diff --git a/README.md b/README.md
index b35aebf..fb65807 100644
--- a/README.md
+++ b/README.md
@@ -25,8 +25,8 @@ git clone https://github.com/amslabtech/dwa_planner.git
 
 # build
 cd /path/to/your/catkin_ws
-rosdep install --from-paths src --ignore-src -y      # Install dependencies
-catkin build dwa_planner -DCMAKE_BUILD_TYPE=Release  # Release build is recommended
+rosdep install -riy --from-paths src --rosdistro noetic # Install dependencies
+catkin build dwa_planner -DCMAKE_BUILD_TYPE=Release     # Release build is recommended
 ```
 
 ## How to use
@@ -34,7 +34,17 @@ catkin build dwa_planner -DCMAKE_BUILD_TYPE=Release  # Release build is recommen
 roslaunch dwa_planner local_planner.launch
 ```
 
-## Running the demo
+## Running the demo with docker
+```
+git clone https://github.com/amslabtech/dwa_planner.git && cd dwa_planner
+
+# build an image, create a container and start demo (Ctrl-c: stop a container and exit)
+docker compose up
+# remove a container
+docker compose down
+```
+
+## Running the demo without docker
 ### Using simulator
 ```
 # clone repository
@@ -45,19 +55,15 @@ git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.
 
 # build
 cd /path/to/your/catkin_ws
-rosdep install --from-paths src --ignore-src -y # Install dependencies
-catkin build -DCMAKE_BUILD_TYPE=Release         # Release build is recommended
+rosdep install -riy --from-paths src --rosdistro noetic
+catkin build -DCMAKE_BUILD_TYPE=Release
 
 # run demo
 export TURTLEBOT3_MODEL=burger
-roslaunch turtlebot3_navigation turtlebot3_navigation.launch
-export TURTLEBOT3_MODEL=burger
-roslaunch turtlebot3_gazebo turtlebot3_world.launch
-roslaunch dwa_planner local_planner.launch use_scan_as_input:=True v_path_width:=0.02
+roslaunch dwa_planner demo.launch
 ```
 ![demo 2](docs/images/dwa_planner_demo_2.gif)
 
-
 ## Node I/O
 ![Node I/O](docs/images/dwa_planner_io.png)
 
diff --git a/docs/Parameters_8md.html b/docs/Parameters_8md.html
index 01fda0c..6a4ca8a 100644
--- a/docs/Parameters_8md.html
+++ b/docs/Parameters_8md.html
@@ -27,7 +27,7 @@
 <hr size="1"><div style="align: right;">
 <a href="http://wiki.ros.org/dwa_planner">dwa_planner</a><br />
 Author(s): </br />
-<small>autogenerated on Sun Apr 28 2024 18:44:24</small>
+<small>autogenerated on Thu May 9 2024 01:28:03</small>
 </div>
 </body>
 </html>
diff --git a/docs/README_8md.html b/docs/README_8md.html
index 3056b41..a3e12f4 100644
--- a/docs/README_8md.html
+++ b/docs/README_8md.html
@@ -27,7 +27,7 @@
 <hr size="1"><div style="align: right;">
 <a href="http://wiki.ros.org/dwa_planner">dwa_planner</a><br />
 Author(s): </br />
-<small>autogenerated on Sun Apr 28 2024 18:44:24</small>
+<small>autogenerated on Thu May 9 2024 01:28:03</small>
 </div>
 </body>
 </html>
diff --git a/docs/Topics_8md.html b/docs/Topics_8md.html
index 9953494..ce7243c 100644
--- a/docs/Topics_8md.html
+++ b/docs/Topics_8md.html
@@ -27,7 +27,7 @@
 <hr size="1"><div style="align: right;">
 <a href="http://wiki.ros.org/dwa_planner">dwa_planner</a><br />
 Author(s): </br />
-<small>autogenerated on Sun Apr 28 2024 18:44:24</small>
+<small>autogenerated on Thu May 9 2024 01:28:03</small>
 </div>
 </body>
 </html>
diff --git a/docs/annotated.html b/docs/annotated.html
index 6c3e15a..915ffd6 100644
--- a/docs/annotated.html
+++ b/docs/annotated.html
@@ -35,7 +35,7 @@
 <hr size="1"><div style="align: right;">
 <a href="http://wiki.ros.org/dwa_planner">dwa_planner</a><br />
 Author(s): </br />
-<small>autogenerated on Sun Apr 28 2024 18:44:24</small>
+<small>autogenerated on Thu May 9 2024 01:28:03</small>
 </div>
 </body>
 </html>
diff --git a/docs/classDWAPlanner-members.html b/docs/classDWAPlanner-members.html
index 578552a..7573cee 100644
--- a/docs/classDWAPlanner-members.html
+++ b/docs/classDWAPlanner-members.html
@@ -40,6 +40,8 @@
   <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a05cec7ce1a8d75286d3c2a757bb7fd40">candidate_trajectories_pub_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a2821527877be42becc37cc9a867d3528">check_collision</a>(const std::vector&lt; State &gt; &amp;traj)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
   <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a60b3fffeaa811afd6dea2104760ab824">create_marker_msg</a>(const int id, const double scale, const std_msgs::ColorRGBA color, const std::vector&lt; State &gt; &amp;trajectory, const geometry_msgs::PolygonStamped &amp;footprint=geometry_msgs::PolygonStamped())</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#adeb538e0e0f6c5c83034322155796242">create_obs_list</a>(const nav_msgs::OccupancyGrid &amp;map)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a80ff5a1ae9bee7f160e1f39749bda262">create_obs_list</a>(const sensor_msgs::LaserScan &amp;scan)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#aae6d46481efb31274002c20048ebec3f">current_cmd_vel_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
   <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a1a8deecdb6e6d4bcb0a953bbfb6cf436">dist_to_goal_th_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#aaa592c3dbe4ad17abdf59f09b47a2242">dist_to_goal_th_callback</a>(const std_msgs::Float64ConstPtr &amp;msg)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
@@ -48,98 +50,93 @@
   <tr><td class="entry"><a class="el" href="classDWAPlanner.html#add9a8c8f11e295e5546ba6a3b203b244">DWAPlanner</a>(void)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a87923f18a97dd118ef3176072cb75626">edge_on_global_path_callback</a>(const nav_msgs::PathConstPtr &amp;msg)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
   <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a350b64cf0de51fbe656a09dd579de4f9">edge_on_global_path_sub_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a406d905277ba0475cec9fd9e9ea581d9">edge_on_global_path_subscribed_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a1baf4f87f2e0c29818fa36004994ed4d">edge_points_on_path_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#adb0934bf6918c7af1a6b846a1d6cfd8a">evaluate_trajectory</a>(const std::vector&lt; State &gt; &amp;trajectory, const Eigen::Vector3d &amp;goal)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a655d7e12cbe359f26dfcf5b52e7a6b33">finish_flag_pub_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a42d1a6b3f75845349a463d3331e636f9">footprint_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a987b2b726a8c1a1a7963802de728e54e">footprint_callback</a>(const geometry_msgs::PolygonStampedPtr &amp;msg)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#acc27d2dfefaa7903b413e8d37f36dab0">footprint_padding_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a8483eacf800d05461dc065480e06727e">footprint_sub_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#ac99b6cb22926c93029868661c4208304">footprint_subscribed_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#ab9c2ee71d5221afa423ce9c1d4c31362">edge_points_on_path_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#adb0934bf6918c7af1a6b846a1d6cfd8a">evaluate_trajectory</a>(const std::vector&lt; State &gt; &amp;trajectory, const Eigen::Vector3d &amp;goal)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a655d7e12cbe359f26dfcf5b52e7a6b33">finish_flag_pub_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#afd7eeefae6b6c03b987c7a7bef0b1030">footprint_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a987b2b726a8c1a1a7963802de728e54e">footprint_callback</a>(const geometry_msgs::PolygonStampedPtr &amp;msg)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#acc27d2dfefaa7903b413e8d37f36dab0">footprint_padding_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a8483eacf800d05461dc065480e06727e">footprint_sub_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
   <tr><td class="entry"><a class="el" href="classDWAPlanner.html#ac45d566b529f7420cef9e0e5a32907a0">generate_trajectory</a>(const double velocity, const double yawrate)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a3288c4eae26ab3219168a471f4e5d754">generate_trajectory</a>(const double yawrate, const Eigen::Vector3d &amp;goal)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
   <tr><td class="entry"><a class="el" href="classDWAPlanner.html#afe2097eedd8de9ce635105c4b34c356e">global_frame_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a68b70a29964590639005a4bbded68778">goal_callback</a>(const geometry_msgs::PoseStampedConstPtr &amp;msg)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#ad29b1f49e5199913b71be5fa67df819c">goal_msg_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#ae8808a39a056f2b8aea650283e0e6139">goal_msg_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#af2e7c61dc465e5fdc78d2f5e30bf3257">goal_sub_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a46626d8077945c25fb09eb3118cc1726">goal_subscribed_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a461198b6316c4b8d007957dff80008b2">has_finished_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a9c3faf43ce5629b5468141c47f637461">has_reached_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a6b737a7173a88d329229c4f6c032b469">hz_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a5f5a93a9a3e3534ace921095d813e6d9">is_inside_of_robot</a>(const geometry_msgs::Point &amp;obstacle, const geometry_msgs::PolygonStamped &amp;footprint, const State &amp;state)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#aacd71717ea2fa4a6c2d8a9eec186e189">is_inside_of_triangle</a>(const geometry_msgs::Point &amp;target_point, const geometry_msgs::Polygon &amp;triangle)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#ae05204eadd96f3ce82863ce35173c54d">listener_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a7ff50924e740d16a990e607ec5a043cd">load_params</a>(void)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a260998589030cf3ec16e817e23026f0a">local_map_callback</a>(const nav_msgs::OccupancyGridConstPtr &amp;msg)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a0eb2324a258632fd2a8cb7a02bbdb703">local_map_not_subscribe_count_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a9f69931d0d6bded376f1fd09b6a5bd80">local_map_sub_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a86c80590b91e97104cfe300ffbd1383c">local_map_updated_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a5508317f853be8074ec762e9204526e4">local_nh_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#ae44b49bc033ac28871f35634ced91e82">max_acceleration_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#abc0f00d95e9643456d4be61322c7ed30">max_d_yawrate_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#abff251f2fbf87c65af5da3937ec475bb">max_deceleration_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#ac2cd905a4ff32631d4f498a7a914fe0e">max_in_place_yawrate_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a0a449583ecdfc796e38a3c9b9475da4c">max_velocity_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a489f2afb286a975b1416e0c356cc3d92">max_yawrate_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a07bcd1c208c69b7c2e421f52199c1939">min_in_place_yawrate_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a9498b7b4e03f58e8286475a0c0f6d2ce">min_velocity_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#aeb3c7355707de25f99cf71e6c7382625">min_yawrate_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a320e7e8181cad788c41ce82b5fbd96ce">motion</a>(State &amp;state, const double velocity, const double yawrate)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a463096d7d4bcfc3bc7cd7a9cf9b9a398">move_footprint</a>(const State &amp;target_pose)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a0e48f37c68a14272520398b948999b63">nh_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#aae53f07597841281fe61f4448c12c6dc">normalize_costs</a>(std::vector&lt; Cost &gt; &amp;costs)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a6b0fc2a356d9c3c89863533b1e81091f">obs_cost_gain_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a40a68af9d1aa523e8b0a9064245ed40c">obs_list_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#abfa3ac6593ebdea54223da288841b1ca">obs_range_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a90a0f83317eb1b24bb50ee20fa90f251">odom_callback</a>(const nav_msgs::OdometryConstPtr &amp;msg)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a75f2b749625d62475f12f68c1ba86703">odom_not_subscribe_count_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a11369ac49bea10466ca789168ea6c71e">odom_sub_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a533327c9fae4aceb07a959958b24dd75">odom_updated_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a6f4ad39dc3067623588dc8f58088e497">path_cost_gain_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a966a8178627cee9001f042a07d934aec">predict_footprints_pub_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#afb16cecacc328ba0dfa1a3741380f65b">predict_time_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#accb330377e1503287d4228d334b61287">print_params</a>(void)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#ac63a462c7660f12c9c6ac79b6717e7c4">process</a>(void)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#ad2634dc4592ca28fb24f490e93751dc7">raycast</a>(const nav_msgs::OccupancyGrid &amp;map)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a461198b6316c4b8d007957dff80008b2">has_finished_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a9c3faf43ce5629b5468141c47f637461">has_reached_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a6b737a7173a88d329229c4f6c032b469">hz_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a5f5a93a9a3e3534ace921095d813e6d9">is_inside_of_robot</a>(const geometry_msgs::Point &amp;obstacle, const geometry_msgs::PolygonStamped &amp;footprint, const State &amp;state)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#aacd71717ea2fa4a6c2d8a9eec186e189">is_inside_of_triangle</a>(const geometry_msgs::Point &amp;target_point, const geometry_msgs::Polygon &amp;triangle)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#ae05204eadd96f3ce82863ce35173c54d">listener_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a7ff50924e740d16a990e607ec5a043cd">load_params</a>(void)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a260998589030cf3ec16e817e23026f0a">local_map_callback</a>(const nav_msgs::OccupancyGridConstPtr &amp;msg)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a0eb2324a258632fd2a8cb7a02bbdb703">local_map_not_subscribe_count_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a9f69931d0d6bded376f1fd09b6a5bd80">local_map_sub_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a86c80590b91e97104cfe300ffbd1383c">local_map_updated_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a5508317f853be8074ec762e9204526e4">local_nh_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#ae44b49bc033ac28871f35634ced91e82">max_acceleration_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#abc0f00d95e9643456d4be61322c7ed30">max_d_yawrate_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#abff251f2fbf87c65af5da3937ec475bb">max_deceleration_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#ac2cd905a4ff32631d4f498a7a914fe0e">max_in_place_yawrate_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a0a449583ecdfc796e38a3c9b9475da4c">max_velocity_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a489f2afb286a975b1416e0c356cc3d92">max_yawrate_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a07bcd1c208c69b7c2e421f52199c1939">min_in_place_yawrate_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a9498b7b4e03f58e8286475a0c0f6d2ce">min_velocity_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#aeb3c7355707de25f99cf71e6c7382625">min_yawrate_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a320e7e8181cad788c41ce82b5fbd96ce">motion</a>(State &amp;state, const double velocity, const double yawrate)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a463096d7d4bcfc3bc7cd7a9cf9b9a398">move_footprint</a>(const State &amp;target_pose)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a0e48f37c68a14272520398b948999b63">nh_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#aae53f07597841281fe61f4448c12c6dc">normalize_costs</a>(std::vector&lt; Cost &gt; &amp;costs)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a6b0fc2a356d9c3c89863533b1e81091f">obs_cost_gain_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a40a68af9d1aa523e8b0a9064245ed40c">obs_list_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#abfa3ac6593ebdea54223da288841b1ca">obs_range_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a90a0f83317eb1b24bb50ee20fa90f251">odom_callback</a>(const nav_msgs::OdometryConstPtr &amp;msg)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a75f2b749625d62475f12f68c1ba86703">odom_not_subscribe_count_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a11369ac49bea10466ca789168ea6c71e">odom_sub_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a533327c9fae4aceb07a959958b24dd75">odom_updated_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a6f4ad39dc3067623588dc8f58088e497">path_cost_gain_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a966a8178627cee9001f042a07d934aec">predict_footprints_pub_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#afb16cecacc328ba0dfa1a3741380f65b">predict_time_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#accb330377e1503287d4228d334b61287">print_params</a>(void)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#ac63a462c7660f12c9c6ac79b6717e7c4">process</a>(void)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#aba89ca88e42c4401e1391db53b4d2b8a">robot_frame_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
   <tr><td class="entry"><a class="el" href="classDWAPlanner.html#ab42a379ef62d72d9b23ff1de6c9416bd">robot_radius_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#af9dcc8b5d0e860ea2d50f753a34a7a36">scan_callback</a>(const sensor_msgs::LaserScanConstPtr &amp;msg)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
   <tr><td class="entry"><a class="el" href="classDWAPlanner.html#acc2706026b1ce2a7d83b2a33ef201145">scan_not_subscribe_count_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#adbc44965f21a9f550aad4b39effc705e">scan_sub_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#adb545e94c1525c67c70e6fe3a33575e5">scan_to_obs</a>(const sensor_msgs::LaserScan &amp;scan)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a7bc416f6ce1395235566cfd60d7b1770">scan_updated_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#ac0032d860e85f03c309168f6e557e39f">selected_trajectory_pub_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a153ce2ec57ab3365fd9f17d7f5395853">sim_direction_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a8de4fbc9efa1a16b62e2771c195042b8">sim_period_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a3b0f356e84760a5f9dcb90e19b6efa69">sim_time_samples_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a0673ca747da2b9d898408bf3f6b1ef35">sleep_time_after_finish_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a69508170a18753d06dec87f99c59eb6e">slow_velocity_th_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a2151c7a05e2111ec1cf0c501b265a493">speed_cost_gain_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a6f33c3917f8984609afae530828612e2">subscribe_count_th_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#aa138c408a334a2e07955e405cc9042d7">target_velocity_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a671005ef52b7acde226ef9b4c2c3cb3b">target_velocity_callback</a>(const geometry_msgs::TwistConstPtr &amp;msg)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a5d162a39c979fe8024aaa4a2babd3f17">target_velocity_sub_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a43f627b7c35d4e16e1ee80067daae75b">to_goal_cost_gain_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a3c3b2296c51126e0d12557566ace0453">turn_direction_th_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a0a6a9e24ea11d7a02203a9f2d57a6c2a">use_footprint_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#ae2ee1947fa1e0e8350275e111889cdda">use_path_cost_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a27f250fe24e2a4f222fa45e457ac87a9">use_scan_as_input_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#ae079e837dcdd7897fae18a09614bc863">use_speed_cost_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a7980adb5c585031a27aed3f953f4c674">v_path_width_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a87a87a7fe7eb6f6b279af965da562d6f">velocity_pub_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#aae7d1c62cfbe78b2d842775ed59947f6">velocity_samples_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a8d03036507e7ab8b5187e9a8f0038316">visualize_footprints</a>(const std::vector&lt; State &gt; &amp;trajectory, const ros::Publisher &amp;pub)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#af398e6211e5543357af9b72ea84f40a8">visualize_trajectories</a>(const std::vector&lt; std::pair&lt; std::vector&lt; State &gt;, bool &gt;&gt; &amp;trajectories, const ros::Publisher &amp;pub)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a8d103793791af71de914b43e7b8a5134">visualize_trajectory</a>(const std::vector&lt; State &gt; &amp;trajectory, const ros::Publisher &amp;pub)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#ac6b9c096dbcb9a93b035e8126f560aee">yawrate_samples_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a7bc416f6ce1395235566cfd60d7b1770">scan_updated_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#ac0032d860e85f03c309168f6e557e39f">selected_trajectory_pub_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a153ce2ec57ab3365fd9f17d7f5395853">sim_direction_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a8de4fbc9efa1a16b62e2771c195042b8">sim_period_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a3b0f356e84760a5f9dcb90e19b6efa69">sim_time_samples_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a0673ca747da2b9d898408bf3f6b1ef35">sleep_time_after_finish_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a69508170a18753d06dec87f99c59eb6e">slow_velocity_th_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a2151c7a05e2111ec1cf0c501b265a493">speed_cost_gain_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a6f33c3917f8984609afae530828612e2">subscribe_count_th_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#aa138c408a334a2e07955e405cc9042d7">target_velocity_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a671005ef52b7acde226ef9b4c2c3cb3b">target_velocity_callback</a>(const geometry_msgs::TwistConstPtr &amp;msg)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a5d162a39c979fe8024aaa4a2babd3f17">target_velocity_sub_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a43f627b7c35d4e16e1ee80067daae75b">to_goal_cost_gain_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a3c3b2296c51126e0d12557566ace0453">turn_direction_th_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a0a6a9e24ea11d7a02203a9f2d57a6c2a">use_footprint_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#ae2ee1947fa1e0e8350275e111889cdda">use_path_cost_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a27f250fe24e2a4f222fa45e457ac87a9">use_scan_as_input_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#ae079e837dcdd7897fae18a09614bc863">use_speed_cost_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#a7980adb5c585031a27aed3f953f4c674">v_path_width_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a87a87a7fe7eb6f6b279af965da562d6f">velocity_pub_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#aae7d1c62cfbe78b2d842775ed59947f6">velocity_samples_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a8d03036507e7ab8b5187e9a8f0038316">visualize_footprints</a>(const std::vector&lt; State &gt; &amp;trajectory, const ros::Publisher &amp;pub)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#af398e6211e5543357af9b72ea84f40a8">visualize_trajectories</a>(const std::vector&lt; std::pair&lt; std::vector&lt; State &gt;, bool &gt;&gt; &amp;trajectories, const ros::Publisher &amp;pub)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classDWAPlanner.html#a8d103793791af71de914b43e7b8a5134">visualize_trajectory</a>(const std::vector&lt; State &gt; &amp;trajectory, const ros::Publisher &amp;pub)</td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classDWAPlanner.html#ac6b9c096dbcb9a93b035e8126f560aee">yawrate_samples_</a></td><td class="entry"><a class="el" href="classDWAPlanner.html">DWAPlanner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
 </table></div><!-- contents -->
 
