ugv/src/ground_station_ugv.cpp diff --git a/Modules/global_planner_ugv/src/occupy_map.cpp b/Modules/planning/global_planner_ugv/src/occupy_map.cpp similarity index 100% rename from Modules/global_planner_ugv/src/occupy_map.cpp rename to Modules/planning/global_planner_ugv/src/occupy_map.cpp diff --git a/Modules/motion_planning/global_planner/CMakeLists.txt b/Modules/planning/motion_planning/global_planner/CMakeLists.txt similarity index 96% rename from Modules/motion_planning/global_planner/CMakeLists.txt rename to Modules/planning/motion_planning/global_planner/CMakeLists.txt index 02c9edc361..5c3e1e713b 100644 --- a/Modules/motion_planning/global_planner/CMakeLists.txt +++ b/Modules/planning/motion_planning/global_planner/CMakeLists.txt @@ -29,7 +29,7 @@ include_directories( ${catkin_INCLUDE_DIRS} ${Eigen3_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} - ${PROJECT_SOURCE_DIR}/../../common/include + ${PROJECT_SOURCE_DIR}/../../../core/common/include ) link_directories(${PCL_LIBRARY_DIRS}) @@ -55,4 +55,4 @@ install(DIRECTORY include/${PROJECT_NAME}/ ## Mark other files for installation (e.g. launch and bag files, etc.) install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch -) \ No newline at end of file +) diff --git a/Modules/motion_planning/global_planner/global_planner.md b/Modules/planning/motion_planning/global_planner/global_planner.md similarity index 100% rename from Modules/motion_planning/global_planner/global_planner.md rename to Modules/planning/motion_planning/global_planner/global_planner.md diff --git a/Modules/motion_planning/global_planner/include/A_star.h b/Modules/planning/motion_planning/global_planner/include/A_star.h similarity index 100% rename from Modules/motion_planning/global_planner/include/A_star.h rename to Modules/planning/motion_planning/global_planner/include/A_star.h diff --git a/Modules/motion_planning/global_planner/include/global_planner.h b/Modules/planning/motion_planning/global_planner/include/global_planner.h similarity index 100% rename from Modules/motion_planning/global_planner/include/global_planner.h rename to Modules/planning/motion_planning/global_planner/include/global_planner.h diff --git a/Modules/motion_planning/global_planner/include/global_planner_utils.h b/Modules/planning/motion_planning/global_planner/include/global_planner_utils.h similarity index 100% rename from Modules/motion_planning/global_planner/include/global_planner_utils.h rename to Modules/planning/motion_planning/global_planner/include/global_planner_utils.h diff --git a/Modules/motion_planning/global_planner/include/occupy_map.h b/Modules/planning/motion_planning/global_planner/include/occupy_map.h similarity index 100% rename from Modules/motion_planning/global_planner/include/occupy_map.h rename to Modules/planning/motion_planning/global_planner/include/occupy_map.h diff --git a/Modules/motion_planning/global_planner/launch/sitl_global_planner_with_2dlidar.launch b/Modules/planning/motion_planning/global_planner/launch/sitl_global_planner_with_2dlidar.launch similarity index 100% rename from Modules/motion_planning/global_planner/launch/sitl_global_planner_with_2dlidar.launch rename to Modules/planning/motion_planning/global_planner/launch/sitl_global_planner_with_2dlidar.launch diff --git a/Modules/motion_planning/global_planner/launch/sitl_global_planner_with_global_point.launch b/Modules/planning/motion_planning/global_planner/launch/sitl_global_planner_with_global_point.launch similarity index 100% rename from Modules/motion_planning/global_planner/launch/sitl_global_planner_with_global_point.launch rename to Modules/planning/motion_planning/global_planner/launch/sitl_global_planner_with_global_point.launch diff --git a/Modules/motion_planning/global_planner/launch/sitl_global_planner_with_local_point.launch b/Modules/planning/motion_planning/global_planner/launch/sitl_global_planner_with_local_point.launch similarity index 100% rename from Modules/motion_planning/global_planner/launch/sitl_global_planner_with_local_point.launch rename to Modules/planning/motion_planning/global_planner/launch/sitl_global_planner_with_local_point.launch diff --git a/Modules/motion_planning/global_planner/package.xml b/Modules/planning/motion_planning/global_planner/package.xml similarity index 97% rename from Modules/motion_planning/global_planner/package.xml rename to Modules/planning/motion_planning/global_planner/package.xml index d3f79c05e5..5852b9be0b 100644 --- a/Modules/motion_planning/global_planner/package.xml +++ b/Modules/planning/motion_planning/global_planner/package.xml @@ -6,7 +6,7 @@ Yuhua Qi - TODO + Apache-2.0 catkin roscpp diff --git a/Modules/motion_planning/global_planner/src/A_star.cpp b/Modules/planning/motion_planning/global_planner/src/A_star.cpp similarity index 100% rename from Modules/motion_planning/global_planner/src/A_star.cpp rename to Modules/planning/motion_planning/global_planner/src/A_star.cpp diff --git a/Modules/motion_planning/global_planner/src/global_planner.cpp b/Modules/planning/motion_planning/global_planner/src/global_planner.cpp similarity index 100% rename from Modules/motion_planning/global_planner/src/global_planner.cpp rename to Modules/planning/motion_planning/global_planner/src/global_planner.cpp diff --git a/Modules/motion_planning/global_planner/src/global_planner_node.cpp b/Modules/planning/motion_planning/global_planner/src/global_planner_node.cpp similarity index 100% rename from Modules/motion_planning/global_planner/src/global_planner_node.cpp rename to Modules/planning/motion_planning/global_planner/src/global_planner_node.cpp diff --git a/Modules/motion_planning/global_planner/src/occupy_map.cpp b/Modules/planning/motion_planning/global_planner/src/occupy_map.cpp similarity index 100% rename from Modules/motion_planning/global_planner/src/occupy_map.cpp rename to Modules/planning/motion_planning/global_planner/src/occupy_map.cpp diff --git a/Modules/motion_planning/local_planner/CMakeLists.txt b/Modules/planning/motion_planning/local_planner/CMakeLists.txt similarity index 95% rename from Modules/motion_planning/local_planner/CMakeLists.txt rename to Modules/planning/motion_planning/local_planner/CMakeLists.txt index 8a1b147481..97ec2ad334 100644 --- a/Modules/motion_planning/local_planner/CMakeLists.txt +++ b/Modules/planning/motion_planning/local_planner/CMakeLists.txt @@ -30,7 +30,7 @@ include_directories( ${catkin_INCLUDE_DIRS} ${Eigen3_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} - ${PROJECT_SOURCE_DIR}/../../common/include + ${PROJECT_SOURCE_DIR}/../../../core/common/include ) link_directories(${PCL_LIBRARY_DIRS}) diff --git a/Modules/motion_planning/local_planner/include/apf.h b/Modules/planning/motion_planning/local_planner/include/apf.h similarity index 100% rename from Modules/motion_planning/local_planner/include/apf.h rename to Modules/planning/motion_planning/local_planner/include/apf.h diff --git a/Modules/motion_planning/local_planner/include/local_planner.h b/Modules/planning/motion_planning/local_planner/include/local_planner.h similarity index 100% rename from Modules/motion_planning/local_planner/include/local_planner.h rename to Modules/planning/motion_planning/local_planner/include/local_planner.h diff --git a/Modules/motion_planning/local_planner/include/local_planner_alg.h b/Modules/planning/motion_planning/local_planner/include/local_planner_alg.h similarity index 100% rename from Modules/motion_planning/local_planner/include/local_planner_alg.h rename to Modules/planning/motion_planning/local_planner/include/local_planner_alg.h diff --git a/Modules/motion_planning/local_planner/include/local_planner_utils.h b/Modules/planning/motion_planning/local_planner/include/local_planner_utils.h similarity index 100% rename from Modules/motion_planning/local_planner/include/local_planner_utils.h rename to Modules/planning/motion_planning/local_planner/include/local_planner_utils.h diff --git a/Modules/motion_planning/local_planner/include/vfh.h b/Modules/planning/motion_planning/local_planner/include/vfh.h similarity index 100% rename from Modules/motion_planning/local_planner/include/vfh.h rename to Modules/planning/motion_planning/local_planner/include/vfh.h diff --git a/Modules/motion_planning/local_planner/launch/sitl_apf_with_local_point.launch b/Modules/planning/motion_planning/local_planner/launch/sitl_apf_with_local_point.launch similarity index 100% rename from Modules/motion_planning/local_planner/launch/sitl_apf_with_local_point.launch rename to Modules/planning/motion_planning/local_planner/launch/sitl_apf_with_local_point.launch diff --git a/Modules/motion_planning/local_planner/launch/sitl_vfh_with_local_point.launch b/Modules/planning/motion_planning/local_planner/launch/sitl_vfh_with_local_point.launch similarity index 100% rename from Modules/motion_planning/local_planner/launch/sitl_vfh_with_local_point.launch rename to Modules/planning/motion_planning/local_planner/launch/sitl_vfh_with_local_point.launch diff --git a/Modules/motion_planning/local_planner/local_planner.md b/Modules/planning/motion_planning/local_planner/local_planner.md similarity index 100% rename from Modules/motion_planning/local_planner/local_planner.md rename to Modules/planning/motion_planning/local_planner/local_planner.md diff --git a/Modules/motion_planning/local_planner/package.xml b/Modules/planning/motion_planning/local_planner/package.xml similarity index 97% rename from Modules/motion_planning/local_planner/package.xml rename to Modules/planning/motion_planning/local_planner/package.xml index af2fe83bdc..5c61339223 100644 --- a/Modules/motion_planning/local_planner/package.xml +++ b/Modules/planning/motion_planning/local_planner/package.xml @@ -6,7 +6,7 @@ Yuhua Qi - TODO + Apache-2.0 catkin roscpp diff --git a/Modules/motion_planning/local_planner/src/apf.cpp b/Modules/planning/motion_planning/local_planner/src/apf.cpp similarity index 100% rename from Modules/motion_planning/local_planner/src/apf.cpp rename to Modules/planning/motion_planning/local_planner/src/apf.cpp diff --git a/Modules/motion_planning/local_planner/src/local_planner.cpp b/Modules/planning/motion_planning/local_planner/src/local_planner.cpp similarity index 100% rename from Modules/motion_planning/local_planner/src/local_planner.cpp rename to Modules/planning/motion_planning/local_planner/src/local_planner.cpp diff --git a/Modules/motion_planning/local_planner/src/local_planner_node.cpp b/Modules/planning/motion_planning/local_planner/src/local_planner_node.cpp similarity index 100% rename from Modules/motion_planning/local_planner/src/local_planner_node.cpp rename to Modules/planning/motion_planning/local_planner/src/local_planner_node.cpp diff --git a/Modules/motion_planning/local_planner/src/vfh.cpp b/Modules/planning/motion_planning/local_planner/src/vfh.cpp similarity index 100% rename from Modules/motion_planning/local_planner/src/vfh.cpp rename to Modules/planning/motion_planning/local_planner/src/vfh.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/min_snap.sh b/Modules/planning/motion_planning/min_snap_trajectory/min_snap.sh similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/min_snap.sh rename to Modules/planning/motion_planning/min_snap_trajectory/min_snap.sh diff --git a/Modules/motion_planning/min_snap_trajectory/min_snap/CMakeLists.txt b/Modules/planning/motion_planning/min_snap_trajectory/min_snap/CMakeLists.txt similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/min_snap/CMakeLists.txt rename to Modules/planning/motion_planning/min_snap_trajectory/min_snap/CMakeLists.txt diff --git a/Modules/motion_planning/min_snap_trajectory/min_snap/include/min_snap/min_snap_closeform.h b/Modules/planning/motion_planning/min_snap_trajectory/min_snap/include/min_snap/min_snap_closeform.h similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/min_snap/include/min_snap/min_snap_closeform.h rename to Modules/planning/motion_planning/min_snap_trajectory/min_snap/include/min_snap/min_snap_closeform.h diff --git a/Modules/motion_planning/min_snap_trajectory/min_snap/launch/default.rviz b/Modules/planning/motion_planning/min_snap_trajectory/min_snap/launch/default.rviz similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/min_snap/launch/default.rviz rename to Modules/planning/motion_planning/min_snap_trajectory/min_snap/launch/default.rviz diff --git a/Modules/motion_planning/min_snap_trajectory/min_snap/launch/min_snap.launch b/Modules/planning/motion_planning/min_snap_trajectory/min_snap/launch/min_snap.launch similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/min_snap/launch/min_snap.launch rename to Modules/planning/motion_planning/min_snap_trajectory/min_snap/launch/min_snap.launch diff --git a/Modules/motion_planning/min_snap_trajectory/min_snap/launch/real.launch b/Modules/planning/motion_planning/min_snap_trajectory/min_snap/launch/real.launch similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/min_snap/launch/real.launch rename to Modules/planning/motion_planning/min_snap_trajectory/min_snap/launch/real.launch diff --git a/Modules/motion_planning/min_snap_trajectory/min_snap/launch/rviz.launch b/Modules/planning/motion_planning/min_snap_trajectory/min_snap/launch/rviz.launch similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/min_snap/launch/rviz.launch rename to Modules/planning/motion_planning/min_snap_trajectory/min_snap/launch/rviz.launch diff --git a/Modules/motion_planning/min_snap_trajectory/min_snap/package.xml b/Modules/planning/motion_planning/min_snap_trajectory/min_snap/package.xml similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/min_snap/package.xml rename to Modules/planning/motion_planning/min_snap_trajectory/min_snap/package.xml diff --git a/Modules/motion_planning/min_snap_trajectory/min_snap/src/min_snap_closeform.cpp b/Modules/planning/motion_planning/min_snap_trajectory/min_snap/src/min_snap_closeform.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/min_snap/src/min_snap_closeform.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/min_snap/src/min_snap_closeform.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/min_snap/src/min_snap_generator.cpp b/Modules/planning/motion_planning/min_snap_trajectory/min_snap/src/min_snap_generator.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/min_snap/src/min_snap_generator.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/min_snap/src/min_snap_generator.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/min_snap/src/mini_snap.cpp b/Modules/planning/motion_planning/min_snap_trajectory/min_snap/src/mini_snap.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/min_snap/src/mini_snap.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/min_snap/src/mini_snap.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/readme.pdf b/Modules/planning/motion_planning/min_snap_trajectory/readme.pdf similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/readme.pdf rename to Modules/planning/motion_planning/min_snap_trajectory/readme.pdf diff --git a/Modules/motion_planning/min_snap_trajectory/traj_server/CMakeLists.txt b/Modules/planning/motion_planning/min_snap_trajectory/traj_server/CMakeLists.txt similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/traj_server/CMakeLists.txt rename to Modules/planning/motion_planning/min_snap_trajectory/traj_server/CMakeLists.txt diff --git a/Modules/motion_planning/min_snap_trajectory/traj_server/launch/my_sim.xml b/Modules/planning/motion_planning/min_snap_trajectory/traj_server/launch/my_sim.xml similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/traj_server/launch/my_sim.xml rename to Modules/planning/motion_planning/min_snap_trajectory/traj_server/launch/my_sim.xml diff --git a/Modules/motion_planning/min_snap_trajectory/traj_server/launch/real_traj_server.xml b/Modules/planning/motion_planning/min_snap_trajectory/traj_server/launch/real_traj_server.xml similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/traj_server/launch/real_traj_server.xml rename to Modules/planning/motion_planning/min_snap_trajectory/traj_server/launch/real_traj_server.xml diff --git a/Modules/motion_planning/min_snap_trajectory/traj_server/package.xml b/Modules/planning/motion_planning/min_snap_trajectory/traj_server/package.xml similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/traj_server/package.xml rename to Modules/planning/motion_planning/min_snap_trajectory/traj_server/package.xml diff --git a/Modules/motion_planning/min_snap_trajectory/traj_server/src/my_traj_server.cpp b/Modules/planning/motion_planning/min_snap_trajectory/traj_server/src/my_traj_server.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/traj_server/src/my_traj_server.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/traj_server/src/my_traj_server.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/traj_server/src/traj_server_prometheus.cpp b/Modules/planning/motion_planning/min_snap_trajectory/traj_server/src/traj_server_prometheus.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/traj_server/src/traj_server_prometheus.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/traj_server/src/traj_server_prometheus.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/traj_utils/CMakeLists.txt b/Modules/planning/motion_planning/min_snap_trajectory/traj_utils/CMakeLists.txt similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/traj_utils/CMakeLists.txt rename to Modules/planning/motion_planning/min_snap_trajectory/traj_utils/CMakeLists.txt diff --git a/Modules/motion_planning/min_snap_trajectory/traj_utils/include/mini_snap_traj_utils/planning_visualization.h b/Modules/planning/motion_planning/min_snap_trajectory/traj_utils/include/mini_snap_traj_utils/planning_visualization.h similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/traj_utils/include/mini_snap_traj_utils/planning_visualization.h rename to Modules/planning/motion_planning/min_snap_trajectory/traj_utils/include/mini_snap_traj_utils/planning_visualization.h diff --git a/Modules/motion_planning/min_snap_trajectory/traj_utils/include/mini_snap_traj_utils/polynomial_traj.h b/Modules/planning/motion_planning/min_snap_trajectory/traj_utils/include/mini_snap_traj_utils/polynomial_traj.h similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/traj_utils/include/mini_snap_traj_utils/polynomial_traj.h rename to Modules/planning/motion_planning/min_snap_trajectory/traj_utils/include/mini_snap_traj_utils/polynomial_traj.h diff --git a/Modules/motion_planning/min_snap_trajectory/traj_utils/package.xml b/Modules/planning/motion_planning/min_snap_trajectory/traj_utils/package.xml similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/traj_utils/package.xml rename to Modules/planning/motion_planning/min_snap_trajectory/traj_utils/package.xml diff --git a/Modules/motion_planning/min_snap_trajectory/traj_utils/src/planning_visualization.cpp b/Modules/planning/motion_planning/min_snap_trajectory/traj_utils/src/planning_visualization.