@brief Given a distance, compute a cost. * @param distance The distance from an obstacle in cells * @return A cost value for the distance */

* @brief Compute current graph cost(errors) * @param cost Input and output, total errors of all edges * @param obst_cost_scale Obstacle's scale

* @brief Lookup pre-computed costs * @param mx The x coordinate of the current cell * @param my The y coordinate of the current cell * @para

* @brief Create an algorithm class that has been registered before. * @param algorithm_name Algorithm name, which must be the same with the variabl

* @brief default Constructor all elements will be set to zero */

* @brief Stop. */

* @brief Constructor of DecoratorNode * @param name Name of the behavior node * @param behavior_type Type of the behavior node * @param black

* @brief Lookup pre-computed distances * @param mx The x coordinate of the current cell * @param my The y coordinate of the current cell * @

* @brief Given an index of a cell in the costmap, place it into a list pending for obstacle inflation * @param grid The costmap * @param index Th

* @brief Class Constructor * @param x0 Line start x * @param y0 Line start y * @param x1 Line end x * @param y1 Line end y */

* @brief Get the base frame. * @return The base frame name. */

* @brief Get the buffer capacity(max size of the buffer) * @return The buffer capacity */

* @brief Get the child node of the behavior node * @return The child node of the behavior node, for the base class it always returns nullptr */

* @brief Get the child/decorated node of the behavior node * @return the child/decorated node of the behavior node */

* @brief Get the child behavior node that it is turn to tick * @return The child behavior node */

* @brief Get the number of child behavior nodes * @return The number of child behavior nodes */

@brief The radius of a circle centered at the origin of the * robot which just surrounds all points on the robot's * footprint. * * This i

* @brief Get the costmap. * @return The class containing costmap data. */

* @brief Get the global map frame. * @return The global map frame name. */