 <br clear="all" />
 <hr size="1"><div style="align: right;">
 <a href="http://wiki.ros.org/dwa_planner">dwa_planner</a><br />
 Author(s): </br />
-<small>autogenerated on Sun Apr 28 2024 18:44:24</small>
+<small>autogenerated on Thu May 9 2024 01:28:03</small>
 </div>
 </body>
 </html>
diff --git a/docs/classDWAPlanner.html b/docs/classDWAPlanner.html
index 98ca142..ba1ef7c 100644
--- a/docs/classDWAPlanner.html
+++ b/docs/classDWAPlanner.html
@@ -85,6 +85,12 @@
 <tr class="memitem:a60b3fffeaa811afd6dea2104760ab824"><td class="memItemLeft" align="right" valign="top">visualization_msgs::Marker&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDWAPlanner.html#a60b3fffeaa811afd6dea2104760ab824">create_marker_msg</a> (const int id, const double scale, const std_msgs::ColorRGBA color, const std::vector&lt; <a class="el" href="classDWAPlanner_1_1State.html">State</a> &gt; &amp;trajectory, const geometry_msgs::PolygonStamped &amp;footprint=geometry_msgs::PolygonStamped())</td></tr>
 <tr class="memdesc:a60b3fffeaa811afd6dea2104760ab824"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a marker message.  <a href="classDWAPlanner.html#a60b3fffeaa811afd6dea2104760ab824">More...</a><br /></td></tr>
 <tr class="separator:a60b3fffeaa811afd6dea2104760ab824"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adeb538e0e0f6c5c83034322155796242"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDWAPlanner.html#adeb538e0e0f6c5c83034322155796242">create_obs_list</a> (const nav_msgs::OccupancyGrid &amp;map)</td></tr>
+<tr class="memdesc:adeb538e0e0f6c5c83034322155796242"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get obstacle list from local map.  <a href="classDWAPlanner.html#adeb538e0e0f6c5c83034322155796242">More...</a><br /></td></tr>
+<tr class="separator:adeb538e0e0f6c5c83034322155796242"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a80ff5a1ae9bee7f160e1f39749bda262"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDWAPlanner.html#a80ff5a1ae9bee7f160e1f39749bda262">create_obs_list</a> (const sensor_msgs::LaserScan &amp;scan)</td></tr>
+<tr class="memdesc:a80ff5a1ae9bee7f160e1f39749bda262"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get obstacle list from laser scan.  <a href="classDWAPlanner.html#a80ff5a1ae9bee7f160e1f39749bda262">More...</a><br /></td></tr>
+<tr class="separator:a80ff5a1ae9bee7f160e1f39749bda262"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:aaa592c3dbe4ad17abdf59f09b47a2242"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDWAPlanner.html#aaa592c3dbe4ad17abdf59f09b47a2242">dist_to_goal_th_callback</a> (const std_msgs::Float64ConstPtr &amp;msg)</td></tr>
 <tr class="memdesc:aaa592c3dbe4ad17abdf59f09b47a2242"><td class="mdescLeft">&#160;</td><td class="mdescRight">A callback to handle buffering distance to goal threshold messages.  <a href="classDWAPlanner.html#aaa592c3dbe4ad17abdf59f09b47a2242">More...</a><br /></td></tr>
 <tr class="separator:aaa592c3dbe4ad17abdf59f09b47a2242"><td class="memSeparator" colspan="2">&#160;</td></tr>
@@ -142,15 +148,9 @@
 <tr class="memitem:ac63a462c7660f12c9c6ac79b6717e7c4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDWAPlanner.html#ac63a462c7660f12c9c6ac79b6717e7c4">process</a> (void)</td></tr>
 <tr class="memdesc:ac63a462c7660f12c9c6ac79b6717e7c4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Execute local path planning.  <a href="classDWAPlanner.html#ac63a462c7660f12c9c6ac79b6717e7c4">More...</a><br /></td></tr>
 <tr class="separator:ac63a462c7660f12c9c6ac79b6717e7c4"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:ad2634dc4592ca28fb24f490e93751dc7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDWAPlanner.html#ad2634dc4592ca28fb24f490e93751dc7">raycast</a> (const nav_msgs::OccupancyGrid &amp;map)</td></tr>
-<tr class="memdesc:ad2634dc4592ca28fb24f490e93751dc7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get obstacle list from local map.  <a href="classDWAPlanner.html#ad2634dc4592ca28fb24f490e93751dc7">More...</a><br /></td></tr>
-<tr class="separator:ad2634dc4592ca28fb24f490e93751dc7"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:af9dcc8b5d0e860ea2d50f753a34a7a36"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDWAPlanner.html#af9dcc8b5d0e860ea2d50f753a34a7a36">scan_callback</a> (const sensor_msgs::LaserScanConstPtr &amp;msg)</td></tr>
 <tr class="memdesc:af9dcc8b5d0e860ea2d50f753a34a7a36"><td class="mdescLeft">&#160;</td><td class="mdescRight">A callback to hanldle buffering scan messages.  <a href="classDWAPlanner.html#af9dcc8b5d0e860ea2d50f753a34a7a36">More...</a><br /></td></tr>
 <tr class="separator:af9dcc8b5d0e860ea2d50f753a34a7a36"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:adb545e94c1525c67c70e6fe3a33575e5"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDWAPlanner.html#adb545e94c1525c67c70e6fe3a33575e5">scan_to_obs</a> (const sensor_msgs::LaserScan &amp;scan)</td></tr>
-<tr class="memdesc:adb545e94c1525c67c70e6fe3a33575e5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get obstacle list from laser scan.  <a href="classDWAPlanner.html#adb545e94c1525c67c70e6fe3a33575e5">More...</a><br /></td></tr>
-<tr class="separator:adb545e94c1525c67c70e6fe3a33575e5"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a671005ef52b7acde226ef9b4c2c3cb3b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDWAPlanner.html#a671005ef52b7acde226ef9b4c2c3cb3b">target_velocity_callback</a> (const geometry_msgs::TwistConstPtr &amp;msg)</td></tr>
 <tr class="memdesc:a671005ef52b7acde226ef9b4c2c3cb3b"><td class="mdescLeft">&#160;</td><td class="mdescRight">A callback to hanldle buffering target velocity messages.  <a href="classDWAPlanner.html#a671005ef52b7acde226ef9b4c2c3cb3b">More...</a><br /></td></tr>
 <tr class="separator:a671005ef52b7acde226ef9b4c2c3cb3b"><td class="memSeparator" colspan="2">&#160;</td></tr>
@@ -180,28 +180,22 @@
 <tr class="separator:a9ff6bc1bb61fb6d9a94310a949b3d58f"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a350b64cf0de51fbe656a09dd579de4f9"><td class="memItemLeft" align="right" valign="top">ros::Subscriber&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDWAPlanner.html#a350b64cf0de51fbe656a09dd579de4f9">edge_on_global_path_sub_</a></td></tr>
 <tr class="separator:a350b64cf0de51fbe656a09dd579de4f9"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a406d905277ba0475cec9fd9e9ea581d9"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDWAPlanner.html#a406d905277ba0475cec9fd9e9ea581d9">edge_on_global_path_subscribed_</a></td></tr>
-<tr class="separator:a406d905277ba0475cec9fd9e9ea581d9"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a1baf4f87f2e0c29818fa36004994ed4d"><td class="memItemLeft" align="right" valign="top">std::vector&lt; geometry_msgs::PoseStamped &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDWAPlanner.html#a1baf4f87f2e0c29818fa36004994ed4d">edge_points_on_path_</a></td></tr>
-<tr class="separator:a1baf4f87f2e0c29818fa36004994ed4d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab9c2ee71d5221afa423ce9c1d4c31362"><td class="memItemLeft" align="right" valign="top">std::optional&lt; nav_msgs::Path &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDWAPlanner.html#ab9c2ee71d5221afa423ce9c1d4c31362">edge_points_on_path_</a></td></tr>
+<tr class="separator:ab9c2ee71d5221afa423ce9c1d4c31362"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a655d7e12cbe359f26dfcf5b52e7a6b33"><td class="memItemLeft" align="right" valign="top">ros::Publisher&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDWAPlanner.html#a655d7e12cbe359f26dfcf5b52e7a6b33">finish_flag_pub_</a></td></tr>
 <tr class="separator:a655d7e12cbe359f26dfcf5b52e7a6b33"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a42d1a6b3f75845349a463d3331e636f9"><td class="memItemLeft" align="right" valign="top">geometry_msgs::PolygonStamped&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDWAPlanner.html#a42d1a6b3f75845349a463d3331e636f9">footprint_</a></td></tr>
-<tr class="separator:a42d1a6b3f75845349a463d3331e636f9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afd7eeefae6b6c03b987c7a7bef0b1030"><td class="memItemLeft" align="right" valign="top">std::optional&lt; geometry_msgs::PolygonStamped &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDWAPlanner.html#afd7eeefae6b6c03b987c7a7bef0b1030">footprint_</a></td></tr>
+<tr class="separator:afd7eeefae6b6c03b987c7a7bef0b1030"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:ae8808a39a056f2b8aea650283e0e6139"><td class="memItemLeft" align="right" valign="top">std::optional&lt; geometry_msgs::PoseStamped &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDWAPlanner.html#ae8808a39a056f2b8aea650283e0e6139">goal_msg_</a></td></tr>
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@@ -354,7 +348,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ab601045c87c8925652ec423d
 <p>Calculate the command velocity. </p>
 <dl class="section return"><dt>Returns</dt><dd>The command velocity </dd></dl>
 
-<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00364">364</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00358">358</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
 
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@@ -394,7 +388,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a840a031c8d25484bcab244ed
 </dl>
 <dl class="section return"><dt>Returns</dt><dd>The distance from robot footprint to the nearest obstacle </dd></dl>
 
-<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00605">605</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00599">599</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
 
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@@ -423,7 +417,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#aa8947f7df5a12a7f2ad844b8
 </dl>
 <dl class="section return"><dt>Returns</dt><dd>The distance of current pose to global path </dd></dl>
 
-<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00522">522</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00516">516</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
 
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@@ -446,7 +440,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#aee78d648c4143bbb16320b8c
 <p>Calculate dynamic window. </p>
 <dl class="section return"><dt>Returns</dt><dd>The dynamic window </dd></dl>
 
-<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00469">469</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00463">463</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
 
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@@ -493,7 +487,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a2639f54e669e23a5022be944
 </dl>
 <dl class="section return"><dt>Returns</dt><dd>The intersection point of the line and the circle </dd></dl>
 
-<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00572">572</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00566">566</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
 
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@@ -522,7 +516,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a51b0f44c576d7d75b64a6673
 </dl>
 <dl class="section return"><dt>Returns</dt><dd>The obstacle cost </dd></dl>
 
-<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00485">485</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00479">479</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
 
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@@ -551,7 +545,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ad828f8cf5e3705c42fe494db
 </dl>
 <dl class="section return"><dt>Returns</dt><dd>The path cost </dd></dl>
 
-<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00514">514</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00508">508</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
 
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@@ -580,7 +574,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ac9a0ab8e147e8d8aaa752071
 </dl>
 <dl class="section return"><dt>Returns</dt><dd>The speed cost </dd></dl>
 
-<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00506">506</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00500">500</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
 
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 </dl>
 <dl class="section return"><dt>Returns</dt><dd>The distance of current pose to goal pose </dd></dl>
 
-<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00479">479</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00473">473</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
 
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 </dl>
 <dl class="section return"><dt>Returns</dt><dd>True if the robot can adjust the direction </dd></dl>
 
-<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00436">436</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00430">430</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
 
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@@ -672,7 +666,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ad481084566fe0bb82f732a8a
 <p>Check if the robot can move. </p>
 <dl class="section return"><dt>Returns</dt><dd>True if the robot can move </dd></dl>
 
-<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00334">334</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00328">328</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
 
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@@ -701,7 +695,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a2821527877be42becc37cc9a
 </dl>
 <dl class="section return"><dt>Returns</dt><dd>True if the robot has collided </dd></dl>
 
-<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00451">451</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00445">445</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
 
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@@ -761,7 +755,63 @@ <h2 class="memtitle"><span class="permalink"><a href="#a60b3fffeaa811afd6dea2104
   </dd>
 </dl>
 
-<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00768">768</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00762">762</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
+
+</div>
+</div>
+<a id="adeb538e0e0f6c5c83034322155796242"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adeb538e0e0f6c5c83034322155796242">&#9670;&nbsp;</a></span>create_obs_list() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void DWAPlanner::create_obs_list </td>
+          <td>(</td>
+          <td class="paramtype">const nav_msgs::OccupancyGrid &amp;&#160;</td>
+          <td class="paramname"><em>map</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get obstacle list from local map. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">map</td><td>The local map </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00736">736</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
+
+</div>
+</div>
+<a id="a80ff5a1ae9bee7f160e1f39749bda262"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a80ff5a1ae9bee7f160e1f39749bda262">&#9670;&nbsp;</a></span>create_obs_list() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void DWAPlanner::create_obs_list </td>
+          <td>(</td>
+          <td class="paramtype">const sensor_msgs::LaserScan &amp;&#160;</td>
+          <td class="paramname"><em>scan</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get obstacle list from laser scan. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">scan</td><td>The laser scan </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00715">715</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
 
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@@ -783,7 +833,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#aaa592c3dbe4ad17abdf59f09
 
 <p>A callback to handle buffering distance to goal threshold messages. </p>
 
-<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00148">148</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00144">144</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
 
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@@ -823,7 +873,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a2174dc1fa664acb76368808b
   </dd>
 </dl>
 
-<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00173">173</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00167">167</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
 
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@@ -845,7 +895,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a87923f18a97dd118ef317607
 
 <p>A callback to handle buffering edge on global path messages. </p>
 
-<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00154">154</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00150">150</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
 
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@@ -885,7 +935,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#adb0934bf6918c7af1a6b846a
 </dl>
 <dl class="section return"><dt>Returns</dt><dd>The cost of trajectory </dd></dl>
 
-<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00561">561</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00555">555</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
 
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@@ -907,7 +957,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a987b2b726a8c1a1a7963802d
 
 <p>A calllback to handle buffering footprint messages. </p>
 
-<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00137">137</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00134">134</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
 
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@@ -947,7 +997,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#ac45d566b529f7420cef9e0e5
 </dl>
 <dl class="section return"><dt>Returns</dt><dd>The generated trajectory </dd></dl>
 
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+<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00527">527</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
 
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@@ -987,7 +1037,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a3288c4eae26ab3219168a471
 </dl>
 <dl class="section return"><dt>Returns</dt><dd>The generated trajectory </dd></dl>
 
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+<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00540">540</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
 
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 <p>A callback to hanldle buffering local goal messages. </p>
 
-<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00091">91</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00088">88</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
 
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 </dl>
 <dl class="section return"><dt>Returns</dt><dd>True if the obstacle is inside of robot footprint </dd></dl>
 
-<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00655">655</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00649">649</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
 
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 </dl>
 <dl class="section return"><dt>Returns</dt><dd>True if the target point is inside of triangle </dd></dl>
 
-<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00680">680</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
+<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00674">674</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
 
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 <p>A callback to hanldle buffering local map messages. </p>
 
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 <p>Execute local path planning. </p>
 
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 <p>A callback to hanldle buffering scan messages. </p>
 
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-<p>Get obstacle list from laser scan. </p>
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 <p>A callback to hanldle buffering target velocity messages. </p>
 
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+<p class="definition">Definition at line <a class="el" href="dwa__planner_8h_source.html#l00468">468</a> of file <a class="el" href="dwa__planner_8h_source.html">dwa_planner.h</a>.</p>
 