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/traj_utils/src/planning_visualization.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/traj_utils/src/planning_visualization.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/traj_utils/src/polynomial_traj.cpp b/Modules/planning/motion_planning/min_snap_trajectory/traj_utils/src/polynomial_traj.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/traj_utils/src/polynomial_traj.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/traj_utils/src/polynomial_traj.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/cmake_utils/CMakeLists.txt b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/cmake_utils/CMakeLists.txt similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/cmake_utils/CMakeLists.txt rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/cmake_utils/CMakeLists.txt diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/cmake_utils/cmake/arch.cmake b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/cmake_utils/cmake/arch.cmake similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/cmake_utils/cmake/arch.cmake rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/cmake_utils/cmake/arch.cmake diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/cmake_utils/cmake/cmake_modules.cmake b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/cmake_utils/cmake/cmake_modules.cmake similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/cmake_utils/cmake/cmake_modules.cmake rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/cmake_utils/cmake/cmake_modules.cmake diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/cmake_utils/cmake/color.cmake b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/cmake_utils/cmake/color.cmake similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/cmake_utils/cmake/color.cmake rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/cmake_utils/cmake/color.cmake diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/cmake_utils/cmake_modules/FindEigen.cmake b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/cmake_utils/cmake_modules/FindEigen.cmake similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/cmake_utils/cmake_modules/FindEigen.cmake rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/cmake_utils/cmake_modules/FindEigen.cmake diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/cmake_utils/cmake_modules/FindGSL.cmake b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/cmake_utils/cmake_modules/FindGSL.cmake similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/cmake_utils/cmake_modules/FindGSL.cmake rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/cmake_utils/cmake_modules/FindGSL.cmake diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/cmake_utils/cmake_modules/FindmvIMPACT.cmake b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/cmake_utils/cmake_modules/FindmvIMPACT.cmake similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/cmake_utils/cmake_modules/FindmvIMPACT.cmake rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/cmake_utils/cmake_modules/FindmvIMPACT.cmake diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/cmake_utils/package.xml b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/cmake_utils/package.xml similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/cmake_utils/package.xml rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/cmake_utils/package.xml diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/CMakeLists.txt b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/CMakeLists.txt similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/CMakeLists.txt rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/CMakeLists.txt diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/Makefile b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/Makefile similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/Makefile rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/Makefile diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/include/multi_map_server/Map2D.h b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/include/multi_map_server/Map2D.h similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/include/multi_map_server/Map2D.h rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/include/multi_map_server/Map2D.h diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/include/multi_map_server/Map3D.h b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/include/multi_map_server/Map3D.h similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/include/multi_map_server/Map3D.h rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/include/multi_map_server/Map3D.h diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/mainpage.dox b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/mainpage.dox similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/mainpage.dox rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/mainpage.dox diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/msg/MultiOccupancyGrid.msg b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/msg/MultiOccupancyGrid.msg similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/msg/MultiOccupancyGrid.msg rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/msg/MultiOccupancyGrid.msg diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/msg/MultiSparseMap3D.msg b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/msg/MultiSparseMap3D.msg similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/msg/MultiSparseMap3D.msg rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/msg/MultiSparseMap3D.msg diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/msg/SparseMap3D.msg b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/msg/SparseMap3D.msg similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/msg/SparseMap3D.msg rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/msg/SparseMap3D.msg diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/msg/VerticalOccupancyGridList.msg b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/msg/VerticalOccupancyGridList.msg similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/msg/VerticalOccupancyGridList.msg rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/msg/VerticalOccupancyGridList.msg diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/package.xml b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/package.xml similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/package.xml rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/package.xml diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/src/multi_map_server/__init__.py b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/src/multi_map_server/__init__.py similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/src/multi_map_server/__init__.py rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/src/multi_map_server/__init__.py diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/_MultiOccupancyGrid.py b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/_MultiOccupancyGrid.py similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/_MultiOccupancyGrid.py rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/_MultiOccupancyGrid.py diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/_MultiSparseMap3D.py b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/_MultiSparseMap3D.py similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/_MultiSparseMap3D.py rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/_MultiSparseMap3D.py diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/_SparseMap3D.py b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/_SparseMap3D.py similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/_SparseMap3D.py rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/_SparseMap3D.py diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/_VerticalOccupancyGridList.py b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/_VerticalOccupancyGridList.py similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/_VerticalOccupancyGridList.py rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/_VerticalOccupancyGridList.py diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/__init__.py b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/__init__.py similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/__init__.py rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/src/multi_map_server/msg/__init__.py diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/src/multi_map_visualization.cc b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/src/multi_map_visualization.cc similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/src/multi_map_visualization.cc rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/src/multi_map_visualization.cc diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/src/unused/multi_map_server.cc b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/src/unused/multi_map_server.cc similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/src/unused/multi_map_server.cc rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/multi_map_server/src/unused/multi_map_server.cc diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/odom_visualization/CMakeLists.txt b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/odom_visualization/CMakeLists.txt similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/odom_visualization/CMakeLists.txt rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/odom_visualization/CMakeLists.txt diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/odom_visualization/Makefile b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/odom_visualization/Makefile similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/odom_visualization/Makefile rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/odom_visualization/Makefile diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/odom_visualization/mainpage.dox b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/odom_visualization/mainpage.dox similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/odom_visualization/mainpage.dox rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/odom_visualization/mainpage.dox diff --git a/Modules/uav_control/meshes/hummingbird.mesh b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/odom_visualization/meshes/hummingbird.mesh similarity index 100% rename from Modules/uav_control/meshes/hummingbird.mesh rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/odom_visualization/meshes/hummingbird.mesh diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/odom_visualization/package.xml b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/odom_visualization/package.xml similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/odom_visualization/package.xml rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/odom_visualization/package.xml diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/odom_visualization/src/odom_visualization.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/odom_visualization/src/odom_visualization.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/odom_visualization/src/odom_visualization.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/odom_visualization/src/odom_visualization.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/pose_utils/CMakeLists.txt b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/pose_utils/CMakeLists.txt similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/pose_utils/CMakeLists.txt rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/pose_utils/CMakeLists.txt diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/pose_utils/Makefile b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/pose_utils/Makefile similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/pose_utils/Makefile rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/pose_utils/Makefile diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/pose_utils/include/pose_utils.h b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/pose_utils/include/pose_utils.h similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/pose_utils/include/pose_utils.h rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/pose_utils/include/pose_utils.h diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/pose_utils/package.xml b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/pose_utils/package.xml similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/pose_utils/package.xml rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/pose_utils/package.xml diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/pose_utils/src/pose_utils.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/pose_utils/src/pose_utils.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/pose_utils/src/pose_utils.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/pose_utils/src/pose_utils.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/CMakeLists.txt b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/CMakeLists.txt similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/CMakeLists.txt rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/CMakeLists.txt diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/cmake/FindEigen3.cmake b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/cmake/FindEigen3.cmake similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/cmake/FindEigen3.cmake rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/cmake/FindEigen3.cmake diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/include/quadrotor_msgs/comm_types.h b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/include/quadrotor_msgs/comm_types.h similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/include/quadrotor_msgs/comm_types.h rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/include/quadrotor_msgs/comm_types.h diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/include/quadrotor_msgs/decode_msgs.h b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/include/quadrotor_msgs/decode_msgs.h similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/include/quadrotor_msgs/decode_msgs.h rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/include/quadrotor_msgs/decode_msgs.h diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/include/quadrotor_msgs/encode_msgs.h b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/include/quadrotor_msgs/encode_msgs.h similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/include/quadrotor_msgs/encode_msgs.h rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/include/quadrotor_msgs/encode_msgs.h diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/AuxCommand.msg b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/AuxCommand.msg similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/AuxCommand.msg rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/AuxCommand.msg diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/Corrections.msg b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/Corrections.msg similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/Corrections.msg rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/Corrections.msg diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/Gains.msg b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/Gains.msg similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/Gains.msg rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/Gains.msg diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/LQRTrajectory.msg b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/LQRTrajectory.msg similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/LQRTrajectory.msg rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/LQRTrajectory.msg diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/Odometry.msg b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/Odometry.msg similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/Odometry.msg rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/Odometry.msg diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/OutputData.msg b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/OutputData.msg similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/OutputData.msg rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/OutputData.msg diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/PPROutputData.msg b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/PPROutputData.msg similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/PPROutputData.msg rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/PPROutputData.msg diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/PolynomialTrajectory.msg b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/PolynomialTrajectory.msg similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/PolynomialTrajectory.msg rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/PolynomialTrajectory.msg diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/PositionCommand.msg b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/PositionCommand.msg similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/PositionCommand.msg rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/PositionCommand.msg diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/Px4ctrlDebug.msg b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/Px4ctrlDebug.msg similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/Px4ctrlDebug.msg rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/Px4ctrlDebug.msg diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/SO3Command.msg b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/SO3Command.msg similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/SO3Command.msg rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/SO3Command.msg diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/Serial.msg b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/Serial.msg similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/Serial.msg rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/Serial.msg diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/StatusData.msg b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/StatusData.msg similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/StatusData.msg rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/StatusData.msg diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/TRPYCommand.msg b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/TRPYCommand.msg similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/TRPYCommand.msg rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/msg/TRPYCommand.msg diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/package.xml b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/package.xml similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/package.xml rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/package.xml diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/decode_msgs.