* @brief Create node expander instance */

* @brief Create a Trajectory from the previous node and the current control command */

* @brief Create set of command velocities */

* @brief Create set of command velocities */

* @brief Create set of command velocities */

* @brief This function is called when planning is finished. */

* @brief Normalized angle difference */

* @brief Get descriptor index for a given angle without testing bounds */

* @brief Get the position of the wheel joint in image coordinates */

* @brief Get difference between a node and the last used command velocity */

* @brief Find the smalles distance to the current path */

* @brief Get next preallocated node */

* @brief Return max number of search iterations */

* @brief Return max number of search iterations */

* @brief Return max number of search iterations */

* @brief Get number of splits per node */

* @brief Get angular velocity parameters */

* @brief Create the root node for start expanding */

* @brief Get new linear velocities, clamp if above or below thresholds */

* @brief Calculate the wheel orientation in the world coordinate system for a cmd and robot angle */

* @brief Calculate the wheel orientation relative to the robot angle for a given command */