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-<p class="definition">Definition at line <a class="el" href="dwa__planner_8h_source.html#l00462">462</a> of file <a class="el" href="dwa__planner_8h_source.html">dwa_planner.h</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#a46626d8077945c25fb09eb3118cc1726">&#9670;&nbsp;</a></span>goal_subscribed_</h2>
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+<p class="definition">Definition at line <a class="el" href="dwa__planner_8h_source.html#l00461">461</a> of file <a class="el" href="dwa__planner_8h_source.html">dwa_planner.h</a>.</p>
 
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+<p class="definition">Definition at line <a class="el" href="dwa__planner_8h_source.html#l00475">475</a> of file <a class="el" href="dwa__planner_8h_source.html">dwa_planner.h</a>.</p>
 
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+<p class="definition">Definition at line <a class="el" href="dwa__planner_8h_source.html#l00448">448</a> of file <a class="el" href="dwa__planner_8h_source.html">dwa_planner.h</a>.</p>
 
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+<p class="definition">Definition at line <a class="el" href="dwa__planner_8h_source.html#l00462">462</a> of file <a class="el" href="dwa__planner_8h_source.html">dwa_planner.h</a>.</p>
 
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+<p class="definition">Definition at line <a class="el" href="dwa__planner_8h_source.html#l00440">440</a> of file <a class="el" href="dwa__planner_8h_source.html">dwa_planner.h</a>.</p>
 
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+<p class="definition">Definition at line <a class="el" href="dwa__planner_8h_source.html#l00452">452</a> of file <a class="el" href="dwa__planner_8h_source.html">dwa_planner.h</a>.</p>
 
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+<p class="definition">Definition at line <a class="el" href="dwa__planner_8h_source.html#l00415">415</a> of file <a class="el" href="dwa__planner_8h_source.html">dwa_planner.h</a>.</p>
 
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+<p class="definition">Definition at line <a class="el" href="dwa__planner_8h_source.html#l00417">417</a> of file <a class="el" href="dwa__planner_8h_source.html">dwa_planner.h</a>.</p>
 
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+<p class="definition">Definition at line <a class="el" href="dwa__planner_8h_source.html#l00409">409</a> of file <a class="el" href="dwa__planner_8h_source.html">dwa_planner.h</a>.</p>
 
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-<p class="definition">Definition at line <a class="el" href="dwa__planner_8h_source.html#l00409">409</a> of file <a class="el" href="dwa__planner_8h_source.html">dwa_planner.h</a>.</p>
+<p class="definition">Definition at line <a class="el" href="dwa__planner_8h_source.html#l00411">411</a> of file <a class="el" href="dwa__planner_8h_source.html">dwa_planner.h</a>.</p>
 
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+<p class="definition">Definition at line <a class="el" href="dwa__planner_8h_source.html#l00414">414</a> of file <a class="el" href="dwa__planner_8h_source.html">dwa_planner.h</a>.</p>
 
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+<p class="definition">Definition at line <a class="el" href="dwa__planner_8h_source.html#l00410">410</a> of file <a class="el" href="dwa__planner_8h_source.html">dwa_planner.h</a>.</p>
 
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+<p class="definition">Definition at line <a class="el" href="dwa__planner_8h_source.html#l00412">412</a> of file <a class="el" href="dwa__planner_8h_source.html">dwa_planner.h</a>.</p>
 
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+<p class="definition">Definition at line <a class="el" href="dwa__planner_8h_source.html#l00451">451</a> of file <a class="el" href="dwa__planner_8h_source.html">dwa_planner.h</a>.</p>
 
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+<p class="definition">Definition at line <a class="el" href="dwa__planner_8h_source.html#l00422">422</a> of file <a class="el" href="dwa__planner_8h_source.html">dwa_planner.h</a>.</p>
 
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+<p class="definition">Definition at line <a class="el" href="dwa__planner_8h_source.html#l00469">469</a> of file <a class="el" href="dwa__planner_8h_source.html">dwa_planner.h</a>.</p>
 
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+<p class="definition">Definition at line <a class="el" href="dwa__planner_8h_source.html#l00431">431</a> of file <a class="el" href="dwa__planner_8h_source.html">dwa_planner.h</a>.</p>
 
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+<p class="definition">Definition at line <a class="el" href="dwa__planner_8h_source.html#l00447">447</a> of file <a class="el" href="dwa__planner_8h_source.html">dwa_planner.h</a>.</p>
 
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+<p class="definition">Definition at line <a class="el" href="dwa__planner_8h_source.html#l00463">463</a> of file <a class="el" href="dwa__planner_8h_source.html">dwa_planner.h</a>.</p>
 
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+<p class="definition">Definition at line <a class="el" href="dwa__planner_8h_source.html#l00439">439</a> of file <a class="el" href="dwa__planner_8h_source.html">dwa_planner.h</a>.</p>
 
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+<p class="definition">Definition at line <a class="el" href="dwa__planner_8h_source.html#l00425">425</a> of file <a class="el" href="dwa__planner_8h_source.html">dwa_planner.h</a>.</p>
 
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+<p class="definition">Definition at line <a class="el" href="dwa__planner_8h_source.html#l00456">456</a> of file <a class="el" href="dwa__planner_8h_source.html">dwa_planner.h</a>.</p>
 
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+<p class="definition">Definition at line <a class="el" href="dwa__planner_8h_source.html#l00420">420</a> of file <a class="el" href="dwa__planner_8h_source.html">dwa_planner.h</a>.</p>
 
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+<p class="definition">Definition at line <a class="el" href="dwa__planner_8h_source.html#l00406">406</a> of file <a class="el" href="dwa__planner_8h_source.html">dwa_planner.h</a>.</p>
 
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+<p class="definition">Definition at line <a class="el" href="dwa__planner_8h_source.html#l00432">432</a> of file <a class="el" href="dwa__planner_8h_source.html">dwa_planner.h</a>.</p>
 
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-<p class="definition">Definition at line <a class="el" href="dwa__planner_8h_source.html#l00450">450</a> of file <a class="el" href="dwa__planner_8h_source.html">dwa_planner.h</a>.</p>
+<p class="definition">Definition at line <a class="el" href="dwa__planner_8h_source.html#l00449">449</a> of file <a class="el" href="dwa__planner_8h_source.html">dwa_planner.h</a>.</p>
 
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+<p class="definition">Definition at line <a class="el" href="dwa__planner_8h_source.html#l00464">464</a> of file <a class="el" href="dwa__planner_8h_source.html">dwa_planner.h</a>.</p>
 
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-<p class="definition">Definition at line <a class="el" href="dwa__planner_8h_source.html#l00442">442</a> of file <a class="el" href="dwa__planner_8h_source.html">dwa_planner.h</a>.</p>
+<p class="definition">Definition at line <a class="el" href="dwa__planner_8h_source.html#l00441">441</a> of file <a class="el" href="dwa__planner_8h_source.html">dwa_planner.h</a>.</p>
 
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+<p class="definition">Definition at line <a class="el" href="dwa__planner_8h_source.html#l00444">444</a> of file <a class="el" href="dwa__planner_8h_source.html">dwa_planner.h</a>.</p>
 
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+<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00069">69</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
 
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+<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00086">86</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
 
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+<p class="definition">Definition at line <a class="el" href="dwa__planner_8cpp_source.html#l00077">77</a> of file <a class="el" href="dwa__planner_8cpp_source.html">dwa_planner.cpp</a>.</p>
 
