* @brief Calculate the number of segments for generating trajectories * @return number the number of segments for generating trajectories */

* @brief Clear k-d tree */

* @brief Returns the x-coordinate of this two-dimensional vector. * @return The x-coordinate of the two-dimensional vector. */

* @brief Returns the y-coordinate of this two-dimensional vector. * @return The y-coordinate of the two-dimensional vector. */

* @brief Insert node_ptr into the open_list with h_new * @param node_ptr DNode pointer of the DNode to be inserted * @param h_new new h value */

* @brief Push value * @param val the new element to push in priority queue size */

* @brief Gets node pose */

* @brief set the property of node */

* @brief Obtain segment i with its motion pattern * @param i index * @param length the length of segment i * @param ctype the motion of se

* @brief Perform modulus operation on 2π. * @param theta the angle to modulu * @return theta_m the angle after modulus operator */

* Normalize angle to the range (-pi, pi]. * @param angle Angle in radians. * @return Angle normalized to (-pi, pi]. */

Setter for x component

Setter for y component

Getter for x component

Getter for y component

* @brief Get size of the queue * @return size of the queue */

* @brief get the property of node */

Clear the visuals by deleting their objects.

* @brief Converts a quantized orientation bin index to a continuous angle in radians. * @param bin_idx The index of the orientation bin (quantized an

Clear the visuals by deleting their objects.

* @brief Running trajectory generation * @param points path points <x, y> * @param path generated trajectory * @return true if generate successfull

* @brief Gets the motion primitive turning direction used to achieve node in search * @return reference to motion primitive turning direction */

* @brief get cost value in costmap * @param i grid index * @return cost value */

Format the generated xml document. Parameters ---------- elem: ET.Element level: int indent leve

* @brief Calculate the length of the generated trajectory * @return length the length of the generated trajectory */

* @brief Direction of a line which contains pt and is tangential to arc * @param pt_prev Starting point of the arc * @param pt Mid point of the arc

Parser user configure file(.yaml). Parameters ---------- path: str the path of file(.yaml). Ret

* @brief Calculate the distance of given path. * @param path the trajectory * @return length the length of path */

* @brief Converts a continuous angle in radians to a quantized orientation bin index. * @param theta The angle in radians. * @return The quantized o

* @brief Tranform from costmap(x, y) to world map(x, y) * @param mx costmap x * @param my costmap y * @param wx world map x * @param wy world map

* @brief Truncate the angle to the interval of -π to π. * @param theta the angle to truncate * @return theta_t the truncated angle */

* @brief Sets the pose of current node */

* @brief Sets if cell has been visited in search */