* Convert common type to Eigen::Vector2d * @param x Position x * @param y Position y * @param theta Orientation theta * @return std::pair<

* @brief Convert geometry_msgs::Pose to std::pair<Eigen::Vector2d, double> * @param pose Type of geometry_msgs::Pose * @return Type of std::pair

* @brief Convert roborts_costmap::RobotPose to std::pair<Eigen::Vector2d, double> * @param pose Data structure of roborts_costmap::RobotPose * @

* @brief Convert tf::Pose to std::pair<Eigen::Vector2d, double> * @param pose Type of tf::Pose * @return Type of std::pair<Eigen::Vector2d, doub

* @brief Implement this to make this layer match the size of the parent costmap. */

* @brief Constructor of memory pool * @param max_block_size Max size for single memory block * @param memory_size Max memory size * @param me

* @brief Creates an empty observation */

* @brief Constructor */

* @brief Initialize something before starting to tick the node */

* @brief Initialize something before starting to tick the node */

* @brief Initialize something before starting to tick the node */

* @brief Initialize something before starting to tick the node * @details Initialize and reset the success and failure count of each child node

@brief This is called at the end of initialize(). Override to * implement subclass-specific initialization. * tf_, name_, and layered_costmap_

* @brief Recover or reset something After getting the result * @param state Input behavior state */

* @brief Recover or reset something After getting the result * @param state Input behavior state */

* @brief Recover or reset something After getting the result * @param state Input behavior state */

* @brief Recover or reset something After getting the result * @param state Input behavior state */

* @brief Constructor */

* @brief Constructor of ParallelNode * @param name Name of the behavior node * @param blackboard_ptr Blackboard of the behavior node * @param

* @brief Default constructor */

* @brief Constructor of PreconditionNode * @param name Name of the behavior node * @param blackboard_ptr Blackboard of the behavior node * @p

Stream Management*****************************/