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 <a href="http://wiki.ros.org/dwa_planner">dwa_planner</a><br />
 Author(s): </br />
-<small>autogenerated on Sun Apr 28 2024 18:44:24</small>
+<small>autogenerated on Thu May 9 2024 01:28:03</small>
 </div>
 </body>
 </html>
diff --git a/docs/dir_49e56c817e5e54854c35e136979f97ca.html b/docs/dir_49e56c817e5e54854c35e136979f97ca.html
index df3f62a..ece0801 100644
--- a/docs/dir_49e56c817e5e54854c35e136979f97ca.html
+++ b/docs/dir_49e56c817e5e54854c35e136979f97ca.html
@@ -31,7 +31,7 @@
 <hr size="1"><div style="align: right;">
 <a href="http://wiki.ros.org/dwa_planner">dwa_planner</a><br />
 Author(s): </br />
-<small>autogenerated on Sun Apr 28 2024 18:44:24</small>
+<small>autogenerated on Thu May 9 2024 01:28:03</small>
 </div>
 </body>
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diff --git a/docs/dir_4d304beff246a0fadde0c304060f6af4.html b/docs/dir_4d304beff246a0fadde0c304060f6af4.html
index 531b2bb..d23dddb 100644
--- a/docs/dir_4d304beff246a0fadde0c304060f6af4.html
+++ b/docs/dir_4d304beff246a0fadde0c304060f6af4.html
@@ -37,7 +37,7 @@
 <hr size="1"><div style="align: right;">
 <a href="http://wiki.ros.org/dwa_planner">dwa_planner</a><br />
 Author(s): </br />
-<small>autogenerated on Sun Apr 28 2024 18:44:24</small>
+<small>autogenerated on Thu May 9 2024 01:28:03</small>
 </div>
 </body>
 </html>
diff --git a/docs/dir_68267d1309a1af8e8297ef4c3efbcdba.html b/docs/dir_68267d1309a1af8e8297ef4c3efbcdba.html
index 30afbb0..1d401da 100644
--- a/docs/dir_68267d1309a1af8e8297ef4c3efbcdba.html
+++ b/docs/dir_68267d1309a1af8e8297ef4c3efbcdba.html
@@ -51,7 +51,7 @@
 <hr size="1"><div style="align: right;">
 <a href="http://wiki.ros.org/dwa_planner">dwa_planner</a><br />
 Author(s): </br />
-<small>autogenerated on Sun Apr 28 2024 18:44:24</small>
+<small>autogenerated on Thu May 9 2024 01:28:03</small>
 </div>
 </body>
 </html>
diff --git a/docs/dir_d44c64559bbebec7f509842c48db8b23.html b/docs/dir_d44c64559bbebec7f509842c48db8b23.html
index 92feffe..3a86f52 100644
--- a/docs/dir_d44c64559bbebec7f509842c48db8b23.html
+++ b/docs/dir_d44c64559bbebec7f509842c48db8b23.html
@@ -37,7 +37,7 @@
 <hr size="1"><div style="align: right;">
 <a href="http://wiki.ros.org/dwa_planner">dwa_planner</a><br />
 Author(s): </br />
-<small>autogenerated on Sun Apr 28 2024 18:44:24</small>
+<small>autogenerated on Thu May 9 2024 01:28:03</small>
 </div>
 </body>
 </html>
diff --git a/docs/dwa__planner_8cpp.html b/docs/dwa__planner_8cpp.html
index ca7abb7..a2e130e 100644
--- a/docs/dwa__planner_8cpp.html
+++ b/docs/dwa__planner_8cpp.html
@@ -68,7 +68,7 @@
 <hr size="1"><div style="align: right;">
 <a href="http://wiki.ros.org/dwa_planner">dwa_planner</a><br />
 Author(s): </br />
-<small>autogenerated on Sun Apr 28 2024 18:44:24</small>
+<small>autogenerated on Thu May 9 2024 01:28:03</small>
 </div>
 </body>
 </html>
diff --git a/docs/dwa__planner_8cpp_source.html b/docs/dwa__planner_8cpp_source.html
index a3cf6f9..bd0fdcb 100644
--- a/docs/dwa__planner_8cpp_source.html
+++ b/docs/dwa__planner_8cpp_source.html
@@ -35,987 +35,977 @@
 <div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="dwa__planner_8h.html">dwa_planner/dwa_planner.h</a>&quot;</span></div>
 <div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
 <div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#add9a8c8f11e295e5546ba6a3b203b244">   10</a></span>&#160;<a class="code" href="classDWAPlanner.html#add9a8c8f11e295e5546ba6a3b203b244">DWAPlanner::DWAPlanner</a>(<span class="keywordtype">void</span>)</div>
-<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;    : local_nh_(<span class="stringliteral">&quot;~&quot;</span>), footprint_subscribed_(false), goal_subscribed_(false), odom_updated_(false),</div>
-<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;      edge_on_global_path_subscribed_(false), local_map_updated_(false), scan_updated_(false), has_reached_(false),</div>
-<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;      use_speed_cost_(false), odom_not_subscribe_count_(0), local_map_not_subscribe_count_(0),</div>
-<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;      scan_not_subscribe_count_(0)</div>
-<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;{</div>
-<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  <a class="code" href="classDWAPlanner.html#a7ff50924e740d16a990e607ec5a043cd">load_params</a>();</div>
-<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
-<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  ROS_INFO(<span class="stringliteral">&quot;=== DWA Planner ===&quot;</span>);</div>
-<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <a class="code" href="classDWAPlanner.html#accb330377e1503287d4228d334b61287">print_params</a>();</div>
-<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160; </div>
-<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  <a class="code" href="classDWAPlanner.html#a87a87a7fe7eb6f6b279af965da562d6f">velocity_pub_</a> = <a class="code" href="classDWAPlanner.html#a0e48f37c68a14272520398b948999b63">nh_</a>.advertise&lt;geometry_msgs::Twist&gt;(<span class="stringliteral">&quot;/cmd_vel&quot;</span>, 1);</div>
-<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <a class="code" href="classDWAPlanner.html#a05cec7ce1a8d75286d3c2a757bb7fd40">candidate_trajectories_pub_</a> = <a class="code" href="classDWAPlanner.html#a5508317f853be8074ec762e9204526e4">local_nh_</a>.advertise&lt;visualization_msgs::MarkerArray&gt;(<span class="stringliteral">&quot;candidate_trajectories&quot;</span>, 1);</div>
-<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <a class="code" href="classDWAPlanner.html#ac0032d860e85f03c309168f6e557e39f">selected_trajectory_pub_</a> = <a class="code" href="classDWAPlanner.html#a5508317f853be8074ec762e9204526e4">local_nh_</a>.advertise&lt;visualization_msgs::Marker&gt;(<span class="stringliteral">&quot;selected_trajectory&quot;</span>, 1);</div>
-<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  <a class="code" href="classDWAPlanner.html#a966a8178627cee9001f042a07d934aec">predict_footprints_pub_</a> = <a class="code" href="classDWAPlanner.html#a5508317f853be8074ec762e9204526e4">local_nh_</a>.advertise&lt;visualization_msgs::MarkerArray&gt;(<span class="stringliteral">&quot;predict_footprints&quot;</span>, 1);</div>
-<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  <a class="code" href="classDWAPlanner.html#a655d7e12cbe359f26dfcf5b52e7a6b33">finish_flag_pub_</a> = <a class="code" href="classDWAPlanner.html#a5508317f853be8074ec762e9204526e4">local_nh_</a>.advertise&lt;std_msgs::Bool&gt;(<span class="stringliteral">&quot;finish_flag&quot;</span>, 1);</div>
-<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160; </div>
-<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  <a class="code" href="classDWAPlanner.html#a9ff6bc1bb61fb6d9a94310a949b3d58f">dist_to_goal_th_sub_</a> = <a class="code" href="classDWAPlanner.html#a0e48f37c68a14272520398b948999b63">nh_</a>.subscribe(<span class="stringliteral">&quot;/dist_to_goal_th&quot;</span>, 1, &amp;<a class="code" href="classDWAPlanner.html#aaa592c3dbe4ad17abdf59f09b47a2242">DWAPlanner::dist_to_goal_th_callback</a>, <span class="keyword">this</span>);</div>
-<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  <a class="code" href="classDWAPlanner.html#a350b64cf0de51fbe656a09dd579de4f9">edge_on_global_path_sub_</a> = <a class="code" href="classDWAPlanner.html#a0e48f37c68a14272520398b948999b63">nh_</a>.subscribe(<span class="stringliteral">&quot;/path&quot;</span>, 1, &amp;<a class="code" href="classDWAPlanner.html#a87923f18a97dd118ef3176072cb75626">DWAPlanner::edge_on_global_path_callback</a>, <span class="keyword">this</span>);</div>
-<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  <a class="code" href="classDWAPlanner.html#a8483eacf800d05461dc065480e06727e">footprint_sub_</a> = <a class="code" href="classDWAPlanner.html#a0e48f37c68a14272520398b948999b63">nh_</a>.subscribe(<span class="stringliteral">&quot;/footprint&quot;</span>, 1, &amp;<a class="code" href="classDWAPlanner.html#a987b2b726a8c1a1a7963802de728e54e">DWAPlanner::footprint_callback</a>, <span class="keyword">this</span>);</div>
-<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <a class="code" href="classDWAPlanner.html#af2e7c61dc465e5fdc78d2f5e30bf3257">goal_sub_</a> = <a class="code" href="classDWAPlanner.html#a0e48f37c68a14272520398b948999b63">nh_</a>.subscribe(<span class="stringliteral">&quot;/move_base_simple/goal&quot;</span>, 1, &amp;<a class="code" href="classDWAPlanner.html#a68b70a29964590639005a4bbded68778">DWAPlanner::goal_callback</a>, <span class="keyword">this</span>);</div>
-<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  <a class="code" href="classDWAPlanner.html#a9f69931d0d6bded376f1fd09b6a5bd80">local_map_sub_</a> = <a class="code" href="classDWAPlanner.html#a0e48f37c68a14272520398b948999b63">nh_</a>.subscribe(<span class="stringliteral">&quot;/local_map&quot;</span>, 1, &amp;<a class="code" href="classDWAPlanner.html#a260998589030cf3ec16e817e23026f0a">DWAPlanner::local_map_callback</a>, <span class="keyword">this</span>);</div>
-<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  <a class="code" href="classDWAPlanner.html#a11369ac49bea10466ca789168ea6c71e">odom_sub_</a> = <a class="code" href="classDWAPlanner.html#a0e48f37c68a14272520398b948999b63">nh_</a>.subscribe(<span class="stringliteral">&quot;/odom&quot;</span>, 1, &amp;<a class="code" href="classDWAPlanner.html#a90a0f83317eb1b24bb50ee20fa90f251">DWAPlanner::odom_callback</a>, <span class="keyword">this</span>);</div>
-<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <a class="code" href="classDWAPlanner.html#adbc44965f21a9f550aad4b39effc705e">scan_sub_</a> = <a class="code" href="classDWAPlanner.html#a0e48f37c68a14272520398b948999b63">nh_</a>.subscribe(<span class="stringliteral">&quot;/scan&quot;</span>, 1, &amp;<a class="code" href="classDWAPlanner.html#af9dcc8b5d0e860ea2d50f753a34a7a36">DWAPlanner::scan_callback</a>, <span class="keyword">this</span>);</div>
-<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  <a class="code" href="classDWAPlanner.html#a5d162a39c979fe8024aaa4a2babd3f17">target_velocity_sub_</a> = <a class="code" href="classDWAPlanner.html#a0e48f37c68a14272520398b948999b63">nh_</a>.subscribe(<span class="stringliteral">&quot;/target_velocity&quot;</span>, 1, &amp;<a class="code" href="classDWAPlanner.html#a671005ef52b7acde226ef9b4c2c3cb3b">DWAPlanner::target_velocity_callback</a>, <span class="keyword">this</span>);</div>
-<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160; </div>
-<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classDWAPlanner.html#a0a6a9e24ea11d7a02203a9f2d57a6c2a">use_footprint_</a>)</div>
-<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <a class="code" href="classDWAPlanner.html#ac99b6cb22926c93029868661c4208304">footprint_subscribed_</a> = <span class="keyword">true</span>;</div>
-<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classDWAPlanner.html#ae2ee1947fa1e0e8350275e111889cdda">use_path_cost_</a>)</div>
-<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    <a class="code" href="classDWAPlanner.html#a406d905277ba0475cec9fd9e9ea581d9">edge_on_global_path_subscribed_</a> = <span class="keyword">true</span>;</div>
-<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classDWAPlanner.html#a27f250fe24e2a4f222fa45e457ac87a9">use_scan_as_input_</a>)</div>
-<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <a class="code" href="classDWAPlanner.html#a7bc416f6ce1395235566cfd60d7b1770">scan_updated_</a> = <span class="keyword">true</span>;</div>
-<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="keywordflow">else</span></div>
-<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <a class="code" href="classDWAPlanner.html#a86c80590b91e97104cfe300ffbd1383c">local_map_updated_</a> = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;    : local_nh_(<span class="stringliteral">&quot;~&quot;</span>), odom_updated_(false), local_map_updated_(false), scan_updated_(false), has_reached_(false),</div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;      use_speed_cost_(false), odom_not_subscribe_count_(0), local_map_not_subscribe_count_(0),</div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;      scan_not_subscribe_count_(0)</div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;{</div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  <a class="code" href="classDWAPlanner.html#a7ff50924e740d16a990e607ec5a043cd">load_params</a>();</div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160; </div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  ROS_INFO(<span class="stringliteral">&quot;=== DWA Planner ===&quot;</span>);</div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <a class="code" href="classDWAPlanner.html#accb330377e1503287d4228d334b61287">print_params</a>();</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160; </div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  <a class="code" href="classDWAPlanner.html#a87a87a7fe7eb6f6b279af965da562d6f">velocity_pub_</a> = <a class="code" href="classDWAPlanner.html#a0e48f37c68a14272520398b948999b63">nh_</a>.advertise&lt;geometry_msgs::Twist&gt;(<span class="stringliteral">&quot;/cmd_vel&quot;</span>, 1);</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;  <a class="code" href="classDWAPlanner.html#a05cec7ce1a8d75286d3c2a757bb7fd40">candidate_trajectories_pub_</a> = <a class="code" href="classDWAPlanner.html#a5508317f853be8074ec762e9204526e4">local_nh_</a>.advertise&lt;visualization_msgs::MarkerArray&gt;(<span class="stringliteral">&quot;candidate_trajectories&quot;</span>, 1);</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <a class="code" href="classDWAPlanner.html#ac0032d860e85f03c309168f6e557e39f">selected_trajectory_pub_</a> = <a class="code" href="classDWAPlanner.html#a5508317f853be8074ec762e9204526e4">local_nh_</a>.advertise&lt;visualization_msgs::Marker&gt;(<span class="stringliteral">&quot;selected_trajectory&quot;</span>, 1);</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <a class="code" href="classDWAPlanner.html#a966a8178627cee9001f042a07d934aec">predict_footprints_pub_</a> = <a class="code" href="classDWAPlanner.html#a5508317f853be8074ec762e9204526e4">local_nh_</a>.advertise&lt;visualization_msgs::MarkerArray&gt;(<span class="stringliteral">&quot;predict_footprints&quot;</span>, 1);</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  <a class="code" href="classDWAPlanner.html#a655d7e12cbe359f26dfcf5b52e7a6b33">finish_flag_pub_</a> = <a class="code" href="classDWAPlanner.html#a5508317f853be8074ec762e9204526e4">local_nh_</a>.advertise&lt;std_msgs::Bool&gt;(<span class="stringliteral">&quot;finish_flag&quot;</span>, 1);</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160; </div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  <a class="code" href="classDWAPlanner.html#a9ff6bc1bb61fb6d9a94310a949b3d58f">dist_to_goal_th_sub_</a> = <a class="code" href="classDWAPlanner.html#a0e48f37c68a14272520398b948999b63">nh_</a>.subscribe(<span class="stringliteral">&quot;/dist_to_goal_th&quot;</span>, 1, &amp;<a class="code" href="classDWAPlanner.html#aaa592c3dbe4ad17abdf59f09b47a2242">DWAPlanner::dist_to_goal_th_callback</a>, <span class="keyword">this</span>);</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  <a class="code" href="classDWAPlanner.html#a350b64cf0de51fbe656a09dd579de4f9">edge_on_global_path_sub_</a> = <a class="code" href="classDWAPlanner.html#a0e48f37c68a14272520398b948999b63">nh_</a>.subscribe(<span class="stringliteral">&quot;/path&quot;</span>, 1, &amp;<a class="code" href="classDWAPlanner.html#a87923f18a97dd118ef3176072cb75626">DWAPlanner::edge_on_global_path_callback</a>, <span class="keyword">this</span>);</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  <a class="code" href="classDWAPlanner.html#a8483eacf800d05461dc065480e06727e">footprint_sub_</a> = <a class="code" href="classDWAPlanner.html#a0e48f37c68a14272520398b948999b63">nh_</a>.subscribe(<span class="stringliteral">&quot;/footprint&quot;</span>, 1, &amp;<a class="code" href="classDWAPlanner.html#a987b2b726a8c1a1a7963802de728e54e">DWAPlanner::footprint_callback</a>, <span class="keyword">this</span>);</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  <a class="code" href="classDWAPlanner.html#af2e7c61dc465e5fdc78d2f5e30bf3257">goal_sub_</a> = <a class="code" href="classDWAPlanner.html#a0e48f37c68a14272520398b948999b63">nh_</a>.subscribe(<span class="stringliteral">&quot;/move_base_simple/goal&quot;</span>, 1, &amp;<a class="code" href="classDWAPlanner.html#a68b70a29964590639005a4bbded68778">DWAPlanner::goal_callback</a>, <span class="keyword">this</span>);</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <a class="code" href="classDWAPlanner.html#a9f69931d0d6bded376f1fd09b6a5bd80">local_map_sub_</a> = <a class="code" href="classDWAPlanner.html#a0e48f37c68a14272520398b948999b63">nh_</a>.subscribe(<span class="stringliteral">&quot;/local_map&quot;</span>, 1, &amp;<a class="code" href="classDWAPlanner.html#a260998589030cf3ec16e817e23026f0a">DWAPlanner::local_map_callback</a>, <span class="keyword">this</span>);</div>
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+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    <a class="code" href="classDWAPlanner.html#afd7eeefae6b6c03b987c7a7bef0b1030">footprint_</a> = geometry_msgs::PolygonStamped();</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classDWAPlanner.html#ae2ee1947fa1e0e8350275e111889cdda">use_path_cost_</a>)</div>
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+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classDWAPlanner.html#a27f250fe24e2a4f222fa45e457ac87a9">use_scan_as_input_</a>)</div>
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-<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;{</div>
-<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <a class="code" href="classDWAPlanner.html#aae6d46481efb31274002c20048ebec3f">current_cmd_vel_</a> = msg-&gt;twist.twist;</div>
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-<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  ROS_INFO_STREAM_THROTTLE(1.0, <span class="stringliteral">&quot;target velocity was updated to &quot;</span> &lt;&lt; <a class="code" href="classDWAPlanner.html#aa138c408a334a2e07955e405cc9042d7">target_velocity_</a> &lt;&lt; <span class="stringliteral">&quot; [m/s]&quot;</span>);</div>
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-<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  {</div>
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-<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;{</div>
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-<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  <a class="code" href="classDWAPlanner.html#a1baf4f87f2e0c29818fa36004994ed4d">edge_points_on_path_</a>.back() = msg-&gt;poses.back();</div>
-<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  <span class="keywordflow">try</span></div>
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-<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
-<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;std::vector&lt;DWAPlanner::State&gt;</div>
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-<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;{</div>
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-<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  <span class="keyword">const</span> <a class="code" href="classDWAPlanner_1_1Window.html">Window</a> dynamic_window = <a class="code" href="classDWAPlanner.html#aee78d648c4143bbb16320b8cb4913753">calc_dynamic_window</a>();</div>
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-<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  best_traj.resize(<a class="code" href="classDWAPlanner.html#a3b0f356e84760a5f9dcb90e19b6efa69">sim_time_samples_</a>);</div>
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-<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
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+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  ROS_INFO_STREAM_THROTTLE(1.0, <span class="stringliteral">&quot;distance to goal threshold was updated to &quot;</span> &lt;&lt; <a class="code" href="classDWAPlanner.html#a1a8deecdb6e6d4bcb0a953bbfb6cf436">dist_to_goal_th_</a> &lt;&lt; <span class="stringliteral">&quot; [m]&quot;</span>);</div>
+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;}</div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
+<div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a87923f18a97dd118ef3176072cb75626">  150</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classDWAPlanner.html#a87923f18a97dd118ef3176072cb75626">DWAPlanner::edge_on_global_path_callback</a>(<span class="keyword">const</span> nav_msgs::PathConstPtr &amp;msg)</div>
+<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;{</div>
+<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classDWAPlanner.html#ae2ee1947fa1e0e8350275e111889cdda">use_path_cost_</a>)</div>
+<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  <a class="code" href="classDWAPlanner.html#ab9c2ee71d5221afa423ce9c1d4c31362">edge_points_on_path_</a> = *msg;</div>
+<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  <span class="keywordflow">try</span></div>
+<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  {</div>
+<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;pose : <a class="code" href="classDWAPlanner.html#ab9c2ee71d5221afa423ce9c1d4c31362">edge_points_on_path_</a>.value().poses)</div>
+<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      <a class="code" href="classDWAPlanner.html#ae05204eadd96f3ce82863ce35173c54d">listener_</a>.transformPose(<a class="code" href="classDWAPlanner.html#aba89ca88e42c4401e1391db53b4d2b8a">robot_frame_</a>, ros::Time(0), pose, msg-&gt;header.frame_id, pose);</div>
+<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  }</div>
+<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  <span class="keywordflow">catch</span> (tf::TransformException ex)</div>
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+<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    ROS_ERROR(<span class="stringliteral">&quot;%s&quot;</span>, ex.what());</div>
+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  }</div>
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+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
+<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;std::vector&lt;DWAPlanner::State&gt;</div>
+<div class="line"><a name="l00167"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a2174dc1fa664acb76368808bdb2fe179">  167</a></span>&#160;<a class="code" href="classDWAPlanner.html#a2174dc1fa664acb76368808bdb2fe179">DWAPlanner::dwa_planning</a>(<span class="keyword">const</span> Eigen::Vector3d &amp;goal, std::vector&lt;std::pair&lt;std::vector&lt;State&gt;, <span class="keywordtype">bool</span>&gt;&gt; &amp;trajectories)</div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;{</div>
+<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  <a class="code" href="classDWAPlanner_1_1Cost.html">Cost</a> min_cost(0.0, 0.0, 0.0, 0.0, 1e6);</div>
+<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  <span class="keyword">const</span> <a class="code" href="classDWAPlanner_1_1Window.html">Window</a> dynamic_window = <a class="code" href="classDWAPlanner.html#aee78d648c4143bbb16320b8cb4913753">calc_dynamic_window</a>();</div>
+<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  std::vector&lt;State&gt; best_traj;</div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  best_traj.resize(<a class="code" href="classDWAPlanner.html#a3b0f356e84760a5f9dcb90e19b6efa69">sim_time_samples_</a>);</div>
