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

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

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

x:distance , y: height

* @brief Get the footprint polygon which are already padded. * @return The footprint polygon. */

* @brief Get the current size of the buffer * @return The current size of the buffer */

* @brief Get odom topic * @return Odom topic name */

* @brief Get the footprint which are not padded. * @return The vector of footprint point. */

* @brief Get start x * @return Start x */

* @brief Get end x * @return End x */

* @brief Get start y * @return Start y */

* @brief Get end y * @return End y */

Goal

* @brief Initialization of memory table */

* @brief Check to make sure all the data in the layer is update. * @return Whether the data in the layer is up to date. */

* @brief Tell whether the costmap is updated. * @return True if every layer is current. */

* @brief Get the obstacle whether or not dynamic * @return Return true if the obstacle is dynamic, otherwise is false */

* @brief Decide whether the buffer is empty * @return True if empty */

* @brief Decide whether the buffer is full * @return True if full */

*@brief Now we not use */

Constructor