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/decode_msgs.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/decode_msgs.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/decode_msgs.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/encode_msgs.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/encode_msgs.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/encode_msgs.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/encode_msgs.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/__init__.py b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/__init__.py similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/__init__.py rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/__init__.py diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_AuxCommand.py b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_AuxCommand.py similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_AuxCommand.py rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_AuxCommand.py diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_Corrections.py b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_Corrections.py similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_Corrections.py rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_Corrections.py diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_Gains.py b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_Gains.py similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_Gains.py rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_Gains.py diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_OutputData.py b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_OutputData.py similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_OutputData.py rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_OutputData.py diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_PPROutputData.py b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_PPROutputData.py similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_PPROutputData.py rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_PPROutputData.py diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_PositionCommand.py b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_PositionCommand.py similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_PositionCommand.py rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_PositionCommand.py diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_SO3Command.py b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_SO3Command.py similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_SO3Command.py rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_SO3Command.py diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_Serial.py b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_Serial.py similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_Serial.py rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_Serial.py diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_StatusData.py b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_StatusData.py similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_StatusData.py rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_StatusData.py diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_TRPYCommand.py b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_TRPYCommand.py similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_TRPYCommand.py rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/_TRPYCommand.py diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/__init__.py b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/__init__.py similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/__init__.py rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/quadrotor_msgs/src/quadrotor_msgs/msg/__init__.py diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/CMakeLists.txt b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/CMakeLists.txt similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/CMakeLists.txt rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/CMakeLists.txt diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/Makefile b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/Makefile similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/Makefile rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/Makefile diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/config/rviz_config.rviz b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/config/rviz_config.rviz similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/config/rviz_config.rviz rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/config/rviz_config.rviz diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/package.xml b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/package.xml similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/package.xml rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/package.xml diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/plugin_description.xml b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/plugin_description.xml similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/plugin_description.xml rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/plugin_description.xml diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/aerialmap_display.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/aerialmap_display.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/aerialmap_display.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/aerialmap_display.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/aerialmap_display.h b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/aerialmap_display.h similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/aerialmap_display.h rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/aerialmap_display.h diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/goal_tool.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/goal_tool.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/goal_tool.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/goal_tool.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/goal_tool.h b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/goal_tool.h similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/goal_tool.h rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/goal_tool.h diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/multi_probmap_display.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/multi_probmap_display.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/multi_probmap_display.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/multi_probmap_display.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/multi_probmap_display.h b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/multi_probmap_display.h similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/multi_probmap_display.h rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/multi_probmap_display.h diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/pose_tool.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/pose_tool.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/pose_tool.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/pose_tool.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/pose_tool.h b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/pose_tool.h similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/pose_tool.h rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/pose_tool.h diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/probmap_display.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/probmap_display.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/probmap_display.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/probmap_display.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/probmap_display.h b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/probmap_display.h similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/probmap_display.h rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/rviz_plugins/src/probmap_display.h diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/uav_utils/CMakeLists.txt b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/uav_utils/CMakeLists.txt similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/uav_utils/CMakeLists.txt rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/uav_utils/CMakeLists.txt diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/uav_utils/include/uav_utils/converters.h b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/uav_utils/include/uav_utils/converters.h similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/uav_utils/include/uav_utils/converters.h rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/uav_utils/include/uav_utils/converters.h diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/uav_utils/include/uav_utils/geometry_utils.h b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/uav_utils/include/uav_utils/geometry_utils.h similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/uav_utils/include/uav_utils/geometry_utils.h rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/uav_utils/include/uav_utils/geometry_utils.h diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/uav_utils/include/uav_utils/utils.h b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/uav_utils/include/uav_utils/utils.h similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/uav_utils/include/uav_utils/utils.h rename to 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Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/uav_utils/scripts/tf_assist.py diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/uav_utils/scripts/topic_statistics.py b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/uav_utils/scripts/topic_statistics.py similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/uav_utils/scripts/topic_statistics.py rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/uav_utils/scripts/topic_statistics.py diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/uav_utils/src/uav_utils_test.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/uav_utils/src/uav_utils_test.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/uav_utils/src/uav_utils_test.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/uav_utils/src/uav_utils_test.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/waypoint_generator/CMakeLists.txt b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/waypoint_generator/CMakeLists.txt similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/waypoint_generator/CMakeLists.txt rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/waypoint_generator/CMakeLists.txt diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/waypoint_generator/package.xml b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/waypoint_generator/package.xml similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/waypoint_generator/package.xml rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/waypoint_generator/package.xml diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/waypoint_generator/src/sample_waypoints.h b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/waypoint_generator/src/sample_waypoints.h similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/waypoint_generator/src/sample_waypoints.h rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/waypoint_generator/src/sample_waypoints.h diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/waypoint_generator/src/waypoint_generator.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/waypoint_generator/src/waypoint_generator.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/Utils/waypoint_generator/src/waypoint_generator.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/Utils/waypoint_generator/src/waypoint_generator.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/my_visualization/CMakeLists.txt b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/my_visualization/CMakeLists.txt similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/my_visualization/CMakeLists.txt rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/my_visualization/CMakeLists.txt diff --git a/Modules/simulator_utils/include/plan_visual.h b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/my_visualization/include/my_visualization/plan_visual.h similarity index 100% rename from Modules/simulator_utils/include/plan_visual.h rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/my_visualization/include/my_visualization/plan_visual.h diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/my_visualization/package.xml b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/my_visualization/package.xml similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/my_visualization/package.xml rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/my_visualization/package.xml diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/my_visualization/src/min_snap_visual.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/my_visualization/src/min_snap_visual.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/my_visualization/src/min_snap_visual.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/my_visualization/src/min_snap_visual.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/my_visualization/src/obvp_visual.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/my_visualization/src/obvp_visual.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/my_visualization/src/obvp_visual.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/my_visualization/src/obvp_visual.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/my_visualization/src/plan_visual.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/my_visualization/src/plan_visual.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/my_visualization/src/plan_visual.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/my_visualization/src/plan_visual.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_control/CMakeLists.txt b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_control/CMakeLists.txt similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_control/CMakeLists.txt rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_control/CMakeLists.txt diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_control/config/corrections_hummingbird.yaml b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_control/config/corrections_hummingbird.yaml similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_control/config/corrections_hummingbird.yaml rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_control/config/corrections_hummingbird.yaml diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_control/config/corrections_pelican.yaml b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_control/config/corrections_pelican.yaml similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_control/config/corrections_pelican.yaml rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_control/config/corrections_pelican.yaml diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_control/config/gains.yaml b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_control/config/gains.yaml similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_control/config/gains.yaml rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_control/config/gains.yaml diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_control/config/gains_hummingbird.yaml b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_control/config/gains_hummingbird.yaml similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_control/config/gains_hummingbird.yaml rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_control/config/gains_hummingbird.yaml diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_control/config/gains_pelican.yaml b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_control/config/gains_pelican.yaml similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_control/config/gains_pelican.yaml rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_control/config/gains_pelican.yaml diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_control/include/so3_control/SO3Control.h b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_control/include/so3_control/SO3Control.h similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_control/include/so3_control/SO3Control.h rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_control/include/so3_control/SO3Control.h diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_control/mainpage.dox b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_control/mainpage.dox similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_control/mainpage.dox rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_control/mainpage.dox diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_control/nodelet_plugin.xml b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_control/nodelet_plugin.xml similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_control/nodelet_plugin.xml rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_control/nodelet_plugin.xml diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_control/package.xml b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_control/package.xml similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_control/package.xml rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_control/package.xml diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_control/src/SO3Control.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_control/src/SO3Control.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_control/src/SO3Control.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_control/src/SO3Control.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_control/src/control_example.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_control/src/control_example.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_control/src/control_example.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_control/src/control_example.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_control/src/so3_control_nodelet.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_control/src/so3_control_nodelet.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_control/src/so3_control_nodelet.