+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  std::vector&lt;Cost&gt; costs;</div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> costs_size = <a class="code" href="classDWAPlanner.html#aae7d1c62cfbe78b2d842775ed59947f6">velocity_samples_</a> * (<a class="code" href="classDWAPlanner.html#ac6b9c096dbcb9a93b035e8126f560aee">yawrate_samples_</a> + 1);</div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  costs.reserve(costs_size);</div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
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+<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> yawrate_resolution =</div>
+<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      std::max((dynamic_window.<a class="code" href="classDWAPlanner_1_1Window.html#a3aeb6f0ec9378876527d1dd9b4bff57b">max_yawrate_</a> - dynamic_window.<a class="code" href="classDWAPlanner_1_1Window.html#ad9d72c1a09fac5f634709f98f2df61b8">min_yawrate_</a>) / (<a class="code" href="classDWAPlanner.html#ac6b9c096dbcb9a93b035e8126f560aee">yawrate_samples_</a> - 1), DBL_EPSILON);</div>
+<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
+<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <span class="keywordtype">int</span> available_traj_count = 0;</div>
+<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; <a class="code" href="classDWAPlanner.html#aae7d1c62cfbe78b2d842775ed59947f6">velocity_samples_</a>; i++)</div>
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+<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; <a class="code" href="classDWAPlanner.html#ac6b9c096dbcb9a93b035e8126f560aee">yawrate_samples_</a>; j++)</div>
+<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    {</div>
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+<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    {</div>
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+<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;        costs[i].obs_cost_ *= <a class="code" href="classDWAPlanner.html#a6b0fc2a356d9c3c89863533b1e81091f">obs_cost_gain_</a>;</div>
+<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;        costs[i].speed_cost_ *= <a class="code" href="classDWAPlanner.html#a2151c7a05e2111ec1cf0c501b265a493">speed_cost_gain_</a>;</div>
+<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        costs[i].path_cost_ *= <a class="code" href="classDWAPlanner.html#a6f4ad39dc3067623588dc8f58088e497">path_cost_gain_</a>;</div>
+<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;        costs[i].calc_total_cost();</div>
+<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;        <span class="keywordflow">if</span> (costs[i].total_cost_ &lt; min_cost.<a class="code" href="classDWAPlanner_1_1Cost.html#a88ad9123fd6a216dda6f6620d2eb6f18">total_cost_</a>)</div>
+<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        {</div>
+<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;          min_cost = costs[i];</div>
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+<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;        }</div>
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+<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    }</div>
+<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;  }</div>
+<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160; </div>
+<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  ROS_INFO(<span class="stringliteral">&quot;===&quot;</span>);</div>
+<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  ROS_INFO_STREAM(<span class="stringliteral">&quot;(v, y) = (&quot;</span> &lt;&lt; best_traj.front().velocity_ &lt;&lt; <span class="stringliteral">&quot;, &quot;</span> &lt;&lt; best_traj.front().yawrate_ &lt;&lt; <span class="stringliteral">&quot;)&quot;</span>);</div>
+<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;  min_cost.<a class="code" href="classDWAPlanner_1_1Cost.html#adc309115613ed2fea5d5f5f5d9e1f2fe">show</a>();</div>
+<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  ROS_INFO_STREAM(<span class="stringliteral">&quot;num of trajectories available: &quot;</span> &lt;&lt; available_traj_count &lt;&lt; <span class="stringliteral">&quot; of &quot;</span> &lt;&lt; trajectories.size());</div>
+<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;  ROS_INFO(<span class="stringliteral">&quot; &quot;</span>);</div>
 <div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
-<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  ROS_INFO(<span class="stringliteral">&quot;===&quot;</span>);</div>
-<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;  ROS_INFO_STREAM(<span class="stringliteral">&quot;(v, y) = (&quot;</span> &lt;&lt; best_traj.front().velocity_ &lt;&lt; <span class="stringliteral">&quot;, &quot;</span> &lt;&lt; best_traj.front().yawrate_ &lt;&lt; <span class="stringliteral">&quot;)&quot;</span>);</div>
-<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;  min_cost.<a class="code" href="classDWAPlanner_1_1Cost.html#adc309115613ed2fea5d5f5f5d9e1f2fe">show</a>();</div>
-<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  ROS_INFO_STREAM(<span class="stringliteral">&quot;num of trajectories available: &quot;</span> &lt;&lt; available_traj_count &lt;&lt; <span class="stringliteral">&quot; of &quot;</span> &lt;&lt; trajectories.size());</div>
-<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;  ROS_INFO(<span class="stringliteral">&quot; &quot;</span>);</div>
-<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
-<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  <span class="keywordflow">return</span> best_traj;</div>
-<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;}</div>
-<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160; </div>
-<div class="line"><a name="l00267"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#aae53f07597841281fe61f4448c12c6dc">  267</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classDWAPlanner.html#aae53f07597841281fe61f4448c12c6dc">DWAPlanner::normalize_costs</a>(std::vector&lt;DWAPlanner::Cost&gt; &amp;costs)</div>
-<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;{</div>
-<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;  <a class="code" href="classDWAPlanner_1_1Cost.html">Cost</a> min_cost(1e6, 1e6, 1e6, 1e6, 1e6), max_cost;</div>
-<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
-<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span> &amp;cost : costs)</div>
-<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  {</div>
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-<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    {</div>
-<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      min_cost.<a class="code" href="classDWAPlanner_1_1Cost.html#aa3108f4915914a4b41c2b6cc4b8fcc98">obs_cost_</a> = std::min(min_cost.obs_cost_, cost.obs_cost_);</div>
-<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;      max_cost.<a class="code" href="classDWAPlanner_1_1Cost.html#aa3108f4915914a4b41c2b6cc4b8fcc98">obs_cost_</a> = std::max(max_cost.<a class="code" href="classDWAPlanner_1_1Cost.html#aa3108f4915914a4b41c2b6cc4b8fcc98">obs_cost_</a>, cost.obs_cost_);</div>
-<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;      min_cost.to_goal_cost_ = std::min(min_cost.to_goal_cost_, cost.to_goal_cost_);</div>
-<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      max_cost.<a class="code" href="classDWAPlanner_1_1Cost.html#afa0078eb743592e0218455cafe5686f9">to_goal_cost_</a> = std::max(max_cost.<a class="code" href="classDWAPlanner_1_1Cost.html#afa0078eb743592e0218455cafe5686f9">to_goal_cost_</a>, cost.to_goal_cost_);</div>
-<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="classDWAPlanner.html#ae079e837dcdd7897fae18a09614bc863">use_speed_cost_</a>)</div>
-<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;      {</div>
-<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;        min_cost.speed_cost_ = std::min(min_cost.speed_cost_, cost.speed_cost_);</div>
-<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;        max_cost.<a class="code" href="classDWAPlanner_1_1Cost.html#a8216a1c20408c93b363ec189b56f5962">speed_cost_</a> = std::max(max_cost.<a class="code" href="classDWAPlanner_1_1Cost.html#a8216a1c20408c93b363ec189b56f5962">speed_cost_</a>, cost.speed_cost_);</div>
-<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;      }</div>
-<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="classDWAPlanner.html#ae2ee1947fa1e0e8350275e111889cdda">use_path_cost_</a>)</div>
-<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;      {</div>
-<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;        min_cost.path_cost_ = std::min(min_cost.path_cost_, cost.path_cost_);</div>
-<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;        max_cost.<a class="code" href="classDWAPlanner_1_1Cost.html#a764332378cf66639480771a9eb7713ac">path_cost_</a> = std::max(max_cost.<a class="code" href="classDWAPlanner_1_1Cost.html#a764332378cf66639480771a9eb7713ac">path_cost_</a>, cost.path_cost_);</div>
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-<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;                           (max_cost.<a class="code" href="classDWAPlanner_1_1Cost.html#afa0078eb743592e0218455cafe5686f9">to_goal_cost_</a> - min_cost.to_goal_cost_ + DBL_EPSILON);</div>
-<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="classDWAPlanner.html#ae079e837dcdd7897fae18a09614bc863">use_speed_cost_</a>)</div>
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-<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;      cmd_vel = <a class="code" href="classDWAPlanner.html#ab601045c87c8925652ec423dd5c46062">calc_cmd_vel</a>();</div>
-<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    <a class="code" href="classDWAPlanner.html#a87a87a7fe7eb6f6b279af965da562d6f">velocity_pub_</a>.publish(cmd_vel);</div>
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-<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="classDWAPlanner.html#a461198b6316c4b8d007957dff80008b2">has_finished_</a>.data)</div>
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-<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classDWAPlanner.html#a46626d8077945c25fb09eb3118cc1726">goal_subscribed_</a>)</div>
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+<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;                                                : std::min(cmd_vel.angular.z, -<a class="code" href="classDWAPlanner.html#a07bcd1c208c69b7c2e421f52199c1939">min_in_place_yawrate_</a>);</div>
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+<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;    trajectories.push_back(best_traj);</div>
+<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;  }</div>
+<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160; </div>
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+<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160; </div>
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+<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;  <a class="code" href="classDWAPlanner.html#af398e6211e5543357af9b72ea84f40a8">visualize_trajectories</a>(trajectories, <a class="code" href="classDWAPlanner.html#a05cec7ce1a8d75286d3c2a757bb7fd40">candidate_trajectories_pub_</a>);</div>
+<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;  <a class="code" href="classDWAPlanner.html#a8d03036507e7ab8b5187e9a8f0038316">visualize_footprints</a>(best_traj.first, <a class="code" href="classDWAPlanner.html#a966a8178627cee9001f042a07d934aec">predict_footprints_pub_</a>);</div>
+<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160; </div>
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-<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;  <a class="code" href="classDWAPlanner.html#af398e6211e5543357af9b72ea84f40a8">visualize_trajectories</a>(trajectories, <a class="code" href="classDWAPlanner.html#a05cec7ce1a8d75286d3c2a757bb7fd40">candidate_trajectories_pub_</a>);</div>
-<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;  <a class="code" href="classDWAPlanner.html#a8d03036507e7ab8b5187e9a8f0038316">visualize_footprints</a>(best_traj.first, <a class="code" href="classDWAPlanner.html#a966a8178627cee9001f042a07d934aec">predict_footprints_pub_</a>);</div>
-<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160; </div>
-<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;  <a class="code" href="classDWAPlanner.html#ae079e837dcdd7897fae18a09614bc863">use_speed_cost_</a> = <span class="keyword">false</span>;</div>
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-<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;}</div>
+<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;  <span class="keywordflow">return</span> cmd_vel;</div>
+<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;}</div>
+<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160; </div>
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+<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;{</div>
+<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> angle_to_goal = atan2(goal.y(), goal.x());</div>
+<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;  <span class="keywordflow">if</span> (fabs(angle_to_goal) &lt; <a class="code" href="classDWAPlanner.html#a50de685d9878e76a3c5143fbda4c66a1">angle_to_goal_th_</a>)</div>
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-<div class="line"><a name="l00436"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a12cabee5b51e8efaded6796d0b4ba84b">  436</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classDWAPlanner.html#a12cabee5b51e8efaded6796d0b4ba84b">DWAPlanner::can_adjust_robot_direction</a>(<span class="keyword">const</span> Eigen::Vector3d &amp;goal)</div>
-<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;{</div>
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-<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;  <span class="keywordflow">if</span> (fabs(angle_to_goal) &lt; <a class="code" href="classDWAPlanner.html#a50de685d9878e76a3c5143fbda4c66a1">angle_to_goal_th_</a>)</div>
-<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
-<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160; </div>
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+<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> yawrate = std::min(std::max(angle_to_goal, -<a class="code" href="classDWAPlanner.html#ac2cd905a4ff32631d4f498a7a914fe0e">max_in_place_yawrate_</a>), <a class="code" href="classDWAPlanner.html#ac2cd905a4ff32631d4f498a7a914fe0e">max_in_place_yawrate_</a>);</div>
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+<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160; </div>
+<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classDWAPlanner.html#a2821527877be42becc37cc9a867d3528">check_collision</a>(traj))</div>
+<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
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+<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;}</div>
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-<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;  <span class="keywordflow">else</span></div>
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+<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;{</div>
+<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classDWAPlanner.html#a0a6a9e24ea11d7a02203a9f2d57a6c2a">use_footprint_</a>)</div>
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+<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;  <span class="keywordflow">return</span> window;</div>
+<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;}</div>
+<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160; </div>
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-<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;}</div>
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-<div class="line"><a name="l00561"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#adb0934bf6918c7af1a6b846a1d6cfd8a">  561</a></span>&#160;<a class="code" href="classDWAPlanner_1_1Cost.html">DWAPlanner::Cost</a> <a class="code" href="classDWAPlanner.html#adb0934bf6918c7af1a6b846a1d6cfd8a">DWAPlanner::evaluate_trajectory</a>(<span class="keyword">const</span> std::vector&lt;State&gt; &amp;trajectory, <span class="keyword">const</span> Eigen::Vector3d &amp;goal)</div>
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-<div class="line"><a name="l00572"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a2639f54e669e23a5022be9441fee3bf3">  572</a></span>&#160;geometry_msgs::Point <a class="code" href="classDWAPlanner.html#a2639f54e669e23a5022be9441fee3bf3">DWAPlanner::calc_intersection</a>(</div>
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-<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;  {</div>
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-<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;    <span class="keywordflow">if</span> (i != footprint.polygon.points.size() - 1)</div>
-<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;      vector_D &lt;&lt; footprint.polygon.points[i + 1].x, footprint.polygon.points[i + 1].y, 0.0;</div>
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+<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;}</div>
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+<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> predict_time = target_direction / (yawrate + DBL_EPSILON);</div>
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+<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;  trajectory.resize(<a class="code" href="classDWAPlanner.html#a3b0f356e84760a5f9dcb90e19b6efa69">sim_time_samples_</a>);</div>
+<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;  <a class="code" href="classDWAPlanner_1_1State.html">State</a> state;</div>
+<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; <a class="code" href="classDWAPlanner.html#a3b0f356e84760a5f9dcb90e19b6efa69">sim_time_samples_</a>; i++)</div>
+<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;  {</div>
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+<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;    trajectory[i] = state;</div>
+<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;  }</div>
+<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;  <span class="keywordflow">return</span> trajectory;</div>
+<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;}</div>
+<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160; </div>
+<div class="line"><a name="l00555"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#adb0934bf6918c7af1a6b846a1d6cfd8a">  555</a></span>&#160;<a class="code" href="classDWAPlanner_1_1Cost.html">DWAPlanner::Cost</a> <a class="code" href="classDWAPlanner.html#adb0934bf6918c7af1a6b846a1d6cfd8a">DWAPlanner::evaluate_trajectory</a>(<span class="keyword">const</span> std::vector&lt;State&gt; &amp;trajectory, <span class="keyword">const</span> Eigen::Vector3d &amp;goal)</div>
+<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;{</div>
+<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;  <a class="code" href="classDWAPlanner_1_1Cost.html">Cost</a> cost;</div>
+<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;  cost.<a class="code" href="classDWAPlanner_1_1Cost.html#afa0078eb743592e0218455cafe5686f9">to_goal_cost_</a> = <a class="code" href="classDWAPlanner.html#a93309a99fd864dafa45f6b7390d781c3">calc_to_goal_cost</a>(trajectory, goal);</div>
+<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;  cost.<a class="code" href="classDWAPlanner_1_1Cost.html#aa3108f4915914a4b41c2b6cc4b8fcc98">obs_cost_</a> = <a class="code" href="classDWAPlanner.html#a51b0f44c576d7d75b64a66733bf0e959">calc_obs_cost</a>(trajectory);</div>
+<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;  cost.<a class="code" href="classDWAPlanner_1_1Cost.html#a8216a1c20408c93b363ec189b56f5962">speed_cost_</a> = <a class="code" href="classDWAPlanner.html#ac9a0ab8e147e8d8aaa752071d410d2dc">calc_speed_cost</a>(trajectory);</div>
+<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;  cost.<a class="code" href="classDWAPlanner_1_1Cost.html#a764332378cf66639480771a9eb7713ac">path_cost_</a> = <a class="code" href="classDWAPlanner.html#ad828f8cf5e3705c42fe494dbf0927e1a">calc_path_cost</a>(trajectory);</div>
+<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;  cost.<a class="code" href="classDWAPlanner_1_1Cost.html#ab0a513399b6aad6c585e8706d1ba5b71">calc_total_cost</a>();</div>
+<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;  <span class="keywordflow">return</span> cost;</div>
+<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;}</div>
+<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160; </div>
+<div class="line"><a name="l00566"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a2639f54e669e23a5022be9441fee3bf3">  566</a></span>&#160;geometry_msgs::Point <a class="code" href="classDWAPlanner.html#a2639f54e669e23a5022be9441fee3bf3">DWAPlanner::calc_intersection</a>(</div>
+<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;    <span class="keyword">const</span> geometry_msgs::Point &amp;obstacle, <span class="keyword">const</span> <a class="code" href="classDWAPlanner_1_1State.html">State</a> &amp;state, geometry_msgs::PolygonStamped footprint)</div>
+<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;{</div>
+<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; footprint.polygon.points.size(); i++)</div>
+<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;  {</div>
+<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;    <span class="keyword">const</span> Eigen::Vector3d vector_A(obstacle.x, obstacle.y, 0.0);</div>
+<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;    <span class="keyword">const</span> Eigen::Vector3d vector_B(state.<a class="code" href="classDWAPlanner_1_1State.html#a73164c3b83e2e4e51b17b85a7c22a322">x_</a>, state.<a class="code" href="classDWAPlanner_1_1State.html#a170e74beb0d29fd38902f2815589f508">y_</a>, 0.0);</div>
+<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;    <span class="keyword">const</span> Eigen::Vector3d vector_C(footprint.polygon.points[i].x, footprint.polygon.points[i].y, 0.0);</div>
+<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;    Eigen::Vector3d vector_D(0.0, 0.0, 0.0);</div>
+<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;    <span class="keywordflow">if</span> (i != footprint.polygon.points.size() - 1)</div>
+<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;      vector_D &lt;&lt; footprint.polygon.points[i + 1].x, footprint.polygon.points[i + 1].y, 0.0;</div>
+<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;    <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;      vector_D &lt;&lt; footprint.polygon.points[0].x, footprint.polygon.points[0].y, 0.0;</div>
+<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160; </div>
+<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> deno = (vector_B - vector_A).cross(vector_D - vector_C).z();</div>
+<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> s = (vector_C - vector_A).cross(vector_D - vector_C).z() / deno;</div>
+<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> t = (vector_B - vector_A).cross(vector_A - vector_C).z() / deno;</div>
+<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160; </div>
+<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;    geometry_msgs::Point point;</div>
+<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;    point.x = vector_A.x() + s * (vector_B - vector_A).x();</div>
+<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;    point.y = vector_A.y() + s * (vector_B - vector_A).y();</div>
+<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160; </div>
+<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;    <span class="comment">// cross</span></div>
+<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;    <span class="keywordflow">if</span> (!(s &lt; 0.0 || 1.0 &lt; s || t &lt; 0.0 || 1.0 &lt; t))</div>
