* @brief Check if a pose is valid,i.e. meets security criteria */

* @brief convert the WheelsConfig into separate WheelConfigs, one for each wheel */

* @brief reset all scores to start values */

* @brief Scorer a node */

* @brief Score a single pose */

* @brief Set goal to last element in path */

* @brief calculate all values that can be pre-calculated. */

* @brief Calculate the wheel support on the height map */

solves Ly=b

LR-Decomposition of a band matrix

* @brief Calculate the minimum value of the difference between height map and height image of a wheel */

* @brief Test for chassis collision without finding the contact position. It only determines if a collision happened. */