Set max vel in z axis

Set vertical semi-fov

set weight for cost in time, usually no need to change

set weight for cost in yaw, usually no need to change

Set max acc in each axis

Calculate the signed distance from point

* Copied from * https://github.com/KumarRobotics/kr_utils/blob/master/kr_math/include/kr_math/SO3.hpp * * @brief Create a skew-symmetric matrix fr

Get \f$A\f$ matrix

Define benchmarks

* @brief Arguments represent the x-dim, y-dim, and z-dim size respectively. The * fourth argument is the resolution multiplied by 100 because argumen

* @brief Arguments represent the x-dim, y-dim, and z-dim size respectively. The * fourth argument is the resolution multiplied by 100 because argumen

* @brief Arguments represent the x-dim, y-dim, and z-dim size respectively. The * fourth argument is the resolution multiplied by 100 because argumen

* @brief Arguments represent the x-dim, y-dim, and z-dim size respectively. The * fourth argument is the resolution multiplied by 100 because argumen

switched these constructors to use new generic one

Get C matrix

Heuristic to go to zero velocity

Simple constructor

Constructor with map util as input

* @brief Goal done callback function */

* @brief Simple empty constructor * * @param verbose enable print out debug infos, default is set to False */

Return total yaw efforts for the given duration

Null constructor