+<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;      <span class="keywordflow">return</span> point;</div>
+<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;  }</div>
+<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160; </div>
+<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;  geometry_msgs::Point point;</div>
+<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;  point.x = 1e6;</div>
+<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;  point.y = 1e6;</div>
+<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;  <span class="keywordflow">return</span> point;</div>
+<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;}</div>
 <div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160; </div>
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-<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;  point.y = 1e6;</div>
-<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;  <span class="keywordflow">return</span> point;</div>
-<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;}</div>
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-<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classDWAPlanner.html#a5f5a93a9a3e3534ace921095d813e6d9">is_inside_of_robot</a>(obstacle, footprint, state))</div>
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-<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;  <span class="keywordflow">else</span></div>
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+<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;{</div>
+<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;  <span class="keyword">const</span> geometry_msgs::PolygonStamped footprint = <a class="code" href="classDWAPlanner.html#a463096d7d4bcfc3bc7cd7a9cf9b9a398">move_footprint</a>(state);</div>
+<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classDWAPlanner.html#a5f5a93a9a3e3534ace921095d813e6d9">is_inside_of_robot</a>(obstacle, footprint, state))</div>
+<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;  {</div>
+<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;    <span class="keywordflow">return</span> 0.0;</div>
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+<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;    <span class="keywordflow">return</span> hypot((obstacle.x - intersection.x), (obstacle.y - intersection.y));</div>
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+<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;}</div>
+<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160; </div>
+<div class="line"><a name="l00613"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a463096d7d4bcfc3bc7cd7a9cf9b9a398">  613</a></span>&#160;geometry_msgs::PolygonStamped <a class="code" href="classDWAPlanner.html#a463096d7d4bcfc3bc7cd7a9cf9b9a398">DWAPlanner::move_footprint</a>(<span class="keyword">const</span> <a class="code" href="classDWAPlanner_1_1State.html">State</a> &amp;target_pose)</div>
+<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;{</div>
+<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;  geometry_msgs::PolygonStamped footprint;</div>
+<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classDWAPlanner.html#a0a6a9e24ea11d7a02203a9f2d57a6c2a">use_footprint_</a>)</div>
+<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;  {</div>
+<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;    footprint = <a class="code" href="classDWAPlanner.html#afd7eeefae6b6c03b987c7a7bef0b1030">footprint_</a>.value();</div>
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+<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;  <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;  {</div>
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+<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;    {</div>
+<div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;      geometry_msgs::Point32 point;</div>
+<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;      point.x = (<a class="code" href="classDWAPlanner.html#ab42a379ef62d72d9b23ff1de6c9416bd">robot_radius_</a> + <a class="code" href="classDWAPlanner.html#acc27d2dfefaa7903b413e8d37f36dab0">footprint_padding_</a>) * cos(2 * M_PI * i / plot_num);</div>
+<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;      point.y = <a class="code" href="classDWAPlanner.html#ab42a379ef62d72d9b23ff1de6c9416bd">robot_radius_</a> * sin(2 * M_PI * i / plot_num);</div>
+<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;      footprint.polygon.points.push_back(point);</div>
+<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;    }</div>
+<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;  }</div>
+<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160; </div>
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+<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160; </div>
+<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;point : footprint.polygon.points)</div>
+<div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;  {</div>
+<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;    Eigen::VectorXf point_in(2);</div>
+<div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;    point_in &lt;&lt; point.x, point.y;</div>
+<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;    Eigen::Matrix2f rot;</div>
+<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;    rot = Eigen::Rotation2Df(target_pose.<a class="code" href="classDWAPlanner_1_1State.html#a878214bada81b2ee685b590f0417aaa2">yaw_</a>);</div>
+<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;    <span class="keyword">const</span> Eigen::VectorXf point_out = rot * point_in;</div>
+<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160; </div>
+<div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;    point.x = point_out.x() + target_pose.<a class="code" href="classDWAPlanner_1_1State.html#a73164c3b83e2e4e51b17b85a7c22a322">x_</a>;</div>
+<div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;    point.y = point_out.y() + target_pose.<a class="code" href="classDWAPlanner_1_1State.html#a170e74beb0d29fd38902f2815589f508">y_</a>;</div>
+<div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;  }</div>
+<div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160; </div>
+<div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;  <span class="keywordflow">return</span> footprint;</div>
+<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;}</div>
+<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160; </div>
+<div class="line"><a name="l00649"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a5f5a93a9a3e3534ace921095d813e6d9">  649</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classDWAPlanner.html#a5f5a93a9a3e3534ace921095d813e6d9">DWAPlanner::is_inside_of_robot</a>(</div>
+<div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;    <span class="keyword">const</span> geometry_msgs::Point &amp;obstacle, <span class="keyword">const</span> geometry_msgs::PolygonStamped &amp;footprint, <span class="keyword">const</span> <a class="code" href="classDWAPlanner_1_1State.html">State</a> &amp;state)</div>
+<div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;{</div>
+<div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;  geometry_msgs::Point32 state_point;</div>
+<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;  state_point.x = state.<a class="code" href="classDWAPlanner_1_1State.html#a73164c3b83e2e4e51b17b85a7c22a322">x_</a>;</div>
+<div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;  state_point.y = state.<a class="code" href="classDWAPlanner_1_1State.html#a170e74beb0d29fd38902f2815589f508">y_</a>;</div>
+<div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160; </div>
+<div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; footprint.polygon.points.size(); i++)</div>
+<div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;  {</div>
+<div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;    geometry_msgs::Polygon triangle;</div>
+<div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160;    triangle.points.push_back(state_point);</div>
+<div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160;    triangle.points.push_back(footprint.polygon.points[i]);</div>
 <div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160; </div>
-<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; footprint.polygon.points.size(); i++)</div>
-<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;  {</div>
-<div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160;    geometry_msgs::Polygon triangle;</div>
-<div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;    triangle.points.push_back(state_point);</div>
-<div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;    triangle.points.push_back(footprint.polygon.points[i]);</div>
-<div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160; </div>
-<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;    <span class="keywordflow">if</span> (i != footprint.polygon.points.size() - 1)</div>
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-<div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160;    <span class="keywordflow">else</span></div>
-<div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;      triangle.points.push_back(footprint.polygon.points[0]);</div>
-<div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160; </div>
-<div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="classDWAPlanner.html#aacd71717ea2fa4a6c2d8a9eec186e189">is_inside_of_triangle</a>(obstacle, triangle))</div>
-<div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
-<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;  }</div>
-<div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160; </div>
-<div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
-<div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160;}</div>
-<div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160; </div>
-<div class="line"><a name="l00680"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#aacd71717ea2fa4a6c2d8a9eec186e189">  680</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classDWAPlanner.html#aacd71717ea2fa4a6c2d8a9eec186e189">DWAPlanner::is_inside_of_triangle</a>(<span class="keyword">const</span> geometry_msgs::Point &amp;target_point, <span class="keyword">const</span> geometry_msgs::Polygon &amp;triangle)</div>
-<div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160;{</div>
-<div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;  <span class="keywordflow">if</span> (triangle.points.size() != 3)</div>
-<div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160;  {</div>
-<div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160;    ROS_ERROR(<span class="stringliteral">&quot;Not triangle&quot;</span>);</div>
-<div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160;    exit(1);</div>
-<div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160;  }</div>
-<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160; </div>
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-<div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;  <span class="keyword">const</span> Eigen::Vector3d vector_B(triangle.points[1].x, triangle.points[1].y, 0.0);</div>
-<div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160;  <span class="keyword">const</span> Eigen::Vector3d vector_C(triangle.points[2].x, triangle.points[2].y, 0.0);</div>
-<div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;  <span class="keyword">const</span> Eigen::Vector3d vector_P(target_point.x, target_point.y, 0.0);</div>
-<div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160; </div>
-<div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;  <span class="keyword">const</span> Eigen::Vector3d vector_AB = vector_B - vector_A;</div>
-<div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160;  <span class="keyword">const</span> Eigen::Vector3d vector_BP = vector_P - vector_B;</div>
-<div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;  <span class="keyword">const</span> Eigen::Vector3d cross1 = vector_AB.cross(vector_BP);</div>
-<div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160; </div>
-<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160;  <span class="keyword">const</span> Eigen::Vector3d vector_BC = vector_C - vector_B;</div>
-<div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160;  <span class="keyword">const</span> Eigen::Vector3d vector_CP = vector_P - vector_C;</div>
-<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;  <span class="keyword">const</span> Eigen::Vector3d cross2 = vector_BC.cross(vector_CP);</div>
-<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160; </div>
-<div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160;  <span class="keyword">const</span> Eigen::Vector3d vector_CA = vector_A - vector_C;</div>
-<div class="line"><a name="l00702"></a><span class="lineno">  702</span>&#160;  <span class="keyword">const</span> Eigen::Vector3d vector_AP = vector_P - vector_A;</div>
-<div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160;  <span class="keyword">const</span> Eigen::Vector3d cross3 = vector_CA.cross(vector_AP);</div>
+<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;    <span class="keywordflow">if</span> (i != footprint.polygon.points.size() - 1)</div>
+<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;      triangle.points.push_back(footprint.polygon.points[i + 1]);</div>
+<div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160;    <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;      triangle.points.push_back(footprint.polygon.points[0]);</div>
+<div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160; </div>
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+<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;  }</div>
+<div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160; </div>
+<div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;}</div>
+<div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160; </div>
+<div class="line"><a name="l00674"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#aacd71717ea2fa4a6c2d8a9eec186e189">  674</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classDWAPlanner.html#aacd71717ea2fa4a6c2d8a9eec186e189">DWAPlanner::is_inside_of_triangle</a>(<span class="keyword">const</span> geometry_msgs::Point &amp;target_point, <span class="keyword">const</span> geometry_msgs::Polygon &amp;triangle)</div>
+<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;{</div>
+<div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;  <span class="keywordflow">if</span> (triangle.points.size() != 3)</div>
+<div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;  {</div>
+<div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160;    ROS_ERROR(<span class="stringliteral">&quot;Not triangle&quot;</span>);</div>
+<div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160;    exit(1);</div>
+<div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;  }</div>
+<div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160; </div>
+<div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;  <span class="keyword">const</span> Eigen::Vector3d vector_A(triangle.points[0].x, triangle.points[0].y, 0.0);</div>
+<div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160;  <span class="keyword">const</span> Eigen::Vector3d vector_B(triangle.points[1].x, triangle.points[1].y, 0.0);</div>
+<div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160;  <span class="keyword">const</span> Eigen::Vector3d vector_C(triangle.points[2].x, triangle.points[2].y, 0.0);</div>
+<div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160;  <span class="keyword">const</span> Eigen::Vector3d vector_P(target_point.x, target_point.y, 0.0);</div>
+<div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160; </div>
+<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;  <span class="keyword">const</span> Eigen::Vector3d vector_AB = vector_B - vector_A;</div>
+<div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160;  <span class="keyword">const</span> Eigen::Vector3d vector_BP = vector_P - vector_B;</div>
+<div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;  <span class="keyword">const</span> Eigen::Vector3d cross1 = vector_AB.cross(vector_BP);</div>
+<div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160; </div>
+<div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;  <span class="keyword">const</span> Eigen::Vector3d vector_BC = vector_C - vector_B;</div>
+<div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;  <span class="keyword">const</span> Eigen::Vector3d vector_CP = vector_P - vector_C;</div>
+<div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;  <span class="keyword">const</span> Eigen::Vector3d cross2 = vector_BC.cross(vector_CP);</div>
+<div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160; </div>
+<div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;  <span class="keyword">const</span> Eigen::Vector3d vector_CA = vector_A - vector_C;</div>
+<div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;  <span class="keyword">const</span> Eigen::Vector3d vector_AP = vector_P - vector_A;</div>
+<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160;  <span class="keyword">const</span> Eigen::Vector3d cross3 = vector_CA.cross(vector_AP);</div>
+<div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160; </div>
+<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;  <span class="keywordflow">if</span> ((0 &lt; cross1.z() &amp;&amp; 0 &lt; cross2.z() &amp;&amp; 0 &lt; cross3.z()) || (cross1.z() &lt; 0 &amp;&amp; cross2.z() &lt; 0 &amp;&amp; cross3.z() &lt; 0))</div>
+<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160;  <span class="keywordflow">else</span></div>
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-<div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160;  state.<a class="code" href="classDWAPlanner_1_1State.html#a878214bada81b2ee685b590f0417aaa2">yaw_</a> += yawrate * sim_time_step;</div>
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-<div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160;  state.<a class="code" href="classDWAPlanner_1_1State.html#a170e74beb0d29fd38902f2815589f508">y_</a> += velocity * std::sin(state.<a class="code" href="classDWAPlanner_1_1State.html#a878214bada81b2ee685b590f0417aaa2">yaw_</a>) * sim_time_step;</div>
-<div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160;  state.<a class="code" href="classDWAPlanner_1_1State.html#a5f58913a665cdf6d3bcbcab9d3535a88">velocity_</a> = velocity;</div>
-<div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160;  state.<a class="code" href="classDWAPlanner_1_1State.html#a4f3b650eb238a2ae3845c0c554cd6628">yawrate_</a> = yawrate;</div>
-<div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160;}</div>
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-<div class="line"><a name="l00723"></a><span class="lineno">  723</span>&#160;  <a class="code" href="classDWAPlanner.html#a40a68af9d1aa523e8b0a9064245ed40c">obs_list_</a>.poses.clear();</div>
-<div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;  <span class="keywordtype">float</span> angle = scan.angle_min;</div>
-<div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> angle_index_step = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(<a class="code" href="classDWAPlanner.html#adcda02de1857cdde039ed3dabe4d4106">angle_resolution_</a> / scan.angle_increment);</div>
-<div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; scan.ranges.size(); i++)</div>
-<div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160;  {</div>
-<div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> r = scan.ranges[i];</div>
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-<div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160;    pose.position.y = r * sin(angle);</div>
-<div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160;    <a class="code" href="classDWAPlanner.html#a40a68af9d1aa523e8b0a9064245ed40c">obs_list_</a>.poses.push_back(pose);</div>
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-<div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160; </div>
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-<div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160;{</div>
-<div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160;  <a class="code" href="classDWAPlanner.html#a40a68af9d1aa523e8b0a9064245ed40c">obs_list_</a>.poses.clear();</div>
-<div class="line"><a name="l00745"></a><span class="lineno">  745</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> max_search_dist = hypot(map.info.origin.position.x, map.info.origin.position.y);</div>
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-<div class="line"><a name="l00747"></a><span class="lineno">  747</span>&#160;  {</div>
-<div class="line"><a name="l00748"></a><span class="lineno">  748</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">float</span> dist = 0.0; dist &lt;= max_search_dist; dist += map.info.resolution)</div>
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-<div class="line"><a name="l00751"></a><span class="lineno">  751</span>&#160;      pose.position.x = dist * cos(angle);</div>
-<div class="line"><a name="l00752"></a><span class="lineno">  752</span>&#160;      pose.position.y = dist * sin(angle);</div>
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-<div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> index_y = floor((pose.position.y - map.info.origin.position.y) / map.info.resolution);</div>
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-<div class="line"><a name="l00841"></a><span class="lineno">  841</span>&#160;{</div>
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-<div class="line"><a name="l00843"></a><span class="lineno">  843</span>&#160;  color.b = 1.0;</div>
-<div class="line"><a name="l00844"></a><span class="lineno">  844</span>&#160;  visualization_msgs::MarkerArray v_footprints;</div>
-<div class="line"><a name="l00845"></a><span class="lineno">  845</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; trajectory.size(); i++)</div>
-<div class="line"><a name="l00846"></a><span class="lineno">  846</span>&#160;  {</div>
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-<div class="line"><a name="l00849"></a><span class="lineno">  849</span>&#160;    v_footprints.markers.push_back(v_footprint);</div>
-<div class="line"><a name="l00850"></a><span class="lineno">  850</span>&#160;  }</div>
-<div class="line"><a name="l00851"></a><span class="lineno">  851</span>&#160;  pub.publish(v_footprints);</div>
-<div class="line"><a name="l00852"></a><span class="lineno">  852</span>&#160;}</div>
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+<div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160;{</div>
+<div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> sim_time_step = <a class="code" href="classDWAPlanner.html#afb16cecacc328ba0dfa1a3741380f65b">predict_time_</a> / <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span>(<a class="code" href="classDWAPlanner.html#a3b0f356e84760a5f9dcb90e19b6efa69">sim_time_samples_</a>);</div>
+<div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160;  state.<a class="code" href="classDWAPlanner_1_1State.html#a878214bada81b2ee685b590f0417aaa2">yaw_</a> += yawrate * sim_time_step;</div>
+<div class="line"><a name="l00709"></a><span class="lineno">  709</span>&#160;  state.<a class="code" href="classDWAPlanner_1_1State.html#a73164c3b83e2e4e51b17b85a7c22a322">x_</a> += velocity * std::cos(state.<a class="code" href="classDWAPlanner_1_1State.html#a878214bada81b2ee685b590f0417aaa2">yaw_</a>) * sim_time_step;</div>
