* @brief Get the attractive force of APF * @param ps global target PointStamped * @return the attractive force */

used for visualization only, total_costs are not really total costs

Get a color based upon track / detection ID.

Must be implemented by derived classes because MOC doesn't work in templates

Must be implemented by derived classes because MOC doesn't work in templates

Must be implemented by derived classes because MOC doesn't work in templates

Must be implemented by derived classes because MOC doesn't work in templates

Must be implemented by derived classes because MOC doesn't work in templates

Must be implemented by derived classes because MOC doesn't work in templates

* @brief Calculate control points heuristically. * @param start Initial pose (x, y, yaw) * @param goal Target pose (x, y, yaw) * @return control_p

* @brief Get the cost between n1 and n2, return INF if collision * @param n1 DNode pointer of one DNode * @param n2 DNode pointer of the other DNode

* @brief Get the cost between n1 and n2, return INF if collision * * @param n1 LNode pointer of one LNode * @param n2 LNode pointer of the other LN

* @brief Get the cost between n1 and n2, return INF if collision * @param n1 LNode pointer of one LNode * @param n2 LNode pointer of the other LNode

* @brief Get the current costmap ROS wrapper object */

* @brief Computes the distance heuristic cost between the given node and the goal. * @param node The current node. * @param goal The goal node. * @

* @brief Returns the global time of the simulation. * @return The present global time of the simulation (zero initially). */

* @brief Get heuristics between n1 and n2 * * @param n1 LNode pointer of on LNode * @param n2 LNode pointer of the other LNode * @return heurist

* @brief Get heuristics between n1 and n2 * @param n1 LNode pointer of on LNode * @param n2 LNode pointer of the other LNode * @return heuristics b

* @brief Computes the combined heuristic cost (obstacle and distance) for the given node. * @param node The current node. * @param goal The goal nod

* @brief Get index in <x, y, theta> * @param pose given pose to get index of * @return index */

* @brief find the point on the path that is exactly the lookahead distance away from the * robot * @param lookahead_dist the lookahead distance

* @brief get the size of costmap * @return map_size the size of costmap */

* @brief Retrieves the neighboring nodes of the given node. * @param node The current node. * @param neighbors A vector to store the neighborin

* @brief Get neighbour DNodePtrs of node_ptr * @param node_ptr DNode to expand * @param neighbours neigbour DNodePtrs in vector */

* @brief Get neighbour LNodePtrs of nodePtr * * @param node_ptr DNode to expand * @param neighbours neigbour LNodePtrs in vector */

* @brief Get neighbour LNodePtrs of nodePtr * @param node_ptr DNode to expand * @param neighbours neigbour LNodePtrs in vector */

* @brief Returns the count of agents in the simulation. * @return The count of agents in the simulation. */

* @brief Returns the count of obstacle vertices in the simulation. * @return The count of obstacle vertices in the simulation. */

* @brief Computes the obstacle heuristic cost for the given node. * @param node The current node. * @return The obstacle heuristic cost. */

* @brief Get pose * @param Index Index of point * @return coordinates of point */

* @brief Get the repulsive force of APF * @return the repulsive force */

* @brief Computes a 2D rotation matrix for a given angle. * @param angle The rotation angle in radians. * @return A 2x2 Eigen::Matrix2d representing

returns the horizontal size of the workspace/map

returns the vertical size of the workspace/map

* @brief Get the closest DNode of the path to current state * @param current current state * @return the closest DNode */

* @brief Get the closest Node of the path to current state * * @param current current state * @return the closest Node */

* @brief Get the closest Node of the path to current state * @param current current state * @return the closest Node */

* @brief Returns the time step of the simulation. * @return The present time step of the simulation. */

Builds velocity vector for a person from a twist message

* @brief Get the Yaw Angles from PoseStamped * @param ps PoseStamped to calculate * @return yaw */

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

Returns true if all xyz rotation variances are finite

@brief Incoming message callback. Checks if the message pointer * is valid, increments m_messagesReceived, then calls * processMessage(). *

* @brief Gets cell index */

* @brief Init map */

* @brief Init map */

* @brief Init map */

* @brief Initializes the motion primitives for the Hybrid A* motion table. * Precomputes the trigonometric values, motion deltas, and travel c

* @brief Initialization of the local planner * @param name the name to give this instance of the trajectory planner * @param tf a po

* @brief Initialization of the local planner * @param name the name to give this instance of the trajectory planner * @param tf a po

* @brief Initialization of the local planner * @param name the name to give this instance of the trajectory planner * @param tf a po

* @brief Initialization of the local planner * @param name the name to give this instance of the trajectory planner * @param tf a po

Take note that tf::TransformListener* has been changed to tf2_ros::Buffer* in ROS Noetic

* @brief Initialization of the local planner * @param name the name to give this instance of the trajectory planner * @param tf a po

* @brief Initialization of the local planner * @param name the name to give this instance of the trajectory planner * @param tf a po

* @brief Load and parse the system configuration from the file. */

* @brief Planner initialization * @param name planner name * @param costmapRos costmap ROS wrapper */

* @brief Generate n particles with pointNum_ positions each within the map range * @param initial_positions The initial position sequence of particle

* @brief Generate n particles with pointNum_ positions each within the map range * @param initial_positions The initial position sequence of particle

* @brief Generate n ants with pointNum_ positions each within the map range * @param initial_positions The initial position sequence of ants * @para

* @brief Planning path interpolation. * @param mode motion, i.e., REEDS_SHEPP_L, REEDS_SHEPP_S, REEDS_SHEPP_R * @param length Single step mo

* @brief Planning path interpolation. * @param mode motion, i.e., DUBINS_L, DUBINS_S, DUBINS_R * @param length Single step motion path lengt

* @brief Creates equally spaced yaws between two angles following specified turn direction. * @param start_angle Starting angle in radians * @param

* @brief Given a set of N data points, D0, D1, ..., Dn and a degree k, find a B-spline curve of degree * k defined by N control points that pass

* @brief Check if there is collision between n1 and n2 * @param n1 DNode pointer of one DNode * @param n2 DNode pointer of the other DNode * @retur

* @brief Check if there is collision between n1 and n2 * * @param n1 DNode pointer of one DNode * @param n2 DNode pointer of the other DNode * @

* @brief Check if there is collision between n1 and n2 * @param n1 DNode pointer of one DNode * @param n2 DNode pointer of the other DNode * @retur

* @brief Checks if the given pose is in collision with any obstacles. * @param pose The pose to check in (x, y, theta). * @return true if the pose i

* @brief Check if the goal pose has been achieved * @return true if achieved, false otherwise */

* @brief Check if the goal pose has been achieved * @return True if achieved, false otherwise */

* @brief Check if the goal pose has been achieved * @return True if achieved, false otherwise */

* @brief Check if the goal pose has been achieved * @return true if achieved, false otherwise */

* @brief Check if the goal pose has been achieved * @return true if achieved, false otherwise */

* @brief Check if the goal pose has been achieved * @return True if achieved, false otherwise */

* @brief Judge whether the grid is inside the map * @param i grid index * @return true if inside the map else false */

Checks if a person shall be hidden (can be set using include/exclude person ID properties in GUI)

* @brief Checks if the given node has reached the goal. * @param node The current node. * @param goal The goal node. * @return true if the node is

* @brief Verifies the validity of the specified rotation. * @return True iff -PI/2 < pitch < PI/2 */