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_control/src/so3_control_nodelet.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/CMakeLists.txt b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/CMakeLists.txt similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/CMakeLists.txt rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/CMakeLists.txt diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/config/rviz.rviz b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/config/rviz.rviz similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/config/rviz.rviz rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/config/rviz.rviz diff --git a/Modules/simulator_utils/include/ode/CHANGELOG b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/CHANGELOG similarity index 100% rename from Modules/simulator_utils/include/ode/CHANGELOG rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/CHANGELOG diff --git a/Modules/simulator_utils/include/ode/Jamroot b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/Jamroot similarity index 100% rename from Modules/simulator_utils/include/ode/Jamroot rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/Jamroot diff --git a/Modules/simulator_utils/include/ode/README b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/README similarity index 100% rename from Modules/simulator_utils/include/ode/README rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/README diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/algebra/array_algebra.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/array_algebra.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/algebra/array_algebra.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/array_algebra.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/algebra/default_operations.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/default_operations.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/algebra/default_operations.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/default_operations.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/algebra/detail/for_each.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/for_each.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/algebra/detail/for_each.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/for_each.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/algebra/detail/macros.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/macros.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/algebra/detail/macros.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/macros.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/algebra/detail/reduce.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/reduce.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/algebra/detail/reduce.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/reduce.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/algebra/fusion_algebra.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/fusion_algebra.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/algebra/fusion_algebra.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/fusion_algebra.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/algebra/range_algebra.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/range_algebra.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/algebra/range_algebra.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/range_algebra.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/algebra/vector_space_algebra.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/vector_space_algebra.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/algebra/vector_space_algebra.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/vector_space_algebra.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/config.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/config.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/config.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/config.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/external/gsl/gsl_wrapper.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/gsl/gsl_wrapper.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/external/gsl/gsl_wrapper.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/gsl/gsl_wrapper.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/external/mkl/mkl_operations.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mkl/mkl_operations.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/external/mkl/mkl_operations.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mkl/mkl_operations.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/external/mtl4/implicit_euler_mtl4.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mtl4/implicit_euler_mtl4.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/external/mtl4/implicit_euler_mtl4.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mtl4/implicit_euler_mtl4.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/external/mtl4/mtl4_resize.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mtl4/mtl4_resize.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/external/mtl4/mtl4_resize.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/mtl4/mtl4_resize.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/external/thrust/thrust_algebra.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_algebra.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/external/thrust/thrust_algebra.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_algebra.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/external/thrust/thrust_operations.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_operations.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/external/thrust/thrust_operations.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_operations.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/external/thrust/thrust_resize.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_resize.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/external/thrust/thrust_resize.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/thrust/thrust_resize.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/external/vexcl/vexcl_resize.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/vexcl/vexcl_resize.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/external/vexcl/vexcl_resize.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/vexcl/vexcl_resize.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/external/viennacl/viennacl_operations.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/viennacl/viennacl_operations.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/external/viennacl/viennacl_operations.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/viennacl/viennacl_operations.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/external/viennacl/viennacl_resize.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/viennacl/viennacl_resize.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/external/viennacl/viennacl_resize.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/viennacl/viennacl_resize.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/integrate/detail/integrate_adaptive.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_adaptive.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/integrate/detail/integrate_adaptive.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_adaptive.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/integrate/detail/integrate_const.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_const.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/integrate/detail/integrate_const.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_const.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/integrate/detail/integrate_n_steps.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_n_steps.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/integrate/detail/integrate_n_steps.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_n_steps.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/integrate/detail/integrate_times.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_times.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/integrate/detail/integrate_times.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_times.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/integrate/integrate.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/integrate/integrate.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/integrate/integrate_adaptive.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate_adaptive.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/integrate/integrate_adaptive.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate_adaptive.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/integrate/integrate_const.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate_const.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/integrate/integrate_const.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate_const.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/integrate/integrate_n_steps.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate_n_steps.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/integrate/integrate_n_steps.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate_n_steps.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/integrate/integrate_times.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate_times.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/integrate/integrate_times.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/integrate_times.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/integrate/null_observer.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/null_observer.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/integrate/null_observer.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/null_observer.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/integrate/observer_collection.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/observer_collection.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/integrate/observer_collection.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/observer_collection.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/adams_bashforth.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/adams_bashforth.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/adams_bashforth.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/adams_bashforth.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/adams_bashforth_moulton.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/adams_bashforth_moulton.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/adams_bashforth_moulton.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/adams_bashforth_moulton.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/adams_moulton.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/adams_moulton.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/adams_moulton.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/adams_moulton.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/base/algebra_stepper_base.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/algebra_stepper_base.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/base/algebra_stepper_base.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/algebra_stepper_base.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/base/explicit_error_stepper_base.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/explicit_error_stepper_base.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/base/explicit_error_stepper_base.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/explicit_error_stepper_base.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/base/explicit_error_stepper_fsal_base.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/explicit_error_stepper_fsal_base.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/base/explicit_error_stepper_fsal_base.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/explicit_error_stepper_fsal_base.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/base/explicit_stepper_base.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/explicit_stepper_base.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/base/explicit_stepper_base.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/explicit_stepper_base.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/base/symplectic_rkn_stepper_base.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/symplectic_rkn_stepper_base.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/base/symplectic_rkn_stepper_base.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/symplectic_rkn_stepper_base.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/bulirsch_stoer.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/bulirsch_stoer.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/bulirsch_stoer.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/bulirsch_stoer.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/bulirsch_stoer_dense_out.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/bulirsch_stoer_dense_out.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/bulirsch_stoer_dense_out.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/bulirsch_stoer_dense_out.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/controlled_runge_kutta.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/controlled_runge_kutta.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/controlled_runge_kutta.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/controlled_runge_kutta.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/controlled_step_result.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/controlled_step_result.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/controlled_step_result.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/controlled_step_result.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/dense_output_runge_kutta.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/dense_output_runge_kutta.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/dense_output_runge_kutta.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/dense_output_runge_kutta.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/detail/adams_bashforth_call_algebra.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_bashforth_call_algebra.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/detail/adams_bashforth_call_algebra.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_bashforth_call_algebra.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/detail/adams_bashforth_coefficients.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_bashforth_coefficients.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/detail/adams_bashforth_coefficients.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_bashforth_coefficients.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/detail/adams_moulton_call_algebra.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_moulton_call_algebra.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/detail/adams_moulton_call_algebra.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_moulton_call_algebra.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/detail/adams_moulton_coefficients.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_moulton_coefficients.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/detail/adams_moulton_coefficients.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/adams_moulton_coefficients.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_algorithm.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_algorithm.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_algorithm.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_algorithm.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_call_algebra.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_call_algebra.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_call_algebra.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_call_algebra.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_operations.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_operations.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_operations.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/generic_rk_operations.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/detail/rotating_buffer.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/rotating_buffer.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/detail/rotating_buffer.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/detail/rotating_buffer.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/euler.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/euler.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/euler.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/euler.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/explicit_error_generic_rk.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/explicit_error_generic_rk.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/explicit_error_generic_rk.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/explicit_error_generic_rk.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/explicit_generic_rk.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/explicit_generic_rk.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/explicit_generic_rk.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/explicit_generic_rk.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/generation_controlled_runge_kutta.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_controlled_runge_kutta.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/generation_controlled_runge_kutta.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_controlled_runge_kutta.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/generation_dense_output_runge_kutta.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_dense_output_runge_kutta.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/generation_dense_output_runge_kutta.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_dense_output_runge_kutta.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/generation_rosenbrock4.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_rosenbrock4.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/generation_rosenbrock4.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_rosenbrock4.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54_classic.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54_classic.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54_classic.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_cash_karp54_classic.