+<div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160;  state.<a class="code" href="classDWAPlanner_1_1State.html#a170e74beb0d29fd38902f2815589f508">y_</a> += velocity * std::sin(state.<a class="code" href="classDWAPlanner_1_1State.html#a878214bada81b2ee685b590f0417aaa2">yaw_</a>) * sim_time_step;</div>
+<div class="line"><a name="l00711"></a><span class="lineno">  711</span>&#160;  state.<a class="code" href="classDWAPlanner_1_1State.html#a5f58913a665cdf6d3bcbcab9d3535a88">velocity_</a> = velocity;</div>
+<div class="line"><a name="l00712"></a><span class="lineno">  712</span>&#160;  state.<a class="code" href="classDWAPlanner_1_1State.html#a4f3b650eb238a2ae3845c0c554cd6628">yawrate_</a> = yawrate;</div>
+<div class="line"><a name="l00713"></a><span class="lineno">  713</span>&#160;}</div>
+<div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160; </div>
+<div class="line"><a name="l00715"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a80ff5a1ae9bee7f160e1f39749bda262">  715</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classDWAPlanner.html#adeb538e0e0f6c5c83034322155796242">DWAPlanner::create_obs_list</a>(<span class="keyword">const</span> sensor_msgs::LaserScan &amp;scan)</div>
+<div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160;{</div>
+<div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160;  <a class="code" href="classDWAPlanner.html#a40a68af9d1aa523e8b0a9064245ed40c">obs_list_</a>.poses.clear();</div>
+<div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160;  <span class="keywordtype">float</span> angle = scan.angle_min;</div>
+<div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> angle_index_step = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(<a class="code" href="classDWAPlanner.html#adcda02de1857cdde039ed3dabe4d4106">angle_resolution_</a> / scan.angle_increment);</div>
+<div class="line"><a name="l00720"></a><span class="lineno">  720</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; scan.ranges.size(); i++)</div>
+<div class="line"><a name="l00721"></a><span class="lineno">  721</span>&#160;  {</div>
+<div class="line"><a name="l00722"></a><span class="lineno">  722</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> r = scan.ranges[i];</div>
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+<div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160;      angle += scan.angle_increment;</div>
+<div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160;      <span class="keywordflow">continue</span>;</div>
+<div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160;    }</div>
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+<div class="line"><a name="l00729"></a><span class="lineno">  729</span>&#160;    pose.position.x = r * cos(angle);</div>
+<div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;    pose.position.y = r * sin(angle);</div>
+<div class="line"><a name="l00731"></a><span class="lineno">  731</span>&#160;    <a class="code" href="classDWAPlanner.html#a40a68af9d1aa523e8b0a9064245ed40c">obs_list_</a>.poses.push_back(pose);</div>
+<div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160;    angle += scan.angle_increment;</div>
+<div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160;  }</div>
+<div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160;}</div>
+<div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160; </div>
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+<div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160;{</div>
+<div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160;  <a class="code" href="classDWAPlanner.html#a40a68af9d1aa523e8b0a9064245ed40c">obs_list_</a>.poses.clear();</div>
+<div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> max_search_dist = hypot(map.info.origin.position.x, map.info.origin.position.y);</div>
+<div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">float</span> angle = -M_PI; angle &lt;= M_PI; angle += <a class="code" href="classDWAPlanner.html#adcda02de1857cdde039ed3dabe4d4106">angle_resolution_</a>)</div>
+<div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160;  {</div>
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+<div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160;      geometry_msgs::Pose pose;</div>
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+<div class="line"><a name="l00746"></a><span class="lineno">  746</span>&#160;      pose.position.y = dist * sin(angle);</div>
+<div class="line"><a name="l00747"></a><span class="lineno">  747</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> index_x = floor((pose.position.x - map.info.origin.position.x) / map.info.resolution);</div>
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+<div class="line"><a name="l00749"></a><span class="lineno">  749</span>&#160; </div>
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+<div class="line"><a name="l00751"></a><span class="lineno">  751</span>&#160;      {</div>
+<div class="line"><a name="l00752"></a><span class="lineno">  752</span>&#160;        <span class="keywordflow">if</span> (map.data[index_x + index_y * map.info.width] == 100)</div>
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+<div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160;          <span class="keywordflow">break</span>;</div>
+<div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160;        }</div>
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+<div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160;}</div>
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+<div class="line"><a name="l00767"></a><span class="lineno">  767</span>&#160;  marker.header.frame_id = <a class="code" href="classDWAPlanner.html#aba89ca88e42c4401e1391db53b4d2b8a">robot_frame_</a>;</div>
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+<div class="line"><a name="l00771"></a><span class="lineno">  771</span>&#160;  marker.action = visualization_msgs::Marker::ADD;</div>
+<div class="line"><a name="l00772"></a><span class="lineno">  772</span>&#160;  marker.pose.orientation.w = 1;</div>
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+<div class="line"><a name="l00797"></a><span class="lineno">  797</span>&#160;    p.y = footprint.polygon.points.front().y;</div>
+<div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160;    marker.points.push_back(p);</div>
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+<div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160; </div>
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+<div class="line"><a name="l00803"></a><span class="lineno">  803</span>&#160; </div>
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+<div class="line"><a name="l00806"></a><span class="lineno">  806</span>&#160;  std_msgs::ColorRGBA color;</div>
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+<div class="line"><a name="l00808"></a><span class="lineno">  808</span>&#160;  visualization_msgs::Marker v_trajectory = <a class="code" href="classDWAPlanner.html#a60b3fffeaa811afd6dea2104760ab824">create_marker_msg</a>(0, <a class="code" href="classDWAPlanner.html#a7980adb5c585031a27aed3f953f4c674">v_path_width_</a>, color, trajectory);</div>
+<div class="line"><a name="l00809"></a><span class="lineno">  809</span>&#160;  pub.publish(v_trajectory);</div>
+<div class="line"><a name="l00810"></a><span class="lineno">  810</span>&#160;}</div>
+<div class="line"><a name="l00811"></a><span class="lineno">  811</span>&#160; </div>
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+<div class="line"><a name="l00813"></a><span class="lineno">  813</span>&#160;    <span class="keyword">const</span> std::vector&lt;std::pair&lt;std::vector&lt;State&gt;, <span class="keywordtype">bool</span>&gt;&gt; &amp;trajectories, <span class="keyword">const</span> ros::Publisher &amp;pub)</div>
+<div class="line"><a name="l00814"></a><span class="lineno">  814</span>&#160;{</div>
+<div class="line"><a name="l00815"></a><span class="lineno">  815</span>&#160;  visualization_msgs::MarkerArray v_trajectories;</div>
+<div class="line"><a name="l00816"></a><span class="lineno">  816</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; trajectories.size(); i++)</div>
+<div class="line"><a name="l00817"></a><span class="lineno">  817</span>&#160;  {</div>
+<div class="line"><a name="l00818"></a><span class="lineno">  818</span>&#160;    std_msgs::ColorRGBA color;</div>
+<div class="line"><a name="l00819"></a><span class="lineno">  819</span>&#160;    <span class="keywordflow">if</span> (trajectories[i].second)</div>
+<div class="line"><a name="l00820"></a><span class="lineno">  820</span>&#160;    {</div>
+<div class="line"><a name="l00821"></a><span class="lineno">  821</span>&#160;      color.g = 1.0;</div>
+<div class="line"><a name="l00822"></a><span class="lineno">  822</span>&#160;    }</div>
+<div class="line"><a name="l00823"></a><span class="lineno">  823</span>&#160;    <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00824"></a><span class="lineno">  824</span>&#160;    {</div>
+<div class="line"><a name="l00825"></a><span class="lineno">  825</span>&#160;      color.r = 0.5;</div>
+<div class="line"><a name="l00826"></a><span class="lineno">  826</span>&#160;      color.b = 0.5;</div>
+<div class="line"><a name="l00827"></a><span class="lineno">  827</span>&#160;    }</div>
+<div class="line"><a name="l00828"></a><span class="lineno">  828</span>&#160;    visualization_msgs::Marker v_trajectory = <a class="code" href="classDWAPlanner.html#a60b3fffeaa811afd6dea2104760ab824">create_marker_msg</a>(i, <a class="code" href="classDWAPlanner.html#a7980adb5c585031a27aed3f953f4c674">v_path_width_</a> * 0.4, color, trajectories[i].first);</div>
+<div class="line"><a name="l00829"></a><span class="lineno">  829</span>&#160;    v_trajectories.markers.push_back(v_trajectory);</div>
+<div class="line"><a name="l00830"></a><span class="lineno">  830</span>&#160;  }</div>
+<div class="line"><a name="l00831"></a><span class="lineno">  831</span>&#160;  pub.publish(v_trajectories);</div>
+<div class="line"><a name="l00832"></a><span class="lineno">  832</span>&#160;}</div>
+<div class="line"><a name="l00833"></a><span class="lineno">  833</span>&#160; </div>
+<div class="line"><a name="l00834"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a8d03036507e7ab8b5187e9a8f0038316">  834</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classDWAPlanner.html#a8d03036507e7ab8b5187e9a8f0038316">DWAPlanner::visualize_footprints</a>(<span class="keyword">const</span> std::vector&lt;State&gt; &amp;trajectory, <span class="keyword">const</span> ros::Publisher &amp;pub)</div>
+<div class="line"><a name="l00835"></a><span class="lineno">  835</span>&#160;{</div>
+<div class="line"><a name="l00836"></a><span class="lineno">  836</span>&#160;  std_msgs::ColorRGBA color;</div>
+<div class="line"><a name="l00837"></a><span class="lineno">  837</span>&#160;  color.b = 1.0;</div>
+<div class="line"><a name="l00838"></a><span class="lineno">  838</span>&#160;  visualization_msgs::MarkerArray v_footprints;</div>
+<div class="line"><a name="l00839"></a><span class="lineno">  839</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; trajectory.size(); i++)</div>
+<div class="line"><a name="l00840"></a><span class="lineno">  840</span>&#160;  {</div>
+<div class="line"><a name="l00841"></a><span class="lineno">  841</span>&#160;    <span class="keyword">const</span> geometry_msgs::PolygonStamped footprint = <a class="code" href="classDWAPlanner.html#a463096d7d4bcfc3bc7cd7a9cf9b9a398">move_footprint</a>(trajectory[i]);</div>
+<div class="line"><a name="l00842"></a><span class="lineno">  842</span>&#160;    visualization_msgs::Marker v_footprint = <a class="code" href="classDWAPlanner.html#a60b3fffeaa811afd6dea2104760ab824">create_marker_msg</a>(i, <a class="code" href="classDWAPlanner.html#a7980adb5c585031a27aed3f953f4c674">v_path_width_</a> * 0.2, color, trajectory, footprint);</div>
+<div class="line"><a name="l00843"></a><span class="lineno">  843</span>&#160;    v_footprints.markers.push_back(v_footprint);</div>
+<div class="line"><a name="l00844"></a><span class="lineno">  844</span>&#160;  }</div>
+<div class="line"><a name="l00845"></a><span class="lineno">  845</span>&#160;  pub.publish(v_footprints);</div>
+<div class="line"><a name="l00846"></a><span class="lineno">  846</span>&#160;}</div>
 </div><!-- fragment --></div><!-- contents -->
-<div class="ttc" id="aclassDWAPlanner_html_a9ff6bc1bb61fb6d9a94310a949b3d58f"><div class="ttname"><a href="classDWAPlanner.html#a9ff6bc1bb61fb6d9a94310a949b3d58f">DWAPlanner::dist_to_goal_th_sub_</a></div><div class="ttdeci">ros::Subscriber dist_to_goal_th_sub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00459">dwa_planner.h:459</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a655d7e12cbe359f26dfcf5b52e7a6b33"><div class="ttname"><a href="classDWAPlanner.html#a655d7e12cbe359f26dfcf5b52e7a6b33">DWAPlanner::finish_flag_pub_</a></div><div class="ttdeci">ros::Publisher finish_flag_pub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00458">dwa_planner.h:458</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a1baf4f87f2e0c29818fa36004994ed4d"><div class="ttname"><a href="classDWAPlanner.html#a1baf4f87f2e0c29818fa36004994ed4d">DWAPlanner::edge_points_on_path_</a></div><div class="ttdeci">std::vector&lt; geometry_msgs::PoseStamped &gt; edge_points_on_path_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00472">dwa_planner.h:472</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a2821527877be42becc37cc9a867d3528"><div class="ttname"><a href="classDWAPlanner.html#a2821527877be42becc37cc9a867d3528">DWAPlanner::check_collision</a></div><div class="ttdeci">bool check_collision(const std::vector&lt; State &gt; &amp;traj)</div><div class="ttdoc">Check if the robot has collided.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00451">dwa_planner.cpp:451</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_adcda02de1857cdde039ed3dabe4d4106"><div class="ttname"><a href="classDWAPlanner.html#adcda02de1857cdde039ed3dabe4d4106">DWAPlanner::angle_resolution_</a></div><div class="ttdeci">double angle_resolution_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00417">dwa_planner.h:417</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a9ff6bc1bb61fb6d9a94310a949b3d58f"><div class="ttname"><a href="classDWAPlanner.html#a9ff6bc1bb61fb6d9a94310a949b3d58f">DWAPlanner::dist_to_goal_th_sub_</a></div><div class="ttdeci">ros::Subscriber dist_to_goal_th_sub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00458">dwa_planner.h:458</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a655d7e12cbe359f26dfcf5b52e7a6b33"><div class="ttname"><a href="classDWAPlanner.html#a655d7e12cbe359f26dfcf5b52e7a6b33">DWAPlanner::finish_flag_pub_</a></div><div class="ttdeci">ros::Publisher finish_flag_pub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00457">dwa_planner.h:457</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a2821527877be42becc37cc9a867d3528"><div class="ttname"><a href="classDWAPlanner.html#a2821527877be42becc37cc9a867d3528">DWAPlanner::check_collision</a></div><div class="ttdeci">bool check_collision(const std::vector&lt; State &gt; &amp;traj)</div><div class="ttdoc">Check if the robot has collided.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00445">dwa_planner.cpp:445</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_adcda02de1857cdde039ed3dabe4d4106"><div class="ttname"><a href="classDWAPlanner.html#adcda02de1857cdde039ed3dabe4d4106">DWAPlanner::angle_resolution_</a></div><div class="ttdeci">double angle_resolution_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00419">dwa_planner.h:419</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_1_1State_html_a878214bada81b2ee685b590f0417aaa2"><div class="ttname"><a href="classDWAPlanner_1_1State.html#a878214bada81b2ee685b590f0417aaa2">DWAPlanner::State::yaw_</a></div><div class="ttdeci">double yaw_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00070">dwa_planner.h:70</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_af9dcc8b5d0e860ea2d50f753a34a7a36"><div class="ttname"><a href="classDWAPlanner.html#af9dcc8b5d0e860ea2d50f753a34a7a36">DWAPlanner::scan_callback</a></div><div class="ttdeci">void scan_callback(const sensor_msgs::LaserScanConstPtr &amp;msg)</div><div class="ttdoc">A callback to hanldle buffering scan messages.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00108">dwa_planner.cpp:108</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a0e48f37c68a14272520398b948999b63"><div class="ttname"><a href="classDWAPlanner.html#a0e48f37c68a14272520398b948999b63">DWAPlanner::nh_</a></div><div class="ttdeci">ros::NodeHandle nh_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00452">dwa_planner.h:452</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a461198b6316c4b8d007957dff80008b2"><div class="ttname"><a href="classDWAPlanner.html#a461198b6316c4b8d007957dff80008b2">DWAPlanner::has_finished_</a></div><div class="ttdeci">std_msgs::Bool has_finished_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00474">dwa_planner.h:474</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_acc2706026b1ce2a7d83b2a33ef201145"><div class="ttname"><a href="classDWAPlanner.html#acc2706026b1ce2a7d83b2a33ef201145">DWAPlanner::scan_not_subscribe_count_</a></div><div class="ttdeci">int scan_not_subscribe_count_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00450">dwa_planner.h:450</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a27f250fe24e2a4f222fa45e457ac87a9"><div class="ttname"><a href="classDWAPlanner.html#a27f250fe24e2a4f222fa45e457ac87a9">DWAPlanner::use_scan_as_input_</a></div><div class="ttdeci">bool use_scan_as_input_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00434">dwa_planner.h:434</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a350b64cf0de51fbe656a09dd579de4f9"><div class="ttname"><a href="classDWAPlanner.html#a350b64cf0de51fbe656a09dd579de4f9">DWAPlanner::edge_on_global_path_sub_</a></div><div class="ttdeci">ros::Subscriber edge_on_global_path_sub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00460">dwa_planner.h:460</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ac45d566b529f7420cef9e0e5a32907a0"><div class="ttname"><a href="classDWAPlanner.html#ac45d566b529f7420cef9e0e5a32907a0">DWAPlanner::generate_trajectory</a></div><div class="ttdeci">std::vector&lt; State &gt; generate_trajectory(const double velocity, const double yawrate)</div><div class="ttdoc">Generate trajectory.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00533">dwa_planner.cpp:533</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ad828f8cf5e3705c42fe494dbf0927e1a"><div class="ttname"><a href="classDWAPlanner.html#ad828f8cf5e3705c42fe494dbf0927e1a">DWAPlanner::calc_path_cost</a></div><div class="ttdeci">float calc_path_cost(const std::vector&lt; State &gt; &amp;traj)</div><div class="ttdoc">Calculate the path cost.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00514">dwa_planner.cpp:514</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_af9dcc8b5d0e860ea2d50f753a34a7a36"><div class="ttname"><a href="classDWAPlanner.html#af9dcc8b5d0e860ea2d50f753a34a7a36">DWAPlanner::scan_callback</a></div><div class="ttdeci">void scan_callback(const sensor_msgs::LaserScanConstPtr &amp;msg)</div><div class="ttdoc">A callback to hanldle buffering scan messages.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00105">dwa_planner.cpp:105</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a0e48f37c68a14272520398b948999b63"><div class="ttname"><a href="classDWAPlanner.html#a0e48f37c68a14272520398b948999b63">DWAPlanner::nh_</a></div><div class="ttdeci">ros::NodeHandle nh_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00451">dwa_planner.h:451</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a461198b6316c4b8d007957dff80008b2"><div class="ttname"><a href="classDWAPlanner.html#a461198b6316c4b8d007957dff80008b2">DWAPlanner::has_finished_</a></div><div class="ttdeci">std_msgs::Bool has_finished_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00473">dwa_planner.h:473</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_acc2706026b1ce2a7d83b2a33ef201145"><div class="ttname"><a href="classDWAPlanner.html#acc2706026b1ce2a7d83b2a33ef201145">DWAPlanner::scan_not_subscribe_count_</a></div><div class="ttdeci">int scan_not_subscribe_count_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00449">dwa_planner.h:449</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a27f250fe24e2a4f222fa45e457ac87a9"><div class="ttname"><a href="classDWAPlanner.html#a27f250fe24e2a4f222fa45e457ac87a9">DWAPlanner::use_scan_as_input_</a></div><div class="ttdeci">bool use_scan_as_input_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00436">dwa_planner.h:436</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a350b64cf0de51fbe656a09dd579de4f9"><div class="ttname"><a href="classDWAPlanner.html#a350b64cf0de51fbe656a09dd579de4f9">DWAPlanner::edge_on_global_path_sub_</a></div><div class="ttdeci">ros::Subscriber edge_on_global_path_sub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00459">dwa_planner.h:459</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ac45d566b529f7420cef9e0e5a32907a0"><div class="ttname"><a href="classDWAPlanner.html#ac45d566b529f7420cef9e0e5a32907a0">DWAPlanner::generate_trajectory</a></div><div class="ttdeci">std::vector&lt; State &gt; generate_trajectory(const double velocity, const double yawrate)</div><div class="ttdoc">Generate trajectory.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00527">dwa_planner.cpp:527</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ad828f8cf5e3705c42fe494dbf0927e1a"><div class="ttname"><a href="classDWAPlanner.html#ad828f8cf5e3705c42fe494dbf0927e1a">DWAPlanner::calc_path_cost</a></div><div class="ttdeci">float calc_path_cost(const std::vector&lt; State &gt; &amp;traj)</div><div class="ttdoc">Calculate the path cost.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00508">dwa_planner.cpp:508</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_1_1State_html_a4f3b650eb238a2ae3845c0c554cd6628"><div class="ttname"><a href="classDWAPlanner_1_1State.html#a4f3b650eb238a2ae3845c0c554cd6628">DWAPlanner::State::yawrate_</a></div><div class="ttdeci">double yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00072">dwa_planner.h:72</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a987b2b726a8c1a1a7963802de728e54e"><div class="ttname"><a href="classDWAPlanner.html#a987b2b726a8c1a1a7963802de728e54e">DWAPlanner::footprint_callback</a></div><div class="ttdeci">void footprint_callback(const geometry_msgs::PolygonStampedPtr &amp;msg)</div><div class="ttdoc">A calllback to handle buffering footprint messages.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00137">dwa_planner.cpp:137</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_aee78d648c4143bbb16320b8cb4913753"><div class="ttname"><a href="classDWAPlanner.html#aee78d648c4143bbb16320b8cb4913753">DWAPlanner::calc_dynamic_window</a></div><div class="ttdeci">Window calc_dynamic_window(void)</div><div class="ttdoc">Calculate dynamic window.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00469">dwa_planner.cpp:469</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a6b0fc2a356d9c3c89863533b1e81091f"><div class="ttname"><a href="classDWAPlanner.html#a6b0fc2a356d9c3c89863533b1e81091f">DWAPlanner::obs_cost_gain_</a></div><div class="ttdeci">double obs_cost_gain_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00420">dwa_planner.h:420</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a840a031c8d25484bcab244edb39c97d5"><div class="ttname"><a href="classDWAPlanner.html#a840a031c8d25484bcab244edb39c97d5">DWAPlanner::calc_dist_from_robot</a></div><div class="ttdeci">float calc_dist_from_robot(const geometry_msgs::Point &amp;obstacle, const State &amp;state)</div><div class="ttdoc">Calculate the distance from robot footprint to the nearest obstacle.