(Node)

(HolonomicNode)

(traj, mapParameters)

(currentNode, path)

(startNode, goalNode, closedSet, plt)

(obstacleX, obstacleY, xyResolution, yawResolution)

(x, y, yaw, color='black')

(holonomicMotionCommand)

(goalNode, mapParameters)

()

(neighbourNode, obstacles, mapParameters)

(traj, gridIndex, mapParameters)

(currentNode, motionCommand, mapParameters, simulationLength=4, step = 0.8 )

()

()

()

(obstacleX, obstacleY, xyResolution)

(currentNode, goalNode, mapParameters)

(s, g, mapParameters, plt)

(currentNode, motionCommand, simulationLength)

(self, gridIndex, traj, steeringAngle, direction, cost, parentIndex)

(self, gridIndex, cost, parentIndex)

(self, mapMinX, mapMinY, mapMaxX, mapMaxY, xyResolution, yawResolution, ObstacleKDTree, obstacleX, obstacleY)