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_dopri5.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_dopri5.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_dopri5.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_dopri5.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_fehlberg78.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_fehlberg78.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_fehlberg78.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/generation_runge_kutta_fehlberg78.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/make_controlled.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/make_controlled.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/make_controlled.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/make_controlled.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/make_dense_output.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/make_dense_output.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/generation/make_dense_output.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/generation/make_dense_output.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/implicit_euler.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/implicit_euler.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/implicit_euler.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/implicit_euler.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/modified_midpoint.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/modified_midpoint.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/modified_midpoint.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/modified_midpoint.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/rosenbrock4.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/rosenbrock4.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/rosenbrock4.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/rosenbrock4.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/rosenbrock4_controller.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/rosenbrock4_controller.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/rosenbrock4_controller.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/rosenbrock4_controller.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/rosenbrock4_dense_output.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/rosenbrock4_dense_output.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/rosenbrock4_dense_output.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/rosenbrock4_dense_output.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/runge_kutta4.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta4.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/runge_kutta4.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta4.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/runge_kutta4_classic.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta4_classic.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/runge_kutta4_classic.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta4_classic.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/runge_kutta_cash_karp54.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_cash_karp54.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/runge_kutta_cash_karp54.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_cash_karp54.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/runge_kutta_cash_karp54_classic.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_cash_karp54_classic.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/runge_kutta_cash_karp54_classic.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_cash_karp54_classic.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/runge_kutta_dopri5.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_dopri5.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/runge_kutta_dopri5.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_dopri5.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/runge_kutta_fehlberg78.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_fehlberg78.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/runge_kutta_fehlberg78.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/runge_kutta_fehlberg78.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/stepper_categories.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/stepper_categories.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/stepper_categories.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/stepper_categories.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/symplectic_euler.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/symplectic_euler.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/symplectic_euler.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/symplectic_euler.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/symplectic_rkn_sb3a_m4_mclachlan.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/symplectic_rkn_sb3a_m4_mclachlan.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/symplectic_rkn_sb3a_m4_mclachlan.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/symplectic_rkn_sb3a_m4_mclachlan.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/symplectic_rkn_sb3a_mclachlan.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/symplectic_rkn_sb3a_mclachlan.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/stepper/symplectic_rkn_sb3a_mclachlan.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/symplectic_rkn_sb3a_mclachlan.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/util/bind.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/bind.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/util/bind.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/bind.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/util/copy.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/copy.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/util/copy.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/copy.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/util/detail/is_range.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/detail/is_range.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/util/detail/is_range.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/detail/is_range.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/util/detail/less_with_sign.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/detail/less_with_sign.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/util/detail/less_with_sign.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/detail/less_with_sign.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/util/is_pair.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/is_pair.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/util/is_pair.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/is_pair.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/util/is_resizeable.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/is_resizeable.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/util/is_resizeable.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/is_resizeable.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/util/resize.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/resize.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/util/resize.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/resize.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/util/resizer.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/resizer.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/util/resizer.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/resizer.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/util/same_instance.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/same_instance.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/util/same_instance.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/same_instance.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/util/same_size.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/same_size.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/util/same_size.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/same_size.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/util/state_wrapper.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/state_wrapper.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/util/state_wrapper.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/state_wrapper.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/util/ublas_wrapper.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/ublas_wrapper.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/util/ublas_wrapper.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/ublas_wrapper.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/util/unit_helper.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/unit_helper.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/util/unit_helper.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/unit_helper.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/util/unwrap_reference.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/unwrap_reference.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/util/unwrap_reference.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/unwrap_reference.hpp diff --git a/Modules/simulator_utils/include/ode/boost/numeric/odeint/version.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/version.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/boost/numeric/odeint/version.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/version.hpp diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/doc/Jamfile.v2 b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/Jamfile.v2 similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/doc/Jamfile.v2 rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/Jamfile.v2 diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/doc/acknowledgements.qbk b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/acknowledgements.qbk similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/doc/acknowledgements.qbk rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/acknowledgements.qbk diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/doc/concepts.qbk b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts.qbk similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/doc/concepts.qbk rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts.qbk diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/doc/concepts/controlled_stepper.qbk b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/controlled_stepper.qbk similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/doc/concepts/controlled_stepper.qbk rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/controlled_stepper.qbk diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/doc/concepts/dense_output_stepper.qbk b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/dense_output_stepper.qbk similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/doc/concepts/dense_output_stepper.qbk rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/dense_output_stepper.qbk diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/doc/concepts/error_stepper.qbk b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/error_stepper.qbk similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/doc/concepts/error_stepper.qbk rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/error_stepper.qbk diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/doc/concepts/implicit_system.qbk b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/implicit_system.qbk similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/doc/concepts/implicit_system.qbk rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/implicit_system.qbk diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/doc/concepts/state_algebra_operations.qbk b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/state_algebra_operations.qbk similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/doc/concepts/state_algebra_operations.qbk rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/state_algebra_operations.qbk diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/doc/concepts/state_wrapper.qbk b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/doc/concepts/state_wrapper.qbk similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/doc/concepts/state_wrapper.qbk rename to 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b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/implicit_euler.cpp similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test/implicit_euler.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/implicit_euler.cpp diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test/integrate.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/integrate.cpp similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test/integrate.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/integrate.cpp diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test/integrate_implicit.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/integrate_implicit.cpp similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test/integrate_implicit.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/integrate_implicit.cpp diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test/integrate_times.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/integrate_times.cpp similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test/integrate_times.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/integrate_times.cpp diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test/is_pair.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/is_pair.cpp similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test/is_pair.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/is_pair.cpp diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test/is_resizeable.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/is_resizeable.cpp similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test/is_resizeable.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/is_resizeable.cpp diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test/numeric/Jamfile.v2 b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/Jamfile.v2 similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test/numeric/Jamfile.v2 rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/Jamfile.v2 diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test/numeric/rosenbrock.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/rosenbrock.cpp similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test/numeric/rosenbrock.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/rosenbrock.cpp diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test/numeric/runge_kutta.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/runge_kutta.cpp similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test/numeric/runge_kutta.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/runge_kutta.cpp diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test/numeric/symplectic.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/symplectic.cpp similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test/numeric/symplectic.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/numeric/symplectic.cpp diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test/prepare_stepper_testing.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/prepare_stepper_testing.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test/prepare_stepper_testing.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/prepare_stepper_testing.hpp diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test/range_algebra.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/range_algebra.cpp similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test/range_algebra.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/range_algebra.cpp diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test/resize.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/resize.cpp similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test/resize.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/resize.cpp diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test/resizing.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/resizing.cpp similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test/resizing.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/resizing.cpp diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test/rosenbrock4.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/rosenbrock4.cpp similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test/rosenbrock4.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/rosenbrock4.cpp diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test/runge_kutta_concepts.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/runge_kutta_concepts.cpp similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test/runge_kutta_concepts.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/runge_kutta_concepts.cpp diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test/runge_kutta_controlled_concepts.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/runge_kutta_controlled_concepts.cpp similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test/runge_kutta_controlled_concepts.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/runge_kutta_controlled_concepts.cpp diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test/runge_kutta_error_concepts.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/runge_kutta_error_concepts.cpp similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test/runge_kutta_error_concepts.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/runge_kutta_error_concepts.cpp diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test/same_size.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/same_size.cpp similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test/same_size.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/same_size.cpp diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test/stepper_copying.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/stepper_copying.cpp similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test/stepper_copying.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/stepper_copying.cpp diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test/stepper_with_ranges.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/stepper_with_ranges.cpp similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test/stepper_with_ranges.