* @brief Unlock the memor pool */

* @brief Lock the memory pool */

* @brief Draw rectangle. * @param img The image will be drew on * @param rect The target rectangle * @param color Rectangle color * @param

* @brief Reset the behavior node * @details manually invoke the IDLE terminate function when the node is in running status */

* @brief Loop to tick the behavior tree */

* @brief Average operation in two pose. * @param pose1 The first pose * @param pose2 The second pose */

* @brief Calculate a closest point from a point to 2D line segment * @param point Input point * @param line_start Start point of line * @param line

* @brief Given two map coordinates... compute the associated index * @param mx The x coordinate * @param my The y coordinate * @return The a

* @brief Obtain the orientation vector * @return A orientation vector in form of Eigen::Vector2d */

* @brief Run the behavior node * @details Roughly including 3 process * 1. OnInitilaize: Initialize or reset some variables, when tick

* @brief Calculate if two 2D line segment intersection * @param line1_start First line start point * @param line1_end Firts line end point * @param

* @brief Calculate 2D line segment to 2D polygon distance * @param line_start Line start point * @param line_end Line end point * @param vertices V

* @brief Get the abort type of the precondition node * @return the abort type of the precondition node */

* @brief Lock the observation buffer */

* @brief Set the level of the behavior node * @param level The expected level of the behavior node */

* @brief Set the parent of the behavior node * @param parent_node_ptr */

* @brief Lock the observation buffer */

* @brief Calculate point to 2D polygon distance * @param point Input point * @param vertices 2D polygon's vertices * @return distance of point to 2

* @brief Get the type of the behavior node * @return The type of the behavior node */

* @brief Given an index, compute the associated map coordinates * @param index The index * @param mx Will be set to the x coordinate * @pa

@brief Return -1 if x < 0, +1 otherwise. */

* @brief Allocate a memory block in the pool * @param size size of the memory block * @return pointer of memory block */