Check if the cell is free by index

Check if the cell is free by index

Check if the cell is occupied by index

Check if the cell is occupied by index

Check if the cell is outside by coordinate

Check if the given cell is outside of the map in i-the dimension

Check if the cell is unknown by index

map callback, update local_map_ptr_

This function is copied from Gui's SLOAM repo https://github.com/gnardari/forest_graph_slam/blob/main/src/Depth2CloudNode.cpp

copies odom to position command

Calculate points inside polyhedron, non-exclusive

Calculate points inside ellipsoid, non-exclusive

record goal position, specify use jrk, acc or vel

Set acceleration tolerance for goal region