* @brief Gets the accumulated cost at this node * @return accumulated cost */

* @brief Center of an arc between three points * @param pt_prev Starting point of the arc * @param pt Mid point of the arc * @param pt_next Last po

Search for the best new velocity. */

Iterate over all categorical attributes in this message

* @brief Generate the path. * @param start Initial pose (x, y, yaw) * @param goal Target pose (x, y, yaw) * @param path The smoothed trajectory p

* @brief Gets if cell has been visited in search * @return If cell was visited */

* @relates Agent * @brief Solves a two-dimensional linear program subject to linear * constraints defined by lines a

* Normalize angle to the range [0, 2*pi). * @param angle Angle in radians. * @return Angle normalized to [0, 2*pi). */

* @brief Sets the accumulated cost at this node * @param cost_in reference to accumulated cost */

* @brief Getter for yaw_ * @return The yaw of the car */

* @brief Initialize the social force model. */

* @brief Formula for intersection of a line with a circle centered at the origin * @note https://mathworld.wolfram.com/Circle-LineIntersection.html

Construct URDF of specific type of obstacle. Parameters ---------- model_type: str specific type of obst

* given the current state of the robot, find a good trajectory */

* @brief get the costmap * @return costmap costmap2d pointer */

* @brief Retrieve all motion primitives available for a given pose. * @param pose The current pose consisting of x, y, and theta (orientation in radi

* @brief Get the period at which the local planner is expected to run * @return The simulation period */

* @brief Calculate transition cost considering motion continuity and penalties. * @param child Target child node * @param motion_table Contains cost

* @brief Helper function to detect the closest obstacles. */

* @brief Helper function to detect the nearby pedestrians (other actors). */

* @brief grid map collision detection * @param x grid coordinate x * @param y grid coordinate y * @param traverse_unknown Whether or not to travers

* @brief Transform from grid index(i) to grid map(x, y) * @param i grid index i * @param x grid map x * @param y grid map y */

* @brief Initialize the motion table using Dubins primitives. */

* @relates Agent * @brief Solves a one-dimensional linear program on a specified line * subject to linear constraint

* @relates Agent * @brief Solves a two-dimensional linear program subject to linear * constraints defined by lines a

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

* @brief Inflate the boundary of costmap into obstacles to prevent cross planning */

* @brief Getter for pitch_ * @return The pitch of the car */

* @brief Jump Point Search(JPS) implementation * @param start start node * @param goal goal node * @param expand contain

* @brief publish lines */

* @brief Read a text-format protobuf message from a file. * @param filename Path to the text proto file. * @param message Pointer to the protobuf M

Clear the visuals by deleting their objects.

Clear the visuals by deleting their objects.

* @brief Getter for roll_ * @return The roll of the car */