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/stepper_with_ranges.cpp diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test/stepper_with_units.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/stepper_with_units.cpp similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test/stepper_with_units.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/stepper_with_units.cpp diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test/symplectic_steppers.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/symplectic_steppers.cpp similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test/symplectic_steppers.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/symplectic_steppers.cpp diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test/trivial_state.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/trivial_state.cpp similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test/trivial_state.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/trivial_state.cpp diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test/vector_space_1d.hpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/vector_space_1d.hpp similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test/vector_space_1d.hpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/vector_space_1d.hpp diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test_external/gmp/Jamfile.v2 b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gmp/Jamfile.v2 similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test_external/gmp/Jamfile.v2 rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gmp/Jamfile.v2 diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test_external/gmp/check_gmp.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gmp/check_gmp.cpp similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test_external/gmp/check_gmp.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gmp/check_gmp.cpp diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test_external/gmp/gmp_integrate.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gmp/gmp_integrate.cpp similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test_external/gmp/gmp_integrate.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gmp/gmp_integrate.cpp diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test_external/gsl/Jamfile.v2 b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gsl/Jamfile.v2 similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test_external/gsl/Jamfile.v2 rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gsl/Jamfile.v2 diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test_external/gsl/check_gsl.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gsl/check_gsl.cpp similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test_external/gsl/check_gsl.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gsl/check_gsl.cpp diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test_external/mkl/Jamfile.v2 b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mkl/Jamfile.v2 similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test_external/mkl/Jamfile.v2 rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mkl/Jamfile.v2 diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test_external/mkl/check_mkl.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mkl/check_mkl.cpp similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test_external/mkl/check_mkl.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mkl/check_mkl.cpp diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test_external/mtl4/Jamfile.v2 b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mtl4/Jamfile.v2 similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test_external/mtl4/Jamfile.v2 rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mtl4/Jamfile.v2 diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test_external/mtl4/mtl4_resize.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mtl4/mtl4_resize.cpp similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test_external/mtl4/mtl4_resize.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/mtl4/mtl4_resize.cpp diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test_external/thrust/Makefile b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/thrust/Makefile similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test_external/thrust/Makefile rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/thrust/Makefile diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test_external/thrust/check_thrust.cu b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/thrust/check_thrust.cu similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test_external/thrust/check_thrust.cu rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/thrust/check_thrust.cu diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test_external/vexcl/Jamfile.v2 b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/vexcl/Jamfile.v2 similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test_external/vexcl/Jamfile.v2 rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/vexcl/Jamfile.v2 diff --git a/Modules/simulator_utils/include/ode/libs/numeric/odeint/test_external/vexcl/lorenz.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/vexcl/lorenz.cpp similarity index 100% rename from Modules/simulator_utils/include/ode/libs/numeric/odeint/test_external/vexcl/lorenz.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/vexcl/lorenz.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/quadrotor_simulator/Quadrotor.h b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/quadrotor_simulator/Quadrotor.h similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/quadrotor_simulator/Quadrotor.h rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/include/quadrotor_simulator/Quadrotor.h diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/launch/simulator_example.launch b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/launch/simulator_example.launch similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/launch/simulator_example.launch rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/launch/simulator_example.launch diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/package.xml b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/package.xml similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/package.xml rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/package.xml diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/src/dynamics/Quadrotor.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/src/dynamics/Quadrotor.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/src/dynamics/Quadrotor.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/src/dynamics/Quadrotor.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/src/quadrotor_simulator_so3.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/src/quadrotor_simulator_so3.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/src/quadrotor_simulator_so3.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/src/quadrotor_simulator_so3.cpp diff --git a/Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/src/test_dynamics/test_dynamics.cpp b/Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/src/test_dynamics/test_dynamics.cpp similarity index 100% rename from Modules/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/src/test_dynamics/test_dynamics.cpp rename to Modules/planning/motion_planning/min_snap_trajectory/uav_simulator/so3_quadrotor_simulator/src/test_dynamics/test_dynamics.cpp diff --git a/Modules/searching_pkg b/Modules/swarm/searching_pkg similarity index 100% rename from Modules/searching_pkg rename to Modules/swarm/searching_pkg diff --git a/Modules/swarm_control b/Modules/swarm/swarm_control similarity index 100% rename from Modules/swarm_control rename to Modules/swarm/swarm_control diff --git a/Modules/swarm_formation b/Modules/swarm/swarm_formation similarity index 100% rename from Modules/swarm_formation rename to Modules/swarm/swarm_formation diff --git a/README.md b/README.md index c012b8160e..6c7dfeeda2 100644 --- a/README.md +++ b/README.md @@ -14,6 +14,39 @@ Prometheus是一套开源的**自主无人机软件系统平台**，为无人机 - Gitee：https://gitee.com/amovlab/Prometheus - **开源项目，维护不易，还烦请点一个star收藏，谢谢支持！** +## 项目结构 + +``` +Modules/ +├── core/ # 核心消息定义与工具 +├── control/ # 无人机/地面车辆控制 +├── planning/ # 路径规划 (全局/局部/集群避障) +├── perception/ # 感知与定位 (FAST_LIO等) +├── communication/ # 地面站通信桥接 +├── swarm/ # 集群控制与编队 +├── demo/ # 教程与实验示例 +└── integration/ # 外部集成 (MATLAB等) +``` + +详细架构说明请参阅 [ARCHITECTURE.md](ARCHITECTURE.md)。 + +## 快速构建 + +```bash +# 克隆仓库（含子模块） +git clone --recursive https://github.com/amov-lab/Prometheus.git +cd Prometheus + +# 使用 Makefile 构建 +make all # 构建全部模块 +make control # 仅构建控制模块 +make planning # 仅构建规划模块 +make help # 查看所有构建目标 + +# 或使用传统脚本 +bash scripts/build/compile_all.sh +``` + ## 快速入门 - 安装及使用：[Prometheus使用手册](https://docs.amovlab.com/prometheus-wiki/#/src/Prometheus-%E8%87%AA%E4%B8%BB%E6%97%A0%E4%BA%BA%E6%9C%BA%E5%BC%80%E6%BA%90%E9%A1%B9%E7%9B%AE/Prometheus-%E8%87%AA%E4%B8%BB%E6%97%A0%E4%BA%BA%E6%9C%BA%E5%BC%80%E6%BA%90%E9%A1%B9%E7%9B%AE) @@ -24,7 +57,7 @@ Prometheus是一套开源的**自主无人机软件系统平台**，为无人机 - 答疑及交流： - 答疑论坛（官方定期答疑，推荐）：[阿木社区-Prometheus问答专区](https://bbs.amovlab.com/forum.php?mod=forumdisplay&fid=101) - 添加微信jiayue199506（备注消息：Prometheus）进入Prometheus自主无人机交流群。 - - B站搜索并关注“阿木社区”，开发团队定期直播答疑。 + - B站搜索并关注"阿木社区"，开发团队定期直播答疑。。 ## 进阶学习 @@ -61,4 +94,4 @@ Prometheus是一套开源的**自主无人机软件系统平台**，为无人机 - 本项目受 Apache License 2.0 协议保护。点击 [LICENSE](https://wiki.amovlab.com/public/prometheus-wiki/Prometheus-%E8%87%AA%E4%B8%BB%E6%97%A0%E4%BA%BA%E6%9C%BA%E5%BC%80%E6%BA%90%E9%A1%B9%E7%9B%AE/%E5%BC%80%E6%BA%90License%E5%8F%8A%E7%89%88%E6%9D%83%E5%A3%B0%E6%98%8E.html)了解更多 - 本项目仅限个人使用，请勿用于商业用途。 - - 如利用本项目进行营利活动，阿木实验室将追究侵权行为。 \ No newline at end of file + - 如利用本项目进行营利活动，阿木实验室将追究侵权行为。 diff --git a/compile_aircraft_sitle.sh b/compile_aircraft_sitle.sh deleted file mode 100755 index fab3638815..0000000000 --- a/compile_aircraft_sitle.sh +++ /dev/null @@ -1,13 +0,0 @@ -#!/bin/bash -# 编译基础模块 -catkin_make --source Modules/common --build build/common -# 编译Gazebo仿真模块 -catkin_make --source Simulator/gazebo_simulator --build build/prometheus_gazebo -# 编译控制模块 -catkin_make --source Modules/uav_control --build build/uav_control -# 编译demo模块 -catkin_make --source Modules/simulator_utils --build build/simulator_utils -# 编译目标检测模块 -catkin_make --source Modules/object_detection --build build/object_detection -# aircraft_sitle -catkin_make --source Modules/future_aircraft --build build/future_aircraft diff --git a/compile_airsim.sh b/compile_airsim.sh deleted file mode 100755 index b3654831ed..0000000000 --- a/compile_airsim.sh +++ /dev/null @@ -1,24 +0,0 @@ -#!/bin/bash -# 脚本名称: compile_airsim.sh -# 脚本描述: 编译Prometheus airsim模块 - -# 编译基础模块 -catkin_make --source Modules/common --build build/common -# 编译控制模块 -catkin_make --source Modules/uav_control --build build/uav_control -# 编译通信模块 -catkin_make --source Modules/communication --build build/communication -# 编译AirSim仿真模块 -catkin_make --source Simulator/airsim_simulator --build build/prometheus_airsim -catkin_make --source Simulator/airsim_simulator/airsim_ros/ros --build build/prometheus_airsim_ros - -# 编译demo模块 -catkin_make --source Modules/tutorial_demo --build build/tutorial_demo - -# 编译规划相关模块 -catkin_make --source Modules/simulator_utils --build build/simulator_utils -catkin_make --source Modules/ego_planner_swarm --build build/ego_planner_swarm -catkin_make --source Modules/motion_planning --build build/motion_planning - -# 编译Fast-lio模块 -catkin_make --source Modules/FAST_LIO --build build/FAST_LIO \ No newline at end of file diff --git a/compile_matlab.sh b/compile_matlab.sh deleted file mode 100755 index f52a33028f..0000000000 --- a/compile_matlab.sh +++ /dev/null @@ -1,14 +0,0 @@ -#!/bin/bash -# 脚本名称: compile_control.sh -# 脚本描述: 编译Prometheus控制模块 - -# 编译基础模块 -catkin_make --source Modules/common --build build/common -# 编译Gazebo仿真模块 -catkin_make --source Simulator/gazebo_simulator --build build/prometheus_gazebo -# 编译控制模块 -catkin_make --source Modules/uav_control --build build/uav_control -# 编译demo模块 -catkin_make --source Modules/tutorial_demo --build build/tutorial_demo -#编译matlab模块 -catkin_make --source Modules/matlab_bridge --build build/prometheus_matlab diff --git a/compile_swarm.sh b/compile_swarm.sh deleted file mode 100755 index 77a7d35d4f..0000000000 --- a/compile_swarm.sh +++ /dev/null @@ -1,23 +0,0 @@ -#!/bin/bash -# 脚本名称: compile_swarm.sh -# 脚本描述: 编译Prometheus swarm_control 模块 - -# 编译基础模块 -catkin_make --source Modules/common --build build/common -# 编译通信模块 -catkin_make --source Modules/communication --build build/communication -# 编译Gazebo仿真模块 -catkin_make --source Simulator/gazebo_simulator --build build/prometheus_gazebo -# 编译控制模块 -catkin_make --source Modules/uav_control --build build/uav_control - -# 编译小车控制模块 -catkin_make --source Modules/ugv_control --build build/ugv_control -# 编译swarm_control模块 -catkin_make --source Modules/swarm_control --build build/swarm_control - -# 编译swarm_formation模块 -catkin_make --source Modules/swarm_formation --build build/swarm_formation - -catkin_make --source Modules/searching_pkg --build build/searching_pkg - diff --git a/scripts/build/compile_aircraft_sitle.sh b/scripts/build/compile_aircraft_sitle.sh new file mode 100755 index 0000000000..0972914c99 --- /dev/null +++ b/scripts/build/compile_aircraft_sitle.sh @@ -0,0 +1,13 @@ +#!/bin/bash +# 编译基础模块 +catkin_make --source Modules/core/common --build build/common +# 编译Gazebo仿真模块 +catkin_make --source Simulator/gazebo_simulator --build build/prometheus_gazebo +# 编译控制模块 +catkin_make --source Modules/control/uav_control --build build/uav_control +# 编译demo模块 +catkin_make --source Modules/perception/simulator_utils --build build/simulator_utils +# 编译目标检测模块 (object_detection 目录不在仓库中，按需取消注释) +# catkin_make --source Modules/perception/object_detection --build build/object_detection +# aircraft_sitle +catkin_make --source Modules/demo/future_aircraft --build build/future_aircraft diff --git a/scripts/build/compile_airsim.sh b/scripts/build/compile_airsim.sh new file mode 100755 index 0000000000..ba87e2331b --- /dev/null +++ b/scripts/build/compile_airsim.sh @@ -0,0 +1,24 @@ +#!/bin/bash +# 脚本名称: compile_airsim.sh +# 脚本描述: 编译Prometheus airsim模块 + +# 编译基础模块 +catkin_make --source Modules/core/common --build build/common +# 编译控制模块 +catkin_make --source Modules/control/uav_control --build build/uav_control +# 编译通信模块 +catkin_make --source Modules/communication --build build/communication +# 编译AirSim仿真模块 +catkin_make --source Simulator/airsim_simulator --build build/prometheus_airsim +catkin_make --source Simulator/airsim_simulator/airsim_ros/ros --build build/prometheus_airsim_ros + +# 编译demo模块 +catkin_make --source Modules/demo/tutorial_demo --build build/tutorial_demo + +# 编译规划相关模块 +catkin_make --source Modules/perception/simulator_utils --build build/simulator_utils +catkin_make --source Modules/planning/ego_planner_swarm --build build/ego_planner_swarm +catkin_make --source Modules/planning/motion_planning --build build/motion_planning + +# 编译Fast-lio模块 +catkin_make --source Modules/perception/FAST_LIO --build build/FAST_LIO \ No newline at end of file diff --git a/compile_all.sh b/scripts/build/compile_all.sh similarity index 66% rename from compile_all.sh rename to scripts/build/compile_all.sh index 1f0109d269..15c4cafe71 100755 --- a/compile_all.sh +++ b/scripts/build/compile_all.sh @@ -11,7 +11,7 @@ # 脚本描述: 编译Prometheus所有开源模块 # 编译基础模块 -catkin_make --source Modules/common --build build/common +catkin_make --source Modules/core/common --build build/common # 编译通信模块 catkin_make --source Modules/communication --build build/communication @@ -23,12 +23,12 @@ catkin_make --source Simulator/velodyne_gazebo_plugins --build build/velodyne_ga catkin_make --source Simulator/livox_laser_gazebo_plugins --build build/livox_laser_gazebo_plugins # 编译控制模块 -catkin_make --source Modules/uav_control --build build/uav_control +catkin_make --source Modules/control/uav_control --build build/uav_control # 编译demo模块 -catkin_make --source Modules/tutorial_demo --build build/tutorial_demo +catkin_make --source Modules/demo/tutorial_demo --build build/tutorial_demo # 编译规划相关模块 -catkin_make --source Modules/simulator_utils --build build/simulator_utils -catkin_make --source Modules/ego_planner_swarm --build build/ego_planner_swarm -catkin_make --source Modules/motion_planning --build build/motion_planning +catkin_make --source Modules/perception/simulator_utils --build build/simulator_utils +catkin_make --source Modules/planning/ego_planner_swarm --build build/ego_planner_swarm +catkin_make --source Modules/planning/motion_planning --build build/motion_planning # 编译Fast-lio模块 -catkin_make --source Modules/FAST_LIO --build build/FAST_LIO +catkin_make --source Modules/perception/FAST_LIO --build build/FAST_LIO diff --git a/compile_communication.sh b/scripts/build/compile_communication.sh similarity index 77% rename from compile_communication.sh rename to scripts/build/compile_communication.sh index 67285e4644..7a6969a935 100755 --- a/compile_communication.sh +++ b/scripts/build/compile_communication.sh @@ -3,6 +3,6 @@ # 脚本描述: 编译Prometheus通信模块 # 编译基础模块 -catkin_make --source Modules/common --build build/common +catkin_make --source Modules/core/common --build build/common # 编译通信模块 catkin_make --source Modules/communication --build build/communication diff --git a/compile_control.sh b/scripts/build/compile_control.sh similarity index 71% rename from compile_control.sh rename to scripts/build/compile_control.sh index 5560cb578c..5a26f28964 100755 --- a/compile_control.sh +++ b/scripts/build/compile_control.sh @@ -3,13 +3,13 @@ # 脚本描述: 编译Prometheus控制模块 # 编译基础模块 -catkin_make --source Modules/common --build build/common +catkin_make --source Modules/core/common --build build/common # 编译Gazebo仿真模块 catkin_make --source Simulator/gazebo_simulator --build build/prometheus_gazebo catkin_make --source Simulator/realsense_gazebo_plugin --build build/realsense_gazebo_plugin catkin_make --source Simulator/velodyne_gazebo_plugins --build build/velodyne_gazebo_plugins catkin_make --source Simulator/livox_laser_gazebo_plugins --build build/livox_laser_gazebo_plugins # 编译控制模块 -catkin_make --source Modules/uav_control --build build/uav_control +catkin_make --source Modules/control/uav_control --build build/uav_control # 编译demo模块 -catkin_make --source Modules/tutorial_demo --build build/tutorial_demo +catkin_make --source Modules/demo/tutorial_demo --build build/tutorial_demo diff --git a/compile_fmt.sh b/scripts/build/compile_fmt.sh similarity index 52% rename from compile_fmt.sh rename to scripts/build/compile_fmt.sh index d994235e14..930fa6e02d 100755 --- a/compile_fmt.sh +++ b/scripts/build/compile_fmt.sh @@ -1,8 +1,8 @@ #!