* @brief Function that is called every update cycle. * @param _info Timing information. */

* @brief Function that is called every update cycle. * @param _info Timing information. */

* @brief Construct a new PIDController object */

* @brief Construct a new PSO object * @param costmap the environment for path planning */

* @brief Construct a new Global PathPlanner object * @param costmap_ros the environment for path planning */

* @brief Construct a new Graph Planner object */

Constructor. pluginlib::ClassLoader creates instances by calling the default constructor, so make sure you have one.

The constructor must have no arguments, so we can't give the constructor the parameters it needs to fully initialize.

* @brief Return the polar coordinates (r, theta) of the point (x, y), i.e. rcos(theta) = x; rsin(theta) = y */

* @brief Right-Left-Right generation mode. * @param alpha Initial pose of (0, 0, alpha) * @param beta Goal pose of (dist, 0, beta) * @param di

* @brief Construct a new RPP Controller object */

* @brief Constructor * @param costmap the environment for path planning */

* @brief Constructor * @param costmap the environment for path planning */

* @brief Constructor * @param costmap the environment for path planning */

* @brief Right-Straight-Left generation mode. * @param alpha Initial pose of (0, 0, alpha) * @param beta Goal pose of (dist, 0, beta) * @param

* @brief Construct a new Reeds-Shepp Path object * @param lengths the length of segments * @param ctypes the motion patterns of segments */

* @brief Right-Straight-Right generation mode. * @param alpha Initial pose of (0, 0, alpha) * @param beta Goal pose of (dist, 0, beta) * @para

* @brief Construct a new ReedsShepp generation object * @param step Simulation or interpolation size (default: 0.1) * @param max_curv The

* @brief # 2 Straight-Circle-Straight generation mode(using reflect). * @param x/y Goal position * @param phi Goal pose * @return Reeds-Shepp Paths

* @brief Straight-Left-Straight generation mode. */

* @brief Construct a new SThetaStar object * @param costmap the environment for path planning */

Constructor. pluginlib::ClassLoader creates instances by calling the default constructor, so make sure you have one.

* @brief Construct a new StaticController object */

* @brief Construct a new ThetaStar object * @param costmap the environment for path planning */

Constructor which takes x- and y-coordinates.

* @brief Construct a new Voronoi-based planning object * @param costmap the environment for path planning * @param circumscribed_radius the circu

* @brief Get the deviation cost * @param parent * @param child * @param goal * @return deviation cost */

* @brief Applying approach constraints to regularize the speed of robot approaching final * goal * @param raw_linear_vel the raw linear velocity

* @brief Applying curvature constraints to regularize the speed of robot turning * @param raw_linear_vel the raw linear velocity of robot * @para

* @brief Applying obstacle constraints to regularize the speed of robot approaching * obstacles * @param raw_linear_vel the raw linear velocity o

* @brief Builds k-d tree recursively * @param indices * @param npoints * @param depth * @return KDNode* */

* @brief Check if goal is reachable from current node * @param new_node Current node * @return bool value of whether goal is reachable from current

* @brief jump point detection in slash direction (only for left-top, left-bottom, * right-top, right-bottom) * @param dir direction i

* @brief jump point detection in straight direction (only for left, right, top, bottom) * @param dir direction index * @param node

* @brief Clears k-d tree recursively * @param node */

Calculate the number of combinations

* @brief Calculate the distance between kd node p and q * @param p KD Node p * @param q KD Node q * @return distance between kd node p and q

* @brief Regular the new node by the nearest node in the sample list * @param list sample list * @param node sample node * @return nearest

* @brief Regular the sample node by the nearest node in the sample list * @param list samplee list * @param node sample node * @return nearest no

* @brief force neighbor detection * @param dir direction index * @param cur_id current node index * @param fn_id

* @brief Generates a random node * @return Generated node */

* @brief Generates a random node * @return Generated node */

* @brief Calculate plan from planning path * @param path path generated by global planner * @param plan plan transfromed from path, i.e. [start, ...

* @brief jump point detection from current node (including slash and straight direction) * @param node current node * @param open_list

* @brief Searches k-nearest neighbors recursively * @param query the point in the KD Tree * @param node root node of KD Tree of its child tree

* @brief Execute LQR control process * @param s current state * @param s_d desired state * @param u_r refered control * @return u control vecto

* @brief Execute model-based PID control process * @param s current state * @param s_d desired state * @param u_r refered input * @return u con

* @brief Execute model-free PID control process * @param s current state * @param s_d desired state * @param u_r refered input * @return u cont

* @brief Execute MPC control process * @param s current state * @param s_d desired state * @param u_r refered control * @param du_p previ

* @brief Searches the nearest neighbor recursively * @param query the point in the KD Tree * @param node root node of KD Tree of its child

* @brief Searches neighbors within radius * @param query the point in the KD Tree * @param node root node of KD Tree of its child tree *

* @brief check if the parent of vertex need to be updated. if so, update it * @param node */

* @brief Sample in ellipse * @param x random sampling x * @param y random sampling y * @return ellipse node */

* @brief Update the best motion mode. * @param cur_paths current generated Reeds-Shepp paths * @param best_path The best generated Reeds-Shepp p

* @brief Update the best motion mode. * @param length the current motion length * @param mode the current motion mode * @param best_len

* @brief update the g value of child node * @param parent * @param child */

* @brief update the g value of child node * @param parent * @param child */

* @brief update the g value of child node * @param parent * @param child * @param alpha */

* @brief update voronoi object using costmap ROS wrapper */

* @brief Validates k-d tree recursively * @param node a KD Tree node * @param depth KD tree depth */