/bin/bash # 编译基础模块 -catkin_make --source Modules/common --build build/common +catkin_make --source Modules/core/common --build build/common # 编译Gazebo仿真模块 catkin_make --source Simulator/gazebo_simulator --build build/prometheus_gazebo # 编译控制模块 -catkin_make --source Modules/uav_control_fmt --build build/uav_control_fmt +catkin_make --source Modules/control/uav_control_fmt --build build/uav_control_fmt diff --git a/scripts/build/compile_matlab.sh b/scripts/build/compile_matlab.sh new file mode 100755 index 0000000000..179ef4c8cc --- /dev/null +++ b/scripts/build/compile_matlab.sh @@ -0,0 +1,14 @@ +#!/bin/bash +# 脚本名称: compile_control.sh +# 脚本描述: 编译Prometheus控制模块 + +# 编译基础模块 +catkin_make --source Modules/core/common --build build/common +# 编译Gazebo仿真模块 +catkin_make --source Simulator/gazebo_simulator --build build/prometheus_gazebo +# 编译控制模块 +catkin_make --source Modules/control/uav_control --build build/uav_control +# 编译demo模块 +catkin_make --source Modules/demo/tutorial_demo --build build/tutorial_demo +#编译matlab模块 +catkin_make --source Modules/integration/matlab_bridge --build build/prometheus_matlab diff --git a/compile_planning.sh b/scripts/build/compile_planning.sh similarity index 55% rename from compile_planning.sh rename to scripts/build/compile_planning.sh index bd5e98c52c..f3c1f0a5bd 100755 --- a/compile_planning.sh +++ b/scripts/build/compile_planning.sh @@ -3,17 +3,17 @@ # 脚本描述: 编译Prometheus规划模块 # 编译基础模块 -catkin_make --source Modules/common --build build/common +catkin_make --source Modules/core/common --build build/common # 编译Gazebo仿真模块 catkin_make --source Simulator/gazebo_simulator --build build/prometheus_gazebo catkin_make --source Simulator/realsense_gazebo_plugin --build build/realsense_gazebo_plugin catkin_make --source Simulator/velodyne_gazebo_plugins --build build/velodyne_gazebo_plugins catkin_make --source Simulator/livox_laser_gazebo_plugins --build build/livox_laser_gazebo_plugins # 编译控制模块 -catkin_make --source Modules/uav_control --build build/uav_control +catkin_make --source Modules/control/uav_control --build build/uav_control # 编译规划相关模块 -catkin_make --source Modules/simulator_utils --build build/simulator_utils -catkin_make --source Modules/ego_planner_swarm --build build/ego_planner_swarm -catkin_make --source Modules/motion_planning --build build/motion_planning +catkin_make --source Modules/perception/simulator_utils --build build/simulator_utils +catkin_make --source Modules/planning/ego_planner_swarm --build build/ego_planner_swarm +catkin_make --source Modules/planning/motion_planning --build build/motion_planning # 编译建图定位模块 -catkin_make --source Modules/FAST_LIO --build build/FAST_LIO +catkin_make --source Modules/perception/FAST_LIO --build build/FAST_LIO diff --git a/compile_spirecv.sh b/scripts/build/compile_spirecv.sh similarity index 78% rename from compile_spirecv.sh rename to scripts/build/compile_spirecv.sh index 7f845cc43e..62d735d84f 100755 --- a/compile_spirecv.sh +++ b/scripts/build/compile_spirecv.sh @@ -3,13 +3,13 @@ # 脚本描述: 编译Prometheus目标检测模块 # 编译基础模块 -catkin_make --source Modules/common --build build/common +catkin_make --source Modules/core/common --build build/common # 编译Gazebo仿真模块 catkin_make --source Simulator/gazebo_simulator --build build/prometheus_gazebo # 编译控制模块 -catkin_make --source Modules/uav_control --build build/uav_control +catkin_make --source Modules/control/uav_control --build build/uav_control # 编译demo模块 -catkin_make --source Modules/tutorial_demo --build build/tutorial_demo +catkin_make --source Modules/demo/tutorial_demo --build build/tutorial_demo # 编译目标检测模块 # release_num=$(lsb_release -r --short) # echo $release_num diff --git a/scripts/build/compile_swarm.sh b/scripts/build/compile_swarm.sh new file mode 100755 index 0000000000..c7c1522d55 --- /dev/null +++ b/scripts/build/compile_swarm.sh @@ -0,0 +1,23 @@ +#!/bin/bash +# 脚本名称: compile_swarm.sh +# 脚本描述: 编译Prometheus swarm_control 模块 + +# 编译基础模块 +catkin_make --source Modules/core/common --build build/common +# 编译通信模块 +catkin_make --source Modules/communication --build build/communication +# 编译Gazebo仿真模块 +catkin_make --source Simulator/gazebo_simulator --build build/prometheus_gazebo +# 编译控制模块 +catkin_make --source Modules/control/uav_control --build build/uav_control + +# 编译小车控制模块 +catkin_make --source Modules/control/ugv_control --build build/ugv_control +# 编译swarm_control模块 +catkin_make --source Modules/swarm/swarm_control --build build/swarm_control + +# 编译swarm_formation模块 +catkin_make --source Modules/swarm/swarm_formation --build build/swarm_formation + +catkin_make --source Modules/swarm/searching_pkg --build build/searching_pkg + diff --git a/compile_ugv_control.sh b/scripts/build/compile_ugv_control.sh similarity index 60% rename from compile_ugv_control.sh rename to scripts/build/compile_ugv_control.sh index 72bf4e2370..40a96960c4 100755 --- a/compile_ugv_control.sh +++ b/scripts/build/compile_ugv_control.sh @@ -3,7 +3,7 @@ # 脚本描述: 编译Prometheus小车控制模块 # 编译基础模块 -catkin_make --source Modules/common --build build/common +catkin_make --source Modules/core/common --build build/common # 编译Gazebo仿真模块 catkin_make --source Simulator/gazebo_simulator --build build/prometheus_gazebo @@ -12,9 +12,9 @@ catkin_make --source Simulator/velodyne_gazebo_plugins --build build/velodyne_ga # 编译小车控制模块 -catkin_make --source Modules/ugv_control --build build/ugv_control +catkin_make --source Modules/control/ugv_control --build build/ugv_control -catkin_make --source Modules/global_planner_ugv --build build/global_planner_ugv +catkin_make --source Modules/planning/global_planner_ugv --build build/global_planner_ugv # 编译demo模块 -catkin_make --source Modules/tutorial_demo --build build/tutorial_demo +catkin_make --source Modules/demo/tutorial_demo --build build/tutorial_demo diff --git a/Scripts/installation/prometheus_mavros/install_prometheus_mavros.sh b/scripts/installation/prometheus_mavros/install_prometheus_mavros.sh similarity index 100% rename from Scripts/installation/prometheus_mavros/install_prometheus_mavros.sh rename to scripts/installation/prometheus_mavros/install_prometheus_mavros.sh diff --git a/Scripts/installation/prometheus_mavros/mavros.rosinstall b/scripts/installation/prometheus_mavros/mavros.rosinstall similarity index 100% rename from Scripts/installation/prometheus_mavros/mavros.rosinstall rename to scripts/installation/prometheus_mavros/mavros.rosinstall diff --git a/Scripts/simulation/NO_RC/arm.sh b/scripts/simulation/NO_RC/arm.sh similarity index 100% rename from Scripts/simulation/NO_RC/arm.sh rename to scripts/simulation/NO_RC/arm.sh diff --git a/Scripts/simulation/NO_RC/arm_and_command.sh b/scripts/simulation/NO_RC/arm_and_command.sh similarity index 100% rename from Scripts/simulation/NO_RC/arm_and_command.sh rename to scripts/simulation/NO_RC/arm_and_command.sh diff --git a/Scripts/simulation/NO_RC/arm_and_command_3uav.sh b/scripts/simulation/NO_RC/arm_and_command_3uav.sh similarity index 100% rename from Scripts/simulation/NO_RC/arm_and_command_3uav.sh rename to scripts/simulation/NO_RC/arm_and_command_3uav.sh diff --git a/Scripts/simulation/NO_RC/arm_and_command_4uav.sh b/scripts/simulation/NO_RC/arm_and_command_4uav.sh similarity index 100% rename from Scripts/simulation/NO_RC/arm_and_command_4uav.sh rename to scripts/simulation/NO_RC/arm_and_command_4uav.sh diff --git a/Scripts/simulation/NO_RC/command_control.sh b/scripts/simulation/NO_RC/command_control.sh similarity index 100% rename from Scripts/simulation/NO_RC/command_control.sh rename to scripts/simulation/NO_RC/command_control.sh diff --git a/Scripts/simulation/airsim_sitl_indoor_su17.sh b/scripts/simulation/airsim_sitl_indoor_su17.sh similarity index 100% rename from Scripts/simulation/airsim_sitl_indoor_su17.sh rename to scripts/simulation/airsim_sitl_indoor_su17.sh diff --git a/Scripts/simulation/airsim_sitl_outdoor_3uav.sh b/scripts/simulation/airsim_sitl_outdoor_3uav.sh similarity index 100% rename from Scripts/simulation/airsim_sitl_outdoor_3uav.sh rename to scripts/simulation/airsim_sitl_outdoor_3uav.sh diff --git a/Scripts/simulation/airsim_sitl_outdoor_4uav.sh b/scripts/simulation/airsim_sitl_outdoor_4uav.sh similarity index 100% rename from Scripts/simulation/airsim_sitl_outdoor_4uav.sh rename to scripts/simulation/airsim_sitl_outdoor_4uav.sh diff --git a/Scripts/simulation/airsim_sitl_outdoor_P450.sh b/scripts/simulation/airsim_sitl_outdoor_P450.sh similarity index 100% rename from Scripts/simulation/airsim_sitl_outdoor_P450.sh rename to scripts/simulation/airsim_sitl_outdoor_P450.sh diff --git a/Scripts/simulation/ego_planner/backup/ego_planner_1uav_fake_odom.sh b/scripts/simulation/ego_planner/backup/ego_planner_1uav_fake_odom.sh similarity index 100% rename from Scripts/simulation/ego_planner/backup/ego_planner_1uav_fake_odom.sh rename to scripts/simulation/ego_planner/backup/ego_planner_1uav_fake_odom.sh diff --git a/Scripts/simulation/ego_planner/backup/ego_planner_1uav_gfkd.sh b/scripts/simulation/ego_planner/backup/ego_planner_1uav_gfkd.sh similarity index 100% rename from Scripts/simulation/ego_planner/backup/ego_planner_1uav_gfkd.sh rename to scripts/simulation/ego_planner/backup/ego_planner_1uav_gfkd.sh diff --git a/Scripts/simulation/ego_planner/backup/ego_planner_1uav_scan.sh b/scripts/simulation/ego_planner/backup/ego_planner_1uav_scan.sh similarity index 100% rename from Scripts/simulation/ego_planner/backup/ego_planner_1uav_scan.sh rename to scripts/simulation/ego_planner/backup/ego_planner_1uav_scan.sh diff --git a/Scripts/simulation/ego_planner/backup/ego_planner_4uav.sh b/scripts/simulation/ego_planner/backup/ego_planner_4uav.sh similarity index 100% rename from Scripts/simulation/ego_planner/backup/ego_planner_4uav.sh rename to scripts/simulation/ego_planner/backup/ego_planner_4uav.sh diff --git a/Scripts/simulation/ego_planner/backup/ego_planner_4uav_scan.sh b/scripts/simulation/ego_planner/backup/ego_planner_4uav_scan.sh similarity index 100% rename from Scripts/simulation/ego_planner/backup/ego_planner_4uav_scan.sh rename to scripts/simulation/ego_planner/backup/ego_planner_4uav_scan.sh diff --git a/Scripts/simulation/ego_planner/ego_panner_p600_mid360.sh b/scripts/simulation/ego_planner/ego_panner_p600_mid360.sh similarity index 100% rename from Scripts/simulation/ego_planner/ego_panner_p600_mid360.sh rename to scripts/simulation/ego_planner/ego_panner_p600_mid360.sh diff --git a/Scripts/simulation/ego_planner/ego_planner_1uav.sh b/scripts/simulation/ego_planner/ego_planner_1uav.sh similarity index 100% rename from Scripts/simulation/ego_planner/ego_planner_1uav.sh rename to scripts/simulation/ego_planner/ego_planner_1uav.sh diff --git a/Scripts/simulation/ego_planner/ego_planner_p230_d435i.sh b/scripts/simulation/ego_planner/ego_planner_p230_d435i.sh similarity index 100% rename from Scripts/simulation/ego_planner/ego_planner_p230_d435i.sh rename to scripts/simulation/ego_planner/ego_planner_p230_d435i.sh diff --git a/Scripts/simulation/ego_planner/ego_planner_p450_2dlidar.sh b/scripts/simulation/ego_planner/ego_planner_p450_2dlidar.sh similarity index 100% rename from Scripts/simulation/ego_planner/ego_planner_p450_2dlidar.sh rename to scripts/simulation/ego_planner/ego_planner_p450_2dlidar.sh diff --git a/Scripts/simulation/ego_planner/ego_planner_p450_2dlidar_swarm.sh b/scripts/simulation/ego_planner/ego_planner_p450_2dlidar_swarm.sh similarity index 100% rename from Scripts/simulation/ego_planner/ego_planner_p450_2dlidar_swarm.sh rename to scripts/simulation/ego_planner/ego_planner_p450_2dlidar_swarm.sh diff --git a/Scripts/simulation/ego_planner/ego_planner_p450_3dlidar.sh b/scripts/simulation/ego_planner/ego_planner_p450_3dlidar.sh similarity index 100% rename from Scripts/simulation/ego_planner/ego_planner_p450_3dlidar.sh rename to scripts/simulation/ego_planner/ego_planner_p450_3dlidar.sh diff --git a/Scripts/simulation/ego_planner/ego_planner_p450_d435i.sh b/scripts/simulation/ego_planner/ego_planner_p450_d435i.sh similarity index 100% rename from Scripts/simulation/ego_planner/ego_planner_p450_d435i.sh rename to scripts/simulation/ego_planner/ego_planner_p450_d435i.sh diff --git a/Scripts/simulation/ego_planner/ego_planner_p450_d435i_depth.sh b/scripts/simulation/ego_planner/ego_planner_p450_d435i_depth.sh similarity index 100% rename from Scripts/simulation/ego_planner/ego_planner_p450_d435i_depth.sh rename to scripts/simulation/ego_planner/ego_planner_p450_d435i_depth.sh diff --git a/Scripts/simulation/ego_planner/ego_planner_p450_d435i_depth_swarm.sh b/scripts/simulation/ego_planner/ego_planner_p450_d435i_depth_swarm.sh similarity index 100% rename from Scripts/simulation/ego_planner/ego_planner_p450_d435i_depth_swarm.sh rename to scripts/simulation/ego_planner/ego_planner_p450_d435i_depth_swarm.sh diff --git a/Scripts/simulation/ego_planner/ego_planner_p600_3dlidar.sh b/scripts/simulation/ego_planner/ego_planner_p600_3dlidar.sh similarity index 100% rename from Scripts/simulation/ego_planner/ego_planner_p600_3dlidar.sh rename to scripts/simulation/ego_planner/ego_planner_p600_3dlidar.sh diff --git a/Scripts/simulation/ego_planner/gps_offset_3uav.sh b/scripts/simulation/ego_planner/gps_offset_3uav.sh similarity index 100% rename from Scripts/simulation/ego_planner/gps_offset_3uav.sh rename to scripts/simulation/ego_planner/gps_offset_3uav.sh diff --git a/Scripts/simulation/ego_planner/p450_rtabmap.sh b/scripts/simulation/ego_planner/p450_rtabmap.sh similarity index 100% rename from Scripts/simulation/ego_planner/p450_rtabmap.sh rename to scripts/simulation/ego_planner/p450_rtabmap.sh diff --git a/Scripts/simulation/ego_planner/p600_ego_mid360_fastlio.sh b/scripts/simulation/ego_planner/p600_ego_mid360_fastlio.sh similarity index 100% rename from Scripts/simulation/ego_planner/p600_ego_mid360_fastlio.sh rename to scripts/simulation/ego_planner/p600_ego_mid360_fastlio.sh diff --git a/Scripts/simulation/ego_planner/p600_ego_mid360_octomap.sh b/scripts/simulation/ego_planner/p600_ego_mid360_octomap.sh similarity index 100% rename from Scripts/simulation/ego_planner/p600_ego_mid360_octomap.sh rename to scripts/simulation/ego_planner/p600_ego_mid360_octomap.sh diff --git a/Scripts/simulation/ego_planner/p600_gazebo_mid360_fastlio.sh b/scripts/simulation/ego_planner/p600_gazebo_mid360_fastlio.sh similarity index 100% rename from Scripts/simulation/ego_planner/p600_gazebo_mid360_fastlio.sh rename to scripts/simulation/ego_planner/p600_gazebo_mid360_fastlio.sh diff --git a/Scripts/simulation/ego_planner/p600_gps_mid360_fastlio.sh b/scripts/simulation/ego_planner/p600_gps_mid360_fastlio.sh similarity index 100% rename from Scripts/simulation/ego_planner/p600_gps_mid360_fastlio.sh rename to scripts/simulation/ego_planner/p600_gps_mid360_fastlio.sh diff --git a/Scripts/simulation/ego_planner/prosim_ego_2dlidar.sh b/scripts/simulation/ego_planner/prosim_ego_2dlidar.sh similarity index 100% rename from Scripts/simulation/ego_planner/prosim_ego_2dlidar.sh rename to scripts/simulation/ego_planner/prosim_ego_2dlidar.sh diff --git a/Scripts/simulation/ego_planner/prosim_ego_D435i_3uav.sh b/scripts/simulation/ego_planner/prosim_ego_D435i_3uav.sh similarity index 100% rename from Scripts/simulation/ego_planner/prosim_ego_D435i_3uav.sh rename to scripts/simulation/ego_planner/prosim_ego_D435i_3uav.sh diff --git a/Scripts/simulation/ego_planner/prosim_ego_d435i_depth.sh b/scripts/simulation/ego_planner/prosim_ego_d435i_depth.sh similarity index 100% rename from Scripts/simulation/ego_planner/prosim_ego_d435i_depth.sh rename to scripts/simulation/ego_planner/prosim_ego_d435i_depth.sh diff --git a/Scripts/simulation/ego_planner/prosim_ego_lidar_3uav.sh b/scripts/simulation/ego_planner/prosim_ego_lidar_3uav.sh similarity index 100% rename from Scripts/simulation/ego_planner/prosim_ego_lidar_3uav.sh rename to scripts/simulation/ego_planner/prosim_ego_lidar_3uav.sh diff --git a/Scripts/simulation/ego_planner/prosim_ego_mid360.sh b/scripts/simulation/ego_planner/prosim_ego_mid360.sh similarity index 100% rename from Scripts/simulation/ego_planner/prosim_ego_mid360.sh rename to scripts/simulation/ego_planner/prosim_ego_mid360.sh diff --git a/Scripts/simulation/future_aircraft/future_aircraft_demo.sh b/scripts/simulation/future_aircraft/future_aircraft_demo.sh similarity index 100% rename from Scripts/simulation/future_aircraft/future_aircraft_demo.sh rename to scripts/simulation/future_aircraft/future_aircraft_demo.sh diff --git a/Scripts/simulation/motion_planning/apf_with_local_pcl.sh b/scripts/simulation/motion_planning/apf_with_local_pcl.sh similarity index 100% rename from Scripts/simulation/motion_planning/apf_with_local_pcl.sh rename to scripts/simulation/motion_planning/apf_with_local_pcl.sh diff --git a/Scripts/simulation/motion_planning/astar_with_2dlidar.sh b/scripts/simulation/motion_planning/astar_with_2dlidar.sh similarity index 100% rename from Scripts/simulation/motion_planning/astar_with_2dlidar.sh rename to scripts/simulation/motion_planning/astar_with_2dlidar.sh diff --git a/Scripts/simulation/motion_planning/astar_with_global_pcl.sh b/scripts/simulation/motion_planning/astar_with_global_pcl.sh similarity index 100% rename from Scripts/simulation/motion_planning/astar_with_global_pcl.sh rename to scripts/simulation/motion_planning/astar_with_global_pcl.sh diff --git a/Scripts/simulation/motion_planning/astar_with_global_pcl_fake_odom.sh b/scripts/simulation/motion_planning/astar_with_global_pcl_fake_odom.sh similarity index 100% rename from Scripts/simulation/motion_planning/astar_with_global_pcl_fake_odom.sh rename to scripts/simulation/motion_planning/astar_with_global_pcl_fake_odom.sh diff --git a/Scripts/simulation/motion_planning/astar_with_local_pcl.sh b/scripts/simulation/motion_planning/astar_with_local_pcl.sh similarity index 100% rename from Scripts/simulation/motion_planning/astar_with_local_pcl.sh rename to scripts/simulation/motion_planning/astar_with_local_pcl.sh diff --git a/Scripts/simulation/motion_planning/vfh_with_local_pcl.sh b/scripts/simulation/motion_planning/vfh_with_local_pcl.sh similarity index 100% rename from Scripts/simulation/motion_planning/vfh_with_local_pcl.sh rename to scripts/simulation/motion_planning/vfh_with_local_pcl.sh diff --git a/Scripts/simulation/old/case1_replay.sh b/scripts/simulation/old/case1_replay.sh similarity index 100% rename from Scripts/simulation/old/case1_replay.sh rename to scripts/simulation/old/case1_replay.sh diff --git a/Scripts/simulation/px4_gazebo_sitl_test/px4_sitl_indoor_P230.sh b/scripts/simulation/px4_gazebo_sitl_test/px4_sitl_indoor_P230.sh similarity index 100% rename from Scripts/simulation/px4_gazebo_sitl_test/px4_sitl_indoor_P230.sh rename to scripts/simulation/px4_gazebo_sitl_test/px4_sitl_indoor_P230.sh diff --git a/Scripts/simulation/px4_gazebo_sitl_test/px4_sitl_indoor_P450.sh b/scripts/simulation/px4_gazebo_sitl_test/px4_sitl_indoor_P450.sh similarity index 100% rename from Scripts/simulation/px4_gazebo_sitl_test/px4_sitl_indoor_P450.sh rename to scripts/simulation/px4_gazebo_sitl_test/px4_sitl_indoor_P450.sh diff --git a/Scripts/simulation/px4_gazebo_sitl_test/px4_sitl_outdoor_P450.sh b/scripts/simulation/px4_gazebo_sitl_test/px4_sitl_outdoor_P450.sh similarity index 100% rename from Scripts/simulation/px4_gazebo_sitl_test/px4_sitl_outdoor_P450.sh rename to scripts/simulation/px4_gazebo_sitl_test/px4_sitl_outdoor_P450.sh diff --git a/Scripts/simulation/px4_gazebo_sitl_test/px4_sitl_outdoor_p600.sh b/scripts/simulation/px4_gazebo_sitl_test/px4_sitl_outdoor_p600.sh similarity index 100% rename from Scripts/simulation/px4_gazebo_sitl_test/px4_sitl_outdoor_p600.sh rename to scripts/simulation/px4_gazebo_sitl_test/px4_sitl_outdoor_p600.sh diff --git a/Scripts/simulation/tutorial_demo/Tracking_QR/Tracking_QR_P230.sh b/scripts/simulation/tutorial_demo/Tracking_QR/Tracking_QR_P230.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/Tracking_QR/Tracking_QR_P230.sh rename to scripts/simulation/tutorial_demo/Tracking_QR/Tracking_QR_P230.sh diff --git a/Scripts/simulation/tutorial_demo/Tracking_QR/Tracking_QR_P450.sh b/scripts/simulation/tutorial_demo/Tracking_QR/Tracking_QR_P450.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/Tracking_QR/Tracking_QR_P450.sh rename to scripts/simulation/tutorial_demo/Tracking_QR/Tracking_QR_P450.sh diff --git a/Scripts/simulation/tutorial_demo/Tracking_QR/Tracking_QR_P600.sh b/scripts/simulation/tutorial_demo/Tracking_QR/Tracking_QR_P600.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/Tracking_QR/Tracking_QR_P600.sh rename to scripts/simulation/tutorial_demo/Tracking_QR/Tracking_QR_P600.sh diff --git a/Scripts/simulation/tutorial_demo/Tracking_QR/Tracking_QR_prosim.sh b/scripts/simulation/tutorial_demo/Tracking_QR/Tracking_QR_prosim.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/Tracking_QR/Tracking_QR_prosim.sh rename to scripts/simulation/tutorial_demo/Tracking_QR/Tracking_QR_prosim.sh diff --git a/Scripts/simulation/tutorial_demo/body_xyz_pos_control/body_xyz_pos_control_P230.sh b/scripts/simulation/tutorial_demo/body_xyz_pos_control/body_xyz_pos_control_P230.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/body_xyz_pos_control/body_xyz_pos_control_P230.sh rename to scripts/simulation/tutorial_demo/body_xyz_pos_control/body_xyz_pos_control_P230.sh diff --git a/Scripts/simulation/tutorial_demo/body_xyz_pos_control/body_xyz_pos_control_P450.sh b/scripts/simulation/tutorial_demo/body_xyz_pos_control/body_xyz_pos_control_P450.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/body_xyz_pos_control/body_xyz_pos_control_P450.sh rename to scripts/simulation/tutorial_demo/body_xyz_pos_control/body_xyz_pos_control_P450.sh diff --git a/Scripts/simulation/tutorial_demo/body_xyz_pos_control/body_xyz_pos_control_P600.sh b/scripts/simulation/tutorial_demo/body_xyz_pos_control/body_xyz_pos_control_P600.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/body_xyz_pos_control/body_xyz_pos_control_P600.sh rename to scripts/simulation/tutorial_demo/body_xyz_pos_control/body_xyz_pos_control_P600.sh diff --git a/Scripts/simulation/tutorial_demo/circular_trajectory_control/circular_trajectory_control_P230.sh b/scripts/simulation/tutorial_demo/circular_trajectory_control/circular_trajectory_control_P230.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/circular_trajectory_control/circular_trajectory_control_P230.sh rename to scripts/simulation/tutorial_demo/circular_trajectory_control/circular_trajectory_control_P230.sh diff --git a/Scripts/simulation/tutorial_demo/circular_trajectory_control/circular_trajectory_control_P450.sh b/scripts/simulation/tutorial_demo/circular_trajectory_control/circular_trajectory_control_P450.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/circular_trajectory_control/circular_trajectory_control_P450.sh rename to scripts/simulation/tutorial_demo/circular_trajectory_control/circular_trajectory_control_P450.sh diff --git a/Scripts/simulation/tutorial_demo/circular_trajectory_control/circular_trajectory_control_P600.sh b/scripts/simulation/tutorial_demo/circular_trajectory_control/circular_trajectory_control_P600.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/circular_trajectory_control/circular_trajectory_control_P600.sh rename to scripts/simulation/tutorial_demo/circular_trajectory_control/circular_trajectory_control_P600.sh diff --git a/Scripts/simulation/tutorial_demo/enu_xyz_pos_control/enu_xyz_pos_control_P230.sh b/scripts/simulation/tutorial_demo/enu_xyz_pos_control/enu_xyz_pos_control_P230.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/enu_xyz_pos_control/enu_xyz_pos_control_P230.sh rename to scripts/simulation/tutorial_demo/enu_xyz_pos_control/enu_xyz_pos_control_P230.sh diff --git a/Scripts/simulation/tutorial_demo/enu_xyz_pos_control/enu_xyz_pos_control_P450.sh b/scripts/simulation/tutorial_demo/enu_xyz_pos_control/enu_xyz_pos_control_P450.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/enu_xyz_pos_control/enu_xyz_pos_control_P450.sh rename to scripts/simulation/tutorial_demo/enu_xyz_pos_control/enu_xyz_pos_control_P450.sh diff --git a/Scripts/simulation/tutorial_demo/enu_xyz_pos_control/enu_xyz_pos_control_P600.sh b/scripts/simulation/tutorial_demo/enu_xyz_pos_control/enu_xyz_pos_control_P600.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/enu_xyz_pos_control/enu_xyz_pos_control_P600.sh rename to scripts/simulation/tutorial_demo/enu_xyz_pos_control/enu_xyz_pos_control_P600.sh diff --git a/Scripts/simulation/tutorial_demo/formation_control/formation_control_P230.sh b/scripts/simulation/tutorial_demo/formation_control/formation_control_P230.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/formation_control/formation_control_P230.sh rename to scripts/simulation/tutorial_demo/formation_control/formation_control_P230.sh diff --git a/Scripts/simulation/tutorial_demo/formation_control/formation_control_P450.sh b/scripts/simulation/tutorial_demo/formation_control/formation_control_P450.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/formation_control/formation_control_P450.sh rename to scripts/simulation/tutorial_demo/formation_control/formation_control_P450.sh diff --git a/Scripts/simulation/tutorial_demo/formation_control/formation_control_P600.sh b/scripts/simulation/tutorial_demo/formation_control/formation_control_P600.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/formation_control/formation_control_P600.sh rename to scripts/simulation/tutorial_demo/formation_control/formation_control_P600.sh diff --git a/Scripts/simulation/tutorial_demo/gimbal_tracking_land/gimbal_su17_aruco_clicked_tracking_prosim.sh b/scripts/simulation/tutorial_demo/gimbal_tracking_land/gimbal_su17_aruco_clicked_tracking_prosim.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/gimbal_tracking_land/gimbal_su17_aruco_clicked_tracking_prosim.sh rename to scripts/simulation/tutorial_demo/gimbal_tracking_land/gimbal_su17_aruco_clicked_tracking_prosim.sh diff --git a/Scripts/simulation/tutorial_demo/gimbal_tracking_qr/gimbal_tracking_qr_prosim.sh b/scripts/simulation/tutorial_demo/gimbal_tracking_qr/gimbal_tracking_qr_prosim.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/gimbal_tracking_qr/gimbal_tracking_qr_prosim.sh rename to scripts/simulation/tutorial_demo/gimbal_tracking_qr/gimbal_tracking_qr_prosim.sh diff --git a/Scripts/simulation/tutorial_demo/gimbal_yolov5_tracking/gimbal_yolov5_tracking_prosim.sh b/scripts/simulation/tutorial_demo/gimbal_yolov5_tracking/gimbal_yolov5_tracking_prosim.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/gimbal_yolov5_tracking/gimbal_yolov5_tracking_prosim.sh rename to scripts/simulation/tutorial_demo/gimbal_yolov5_tracking/gimbal_yolov5_tracking_prosim.sh diff --git a/Scripts/simulation/tutorial_demo/gimbal_yolov5_tracking_land/gimbalx_aruco_clicked_tracking_land_prosim.sh b/scripts/simulation/tutorial_demo/gimbal_yolov5_tracking_land/gimbalx_aruco_clicked_tracking_land_prosim.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/gimbal_yolov5_tracking_land/gimbalx_aruco_clicked_tracking_land_prosim.sh rename to scripts/simulation/tutorial_demo/gimbal_yolov5_tracking_land/gimbalx_aruco_clicked_tracking_land_prosim.sh diff --git a/Scripts/simulation/tutorial_demo/global_pos_control/global_pos_control_P230.sh b/scripts/simulation/tutorial_demo/global_pos_control/global_pos_control_P230.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/global_pos_control/global_pos_control_P230.sh rename to scripts/simulation/tutorial_demo/global_pos_control/global_pos_control_P230.sh diff --git a/Scripts/simulation/tutorial_demo/global_pos_control/global_pos_control_P450.sh b/scripts/simulation/tutorial_demo/global_pos_control/global_pos_control_P450.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/global_pos_control/global_pos_control_P450.sh rename to scripts/simulation/tutorial_demo/global_pos_control/global_pos_control_P450.sh diff --git a/Scripts/simulation/tutorial_demo/global_pos_control/global_pos_control_P600.sh b/scripts/simulation/tutorial_demo/global_pos_control/global_pos_control_P600.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/global_pos_control/global_pos_control_P600.sh rename to scripts/simulation/tutorial_demo/global_pos_control/global_pos_control_P600.sh diff --git a/Scripts/simulation/tutorial_demo/simulation_communication/killMediaServer.sh b/scripts/simulation/tutorial_demo/simulation_communication/killMediaServer.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/simulation_communication/killMediaServer.sh rename to scripts/simulation/tutorial_demo/simulation_communication/killMediaServer.sh diff --git a/Scripts/simulation/tutorial_demo/simulation_communication/killTrajectory.sh b/scripts/simulation/tutorial_demo/simulation_communication/killTrajectory.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/simulation_communication/killTrajectory.sh rename to scripts/simulation/tutorial_demo/simulation_communication/killTrajectory.sh diff --git a/Scripts/simulation/tutorial_demo/simulation_communication/killairsim.sh b/scripts/simulation/tutorial_demo/simulation_communication/killairsim.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/simulation_communication/killairsim.sh rename to scripts/simulation/tutorial_demo/simulation_communication/killairsim.sh diff --git a/Scripts/simulation/tutorial_demo/simulation_communication/killego.sh b/scripts/simulation/tutorial_demo/simulation_communication/killego.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/simulation_communication/killego.sh rename to scripts/simulation/tutorial_demo/simulation_communication/killego.sh diff --git a/Scripts/simulation/tutorial_demo/simulation_communication/killpx4.sh b/scripts/simulation/tutorial_demo/simulation_communication/killpx4.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/simulation_communication/killpx4.sh rename to scripts/simulation/tutorial_demo/simulation_communication/killpx4.sh diff --git a/Scripts/simulation/tutorial_demo/simulation_communication/simulation_communication.sh b/scripts/simulation/tutorial_demo/simulation_communication/simulation_communication.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/simulation_communication/simulation_communication.sh rename to scripts/simulation/tutorial_demo/simulation_communication/simulation_communication.sh diff --git a/Scripts/simulation/tutorial_demo/simulation_communication/simulation_communication_airsim.sh b/scripts/simulation/tutorial_demo/simulation_communication/simulation_communication_airsim.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/simulation_communication/simulation_communication_airsim.sh rename to scripts/simulation/tutorial_demo/simulation_communication/simulation_communication_airsim.sh diff --git a/Scripts/simulation/tutorial_demo/takeoff_land/takeoff_land_P230.sh b/scripts/simulation/tutorial_demo/takeoff_land/takeoff_land_P230.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/takeoff_land/takeoff_land_P230.sh rename to scripts/simulation/tutorial_demo/takeoff_land/takeoff_land_P230.sh diff --git a/Scripts/simulation/tutorial_demo/takeoff_land/takeoff_land_P450.sh b/scripts/simulation/tutorial_demo/takeoff_land/takeoff_land_P450.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/takeoff_land/takeoff_land_P450.sh rename to scripts/simulation/tutorial_demo/takeoff_land/takeoff_land_P450.sh diff --git a/Scripts/simulation/tutorial_demo/takeoff_land/takeoff_land_P600.sh b/scripts/simulation/tutorial_demo/takeoff_land/takeoff_land_P600.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/takeoff_land/takeoff_land_P600.sh rename to scripts/simulation/tutorial_demo/takeoff_land/takeoff_land_P600.sh diff --git a/Scripts/simulation/tutorial_demo/waypoint_pos_control.sh b/scripts/simulation/tutorial_demo/waypoint_pos_control.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/waypoint_pos_control.sh rename to scripts/simulation/tutorial_demo/waypoint_pos_control.sh diff --git a/Scripts/simulation/tutorial_demo/yolov5_tracking/yolov5_tracking.sh b/scripts/simulation/tutorial_demo/yolov5_tracking/yolov5_tracking.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/yolov5_tracking/yolov5_tracking.sh rename to scripts/simulation/tutorial_demo/yolov5_tracking/yolov5_tracking.sh diff --git a/Scripts/simulation/tutorial_demo/yolov5_tracking/yolov5_tracking_P230.sh b/scripts/simulation/tutorial_demo/yolov5_tracking/yolov5_tracking_P230.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/yolov5_tracking/yolov5_tracking_P230.sh rename to scripts/simulation/tutorial_demo/yolov5_tracking/yolov5_tracking_P230.sh diff --git a/Scripts/simulation/tutorial_demo/yolov5_tracking/yolov5_tracking_P450.sh b/scripts/simulation/tutorial_demo/yolov5_tracking/yolov5_tracking_P450.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/yolov5_tracking/yolov5_tracking_P450.sh rename to scripts/simulation/tutorial_demo/yolov5_tracking/yolov5_tracking_P450.sh diff --git a/Scripts/simulation/tutorial_demo/yolov5_tracking/yolov5_tracking_prosim.sh b/scripts/simulation/tutorial_demo/yolov5_tracking/yolov5_tracking_prosim.sh similarity index 100% rename from Scripts/simulation/tutorial_demo/yolov5_tracking/yolov5_tracking_prosim.sh rename to scripts/simulation/tutorial_demo/yolov5_tracking/yolov5_tracking_prosim.sh diff --git a/Scripts/simulation/uav_controller_test/P230_test/uav_controller_ne_P230.sh b/scripts/simulation/uav_controller_test/P230_test/uav_controller_ne_P230.sh similarity index 100% rename from Scripts/simulation/uav_controller_test/P230_test/uav_controller_ne_P230.sh rename to scripts/simulation/uav_controller_test/P230_test/uav_controller_ne_P230.sh diff --git a/Scripts/simulation/uav_controller_test/P230_test/uav_controller_pid_P230.sh b/scripts/simulation/uav_controller_test/P230_test/uav_controller_pid_P230.sh similarity index 100% rename from Scripts/simulation/uav_controller_test/P230_test/uav_controller_pid_P230.sh rename to scripts/simulation/uav_controller_test/P230_test/uav_controller_pid_P230.sh diff --git a/Scripts/simulation/uav_controller_test/P230_test/uav_controller_px4_origin_P230.sh b/scripts/simulation/uav_controller_test/P230_test/uav_controller_px4_origin_P230.sh similarity index 100% rename from Scripts/simulation/uav_controller_test/P230_test/uav_controller_px4_origin_P230.sh rename to scripts/simulation/uav_controller_test/P230_test/uav_controller_px4_origin_P230.sh diff --git a/Scripts/simulation/uav_controller_test/P230_test/uav_controller_ude_P230.sh b/scripts/simulation/uav_controller_test/P230_test/uav_controller_ude_P230.sh similarity index 100% rename from Scripts/simulation/uav_controller_test/P230_test/uav_controller_ude_P230.sh rename to scripts/simulation/uav_controller_test/P230_test/uav_controller_ude_P230.sh diff --git a/Scripts/simulation/uav_controller_test/P450_test/uav_controller_ne_P450.sh b/scripts/simulation/uav_controller_test/P450_test/uav_controller_ne_P450.sh similarity index 100% rename from Scripts/simulation/uav_controller_test/P450_test/uav_controller_ne_P450.sh rename to scripts/simulation/uav_controller_test/P450_test/uav_controller_ne_P450.sh diff --git a/Scripts/simulation/uav_controller_test/P450_test/uav_controller_pid_P450.sh b/scripts/simulation/uav_controller_test/P450_test/uav_controller_pid_P450.sh similarity index 100% rename from Scripts/simulation/uav_controller_test/P450_test/uav_controller_pid_P450.sh rename to scripts/simulation/uav_controller_test/P450_test/uav_controller_pid_P450.sh diff --git a/Scripts/simulation/uav_controller_test/P450_test/uav_controller_px4_origin_P450.sh b/scripts/simulation/uav_controller_test/P450_test/uav_controller_px4_origin_P450.sh similarity index 100% rename from Scripts/simulation/uav_controller_test/P450_test/uav_controller_px4_origin_P450.sh rename to scripts/simulation/uav_controller_test/P450_test/uav_controller_px4_origin_P450.sh diff --git a/Scripts/simulation/uav_controller_test/P450_test/uav_controller_ude_P450.sh b/scripts/simulation/uav_controller_test/P450_test/uav_controller_ude_P450.sh similarity index 100% rename from Scripts/simulation/uav_controller_test/P450_test/uav_controller_ude_P450.sh rename to scripts/simulation/uav_controller_test/P450_test/uav_controller_ude_P450.sh diff --git a/Scripts/simulation/uav_controller_test/P600_test/uav_controller_ne_P600.sh b/scripts/simulation/uav_controller_test/P600_test/uav_controller_ne_P600.sh similarity index 100% rename from Scripts/simulation/uav_controller_test/P600_test/uav_controller_ne_P600.sh rename to scripts/simulation/uav_controller_test/P600_test/uav_controller_ne_P600.sh diff --git a/Scripts/simulation/uav_controller_test/P600_test/uav_controller_pid_P600.sh b/scripts/simulation/uav_controller_test/P600_test/uav_controller_pid_P600.sh similarity index 100% rename from Scripts/simulation/uav_controller_test/P600_test/uav_controller_pid_P600.sh rename to scripts/simulation/uav_controller_test/P600_test/uav_controller_pid_P600.sh diff --git a/Scripts/simulation/uav_controller_test/P600_test/uav_controller_px4_origin_P600.sh b/scripts/simulation/uav_controller_test/P600_test/uav_controller_px4_origin_P600.sh similarity index 100% rename from Scripts/simulation/uav_controller_test/P600_test/uav_controller_px4_origin_P600.sh rename to scripts/simulation/uav_controller_test/P600_test/uav_controller_px4_origin_P600.sh diff --git a/Scripts/simulation/uav_controller_test/P600_test/uav_controller_ude_P600.sh b/scripts/simulation/uav_controller_test/P600_test/uav_controller_ude_P600.sh similarity index 100% rename from Scripts/simulation/uav_controller_test/P600_test/uav_controller_ude_P600.sh rename to scripts/simulation/uav_controller_test/P600_test/uav_controller_ude_P600.sh