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00605">dwa_planner.cpp:605</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_aeb3c7355707de25f99cf71e6c7382625"><div class="ttname"><a href="classDWAPlanner.html#aeb3c7355707de25f99cf71e6c7382625">DWAPlanner::min_yawrate_</a></div><div class="ttdeci">double min_yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00410">dwa_planner.h:410</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_aa8947f7df5a12a7f2ad844b8be1cb046"><div class="ttname"><a href="classDWAPlanner.html#aa8947f7df5a12a7f2ad844b8be1cb046">DWAPlanner::calc_dist_to_path</a></div><div class="ttdeci">float calc_dist_to_path(const State state)</div><div class="ttdoc">Calculate the distance of current pose to global path.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00522">dwa_planner.cpp:522</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a75f2b749625d62475f12f68c1ba86703"><div class="ttname"><a href="classDWAPlanner.html#a75f2b749625d62475f12f68c1ba86703">DWAPlanner::odom_not_subscribe_count_</a></div><div class="ttdeci">int odom_not_subscribe_count_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00448">dwa_planner.h:448</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ac99b6cb22926c93029868661c4208304"><div class="ttname"><a href="classDWAPlanner.html#ac99b6cb22926c93029868661c4208304">DWAPlanner::footprint_subscribed_</a></div><div class="ttdeci">bool footprint_subscribed_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00437">dwa_planner.h:437</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a0eb2324a258632fd2a8cb7a02bbdb703"><div class="ttname"><a href="classDWAPlanner.html#a0eb2324a258632fd2a8cb7a02bbdb703">DWAPlanner::local_map_not_subscribe_count_</a></div><div class="ttdeci">int local_map_not_subscribe_count_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00449">dwa_planner.h:449</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ad2634dc4592ca28fb24f490e93751dc7"><div class="ttname"><a href="classDWAPlanner.html#ad2634dc4592ca28fb24f490e93751dc7">DWAPlanner::raycast</a></div><div class="ttdeci">void raycast(const nav_msgs::OccupancyGrid &amp;map)</div><div class="ttdoc">Get obstacle list from local map.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00742">dwa_planner.cpp:742</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_afb16cecacc328ba0dfa1a3741380f65b"><div class="ttname"><a href="classDWAPlanner.html#afb16cecacc328ba0dfa1a3741380f65b">DWAPlanner::predict_time_</a></div><div class="ttdeci">double predict_time_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00418">dwa_planner.h:418</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a463096d7d4bcfc3bc7cd7a9cf9b9a398"><div class="ttname"><a href="classDWAPlanner.html#a463096d7d4bcfc3bc7cd7a9cf9b9a398">DWAPlanner::move_footprint</a></div><div class="ttdeci">geometry_msgs::PolygonStamped move_footprint(const State &amp;target_pose)</div><div class="ttdoc">Move the robot footprint to the target pose.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00619">dwa_planner.cpp:619</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_aae7d1c62cfbe78b2d842775ed59947f6"><div class="ttname"><a href="classDWAPlanner.html#aae7d1c62cfbe78b2d842775ed59947f6">DWAPlanner::velocity_samples_</a></div><div class="ttdeci">int velocity_samples_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00444">dwa_planner.h:444</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a8483eacf800d05461dc065480e06727e"><div class="ttname"><a href="classDWAPlanner.html#a8483eacf800d05461dc065480e06727e">DWAPlanner::footprint_sub_</a></div><div class="ttdeci">ros::Subscriber footprint_sub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00461">dwa_planner.h:461</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ad29b1f49e5199913b71be5fa67df819c"><div class="ttname"><a href="classDWAPlanner.html#ad29b1f49e5199913b71be5fa67df819c">DWAPlanner::goal_msg_</a></div><div class="ttdeci">geometry_msgs::PoseStamped goal_msg_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00469">dwa_planner.h:469</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a68b70a29964590639005a4bbded68778"><div class="ttname"><a href="classDWAPlanner.html#a68b70a29964590639005a4bbded68778">DWAPlanner::goal_callback</a></div><div class="ttdeci">void goal_callback(const geometry_msgs::PoseStampedConstPtr &amp;msg)</div><div class="ttdoc">A callback to hanldle buffering local goal messages.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00091">dwa_planner.cpp:91</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a0a449583ecdfc796e38a3c9b9475da4c"><div class="ttname"><a href="classDWAPlanner.html#a0a449583ecdfc796e38a3c9b9475da4c">DWAPlanner::max_velocity_</a></div><div class="ttdeci">double max_velocity_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00407">dwa_planner.h:407</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a43f627b7c35d4e16e1ee80067daae75b"><div class="ttname"><a href="classDWAPlanner.html#a43f627b7c35d4e16e1ee80067daae75b">DWAPlanner::to_goal_cost_gain_</a></div><div class="ttdeci">double to_goal_cost_gain_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00421">dwa_planner.h:421</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ae2ee1947fa1e0e8350275e111889cdda"><div class="ttname"><a href="classDWAPlanner.html#ae2ee1947fa1e0e8350275e111889cdda">DWAPlanner::use_path_cost_</a></div><div class="ttdeci">bool use_path_cost_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00435">dwa_planner.h:435</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a987b2b726a8c1a1a7963802de728e54e"><div class="ttname"><a href="classDWAPlanner.html#a987b2b726a8c1a1a7963802de728e54e">DWAPlanner::footprint_callback</a></div><div class="ttdeci">void footprint_callback(const geometry_msgs::PolygonStampedPtr &amp;msg)</div><div class="ttdoc">A calllback to handle buffering footprint messages.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00134">dwa_planner.cpp:134</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_aee78d648c4143bbb16320b8cb4913753"><div class="ttname"><a href="classDWAPlanner.html#aee78d648c4143bbb16320b8cb4913753">DWAPlanner::calc_dynamic_window</a></div><div class="ttdeci">Window calc_dynamic_window(void)</div><div class="ttdoc">Calculate dynamic window.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00463">dwa_planner.cpp:463</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a6b0fc2a356d9c3c89863533b1e81091f"><div class="ttname"><a href="classDWAPlanner.html#a6b0fc2a356d9c3c89863533b1e81091f">DWAPlanner::obs_cost_gain_</a></div><div class="ttdeci">double obs_cost_gain_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00422">dwa_planner.h:422</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a840a031c8d25484bcab244edb39c97d5"><div class="ttname"><a href="classDWAPlanner.html#a840a031c8d25484bcab244edb39c97d5">DWAPlanner::calc_dist_from_robot</a></div><div class="ttdeci">float calc_dist_from_robot(const geometry_msgs::Point &amp;obstacle, const State &amp;state)</div><div class="ttdoc">Calculate the distance from robot footprint to the nearest obstacle.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00599">dwa_planner.cpp:599</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_aeb3c7355707de25f99cf71e6c7382625"><div class="ttname"><a href="classDWAPlanner.html#aeb3c7355707de25f99cf71e6c7382625">DWAPlanner::min_yawrate_</a></div><div class="ttdeci">double min_yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00412">dwa_planner.h:412</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_aa8947f7df5a12a7f2ad844b8be1cb046"><div class="ttname"><a href="classDWAPlanner.html#aa8947f7df5a12a7f2ad844b8be1cb046">DWAPlanner::calc_dist_to_path</a></div><div class="ttdeci">float calc_dist_to_path(const State state)</div><div class="ttdoc">Calculate the distance of current pose to global path.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00516">dwa_planner.cpp:516</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a75f2b749625d62475f12f68c1ba86703"><div class="ttname"><a href="classDWAPlanner.html#a75f2b749625d62475f12f68c1ba86703">DWAPlanner::odom_not_subscribe_count_</a></div><div class="ttdeci">int odom_not_subscribe_count_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00447">dwa_planner.h:447</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a0eb2324a258632fd2a8cb7a02bbdb703"><div class="ttname"><a href="classDWAPlanner.html#a0eb2324a258632fd2a8cb7a02bbdb703">DWAPlanner::local_map_not_subscribe_count_</a></div><div class="ttdeci">int local_map_not_subscribe_count_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00448">dwa_planner.h:448</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_afb16cecacc328ba0dfa1a3741380f65b"><div class="ttname"><a href="classDWAPlanner.html#afb16cecacc328ba0dfa1a3741380f65b">DWAPlanner::predict_time_</a></div><div class="ttdeci">double predict_time_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00420">dwa_planner.h:420</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_adeb538e0e0f6c5c83034322155796242"><div class="ttname"><a href="classDWAPlanner.html#adeb538e0e0f6c5c83034322155796242">DWAPlanner::create_obs_list</a></div><div class="ttdeci">void create_obs_list(const nav_msgs::OccupancyGrid &amp;map)</div><div class="ttdoc">Get obstacle list from local map.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00736">dwa_planner.cpp:736</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a463096d7d4bcfc3bc7cd7a9cf9b9a398"><div class="ttname"><a href="classDWAPlanner.html#a463096d7d4bcfc3bc7cd7a9cf9b9a398">DWAPlanner::move_footprint</a></div><div class="ttdeci">geometry_msgs::PolygonStamped move_footprint(const State &amp;target_pose)</div><div class="ttdoc">Move the robot footprint to the target pose.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00613">dwa_planner.cpp:613</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_aae7d1c62cfbe78b2d842775ed59947f6"><div class="ttname"><a href="classDWAPlanner.html#aae7d1c62cfbe78b2d842775ed59947f6">DWAPlanner::velocity_samples_</a></div><div class="ttdeci">int velocity_samples_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00443">dwa_planner.h:443</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a8483eacf800d05461dc065480e06727e"><div class="ttname"><a href="classDWAPlanner.html#a8483eacf800d05461dc065480e06727e">DWAPlanner::footprint_sub_</a></div><div class="ttdeci">ros::Subscriber footprint_sub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00460">dwa_planner.h:460</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a68b70a29964590639005a4bbded68778"><div class="ttname"><a href="classDWAPlanner.html#a68b70a29964590639005a4bbded68778">DWAPlanner::goal_callback</a></div><div class="ttdeci">void goal_callback(const geometry_msgs::PoseStampedConstPtr &amp;msg)</div><div class="ttdoc">A callback to hanldle buffering local goal messages.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00088">dwa_planner.cpp:88</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a0a449583ecdfc796e38a3c9b9475da4c"><div class="ttname"><a href="classDWAPlanner.html#a0a449583ecdfc796e38a3c9b9475da4c">DWAPlanner::max_velocity_</a></div><div class="ttdeci">double max_velocity_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00409">dwa_planner.h:409</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a43f627b7c35d4e16e1ee80067daae75b"><div class="ttname"><a href="classDWAPlanner.html#a43f627b7c35d4e16e1ee80067daae75b">DWAPlanner::to_goal_cost_gain_</a></div><div class="ttdeci">double to_goal_cost_gain_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00423">dwa_planner.h:423</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ae2ee1947fa1e0e8350275e111889cdda"><div class="ttname"><a href="classDWAPlanner.html#ae2ee1947fa1e0e8350275e111889cdda">DWAPlanner::use_path_cost_</a></div><div class="ttdeci">bool use_path_cost_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00437">dwa_planner.h:437</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_html_add9a8c8f11e295e5546ba6a3b203b244"><div class="ttname"><a href="classDWAPlanner.html#add9a8c8f11e295e5546ba6a3b203b244">DWAPlanner::DWAPlanner</a></div><div class="ttdeci">DWAPlanner(void)</div><div class="ttdoc">Constructor for the DWAPlanner.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00010">dwa_planner.cpp:10</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a87a87a7fe7eb6f6b279af965da562d6f"><div class="ttname"><a href="classDWAPlanner.html#a87a87a7fe7eb6f6b279af965da562d6f">DWAPlanner::velocity_pub_</a></div><div class="ttdeci">ros::Publisher velocity_pub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00454">dwa_planner.h:454</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a87923f18a97dd118ef3176072cb75626"><div class="ttname"><a href="classDWAPlanner.html#a87923f18a97dd118ef3176072cb75626">DWAPlanner::edge_on_global_path_callback</a></div><div class="ttdeci">void edge_on_global_path_callback(const nav_msgs::PathConstPtr &amp;msg)</div><div class="ttdoc">A callback to handle buffering edge on global path messages.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00154">dwa_planner.cpp:154</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_aae53f07597841281fe61f4448c12c6dc"><div class="ttname"><a href="classDWAPlanner.html#aae53f07597841281fe61f4448c12c6dc">DWAPlanner::normalize_costs</a></div><div class="ttdeci">void normalize_costs(std::vector&lt; Cost &gt; &amp;costs)</div><div class="ttdoc">Normalize the costs.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00267">dwa_planner.cpp:267</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a87a87a7fe7eb6f6b279af965da562d6f"><div class="ttname"><a href="classDWAPlanner.html#a87a87a7fe7eb6f6b279af965da562d6f">DWAPlanner::velocity_pub_</a></div><div class="ttdeci">ros::Publisher velocity_pub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00453">dwa_planner.h:453</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a87923f18a97dd118ef3176072cb75626"><div class="ttname"><a href="classDWAPlanner.html#a87923f18a97dd118ef3176072cb75626">DWAPlanner::edge_on_global_path_callback</a></div><div class="ttdeci">void edge_on_global_path_callback(const nav_msgs::PathConstPtr &amp;msg)</div><div class="ttdoc">A callback to handle buffering edge on global path messages.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00150">dwa_planner.cpp:150</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_aae53f07597841281fe61f4448c12c6dc"><div class="ttname"><a href="classDWAPlanner.html#aae53f07597841281fe61f4448c12c6dc">DWAPlanner::normalize_costs</a></div><div class="ttdeci">void normalize_costs(std::vector&lt; Cost &gt; &amp;costs)</div><div class="ttdoc">Normalize the costs.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00261">dwa_planner.cpp:261</a></div></div>
 <div class="ttc" id="adwa__planner_8h_html"><div class="ttname"><a href="dwa__planner_8h.html">dwa_planner.h</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_1_1Window_html_a6fc166d61dc10063b7c2bab93f263a8a"><div class="ttname"><a href="classDWAPlanner_1_1Window.html#a6fc166d61dc10063b7c2bab93f263a8a">DWAPlanner::Window::min_velocity_</a></div><div class="ttdeci">double min_velocity_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00094">dwa_planner.h:94</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_1_1Cost_html_afa0078eb743592e0218455cafe5686f9"><div class="ttname"><a href="classDWAPlanner_1_1Cost.html#afa0078eb743592e0218455cafe5686f9">DWAPlanner::Cost::to_goal_cost_</a></div><div class="ttdeci">float to_goal_cost_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00137">dwa_planner.h:137</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a7bc416f6ce1395235566cfd60d7b1770"><div class="ttname"><a href="classDWAPlanner.html#a7bc416f6ce1395235566cfd60d7b1770">DWAPlanner::scan_updated_</a></div><div class="ttdeci">bool scan_updated_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00442">dwa_planner.h:442</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a3b0f356e84760a5f9dcb90e19b6efa69"><div class="ttname"><a href="classDWAPlanner.html#a3b0f356e84760a5f9dcb90e19b6efa69">DWAPlanner::sim_time_samples_</a></div><div class="ttdeci">int sim_time_samples_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00446">dwa_planner.h:446</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a8d03036507e7ab8b5187e9a8f0038316"><div class="ttname"><a href="classDWAPlanner.html#a8d03036507e7ab8b5187e9a8f0038316">DWAPlanner::visualize_footprints</a></div><div class="ttdeci">void visualize_footprints(const std::vector&lt; State &gt; &amp;trajectory, const ros::Publisher &amp;pub)</div><div class="ttdoc">Publish predicted footprints.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00840">dwa_planner.cpp:840</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a7bc416f6ce1395235566cfd60d7b1770"><div class="ttname"><a href="classDWAPlanner.html#a7bc416f6ce1395235566cfd60d7b1770">DWAPlanner::scan_updated_</a></div><div class="ttdeci">bool scan_updated_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00441">dwa_planner.h:441</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a3b0f356e84760a5f9dcb90e19b6efa69"><div class="ttname"><a href="classDWAPlanner.html#a3b0f356e84760a5f9dcb90e19b6efa69">DWAPlanner::sim_time_samples_</a></div><div class="ttdeci">int sim_time_samples_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00445">dwa_planner.h:445</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a8d03036507e7ab8b5187e9a8f0038316"><div class="ttname"><a href="classDWAPlanner.html#a8d03036507e7ab8b5187e9a8f0038316">DWAPlanner::visualize_footprints</a></div><div class="ttdeci">void visualize_footprints(const std::vector&lt; State &gt; &amp;trajectory, const ros::Publisher &amp;pub)</div><div class="ttdoc">Publish predicted footprints.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00834">dwa_planner.cpp:834</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ae8808a39a056f2b8aea650283e0e6139"><div class="ttname"><a href="classDWAPlanner.html#ae8808a39a056f2b8aea650283e0e6139">DWAPlanner::goal_msg_</a></div><div class="ttdeci">std::optional&lt; geometry_msgs::PoseStamped &gt; goal_msg_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00468">dwa_planner.h:468</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_1_1Cost_html_a764332378cf66639480771a9eb7713ac"><div class="ttname"><a href="classDWAPlanner_1_1Cost.html#a764332378cf66639480771a9eb7713ac">DWAPlanner::Cost::path_cost_</a></div><div class="ttdeci">float path_cost_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00139">dwa_planner.h:139</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_1_1State_html_a5f58913a665cdf6d3bcbcab9d3535a88"><div class="ttname"><a href="classDWAPlanner_1_1State.html#a5f58913a665cdf6d3bcbcab9d3535a88">DWAPlanner::State::velocity_</a></div><div class="ttdeci">double velocity_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00071">dwa_planner.h:71</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a2639f54e669e23a5022be9441fee3bf3"><div class="ttname"><a href="classDWAPlanner.html#a2639f54e669e23a5022be9441fee3bf3">DWAPlanner::calc_intersection</a></div><div class="ttdeci">geometry_msgs::Point calc_intersection(const geometry_msgs::Point &amp;obstacle, const State &amp;state, geometry_msgs::PolygonStamped footprint)</div><div class="ttdoc">Calculate the intersection point of the line and the circle.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00572">dwa_planner.cpp:572</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a2639f54e669e23a5022be9441fee3bf3"><div class="ttname"><a href="classDWAPlanner.html#a2639f54e669e23a5022be9441fee3bf3">DWAPlanner::calc_intersection</a></div><div class="ttdeci">geometry_msgs::Point calc_intersection(const geometry_msgs::Point &amp;obstacle, const State &amp;state, geometry_msgs::PolygonStamped footprint)</div><div class="ttdoc">Calculate the intersection point of the line and the circle.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00566">dwa_planner.cpp:566</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_1_1Cost_html"><div class="ttname"><a href="classDWAPlanner_1_1Cost.html">DWAPlanner::Cost</a></div><div class="ttdoc">A data class for cost.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00106">dwa_planner.h:106</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a07bcd1c208c69b7c2e421f52199c1939"><div class="ttname"><a href="classDWAPlanner.html#a07bcd1c208c69b7c2e421f52199c1939">DWAPlanner::min_in_place_yawrate_</a></div><div class="ttdeci">double min_in_place_yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00412">dwa_planner.h:412</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a07bcd1c208c69b7c2e421f52199c1939"><div class="ttname"><a href="classDWAPlanner.html#a07bcd1c208c69b7c2e421f52199c1939">DWAPlanner::min_in_place_yawrate_</a></div><div class="ttdeci">double min_in_place_yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00414">dwa_planner.h:414</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_1_1State_html"><div class="ttname"><a href="classDWAPlanner_1_1State.html">DWAPlanner::State</a></div><div class="ttdoc">A data class for state of robot.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00050">dwa_planner.h:50</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_1_1Window_html"><div class="ttname"><a href="classDWAPlanner_1_1Window.html">DWAPlanner::Window</a></div><div class="ttdoc">A data class for dynamic window.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00081">dwa_planner.h:81</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_1_1Cost_html_aa3108f4915914a4b41c2b6cc4b8fcc98"><div class="ttname"><a href="classDWAPlanner_1_1Cost.html#aa3108f4915914a4b41c2b6cc4b8fcc98">DWAPlanner::Cost::obs_cost_</a></div><div class="ttdeci">float obs_cost_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00136">dwa_planner.h:136</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ab601045c87c8925652ec423dd5c46062"><div class="ttname"><a href="classDWAPlanner.html#ab601045c87c8925652ec423dd5c46062">DWAPlanner::calc_cmd_vel</a></div><div class="ttdeci">geometry_msgs::Twist calc_cmd_vel(void)</div><div class="ttdoc">Calculate the command velocity.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00364">dwa_planner.cpp:364</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a489f2afb286a975b1416e0c356cc3d92"><div class="ttname"><a href="classDWAPlanner.html#a489f2afb286a975b1416e0c356cc3d92">DWAPlanner::max_yawrate_</a></div><div class="ttdeci">double max_yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00409">dwa_planner.h:409</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ad481084566fe0bb82f732a8a8dbffe93"><div class="ttname"><a href="classDWAPlanner.html#ad481084566fe0bb82f732a8a8dbffe93">DWAPlanner::can_move</a></div><div class="ttdeci">bool can_move(void)</div><div class="ttdoc">Check if the robot can move.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00334">dwa_planner.cpp:334</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_1_1Cost_html_adc309115613ed2fea5d5f5f5d9e1f2fe"><div class="ttname"><a href="classDWAPlanner_1_1Cost.html#adc309115613ed2fea5d5f5f5d9e1f2fe">DWAPlanner::Cost::show</a></div><div class="ttdeci">void show(void)</div><div class="ttdoc">Show the cost.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00080">dwa_planner.cpp:80</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a51b0f44c576d7d75b64a66733bf0e959"><div class="ttname"><a href="classDWAPlanner.html#a51b0f44c576d7d75b64a66733bf0e959">DWAPlanner::calc_obs_cost</a></div><div class="ttdeci">float calc_obs_cost(const std::vector&lt; State &gt; &amp;traj)</div><div class="ttdoc">Calculate obstacle cost.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00485">dwa_planner.cpp:485</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a0a6a9e24ea11d7a02203a9f2d57a6c2a"><div class="ttname"><a href="classDWAPlanner.html#a0a6a9e24ea11d7a02203a9f2d57a6c2a">DWAPlanner::use_footprint_</a></div><div class="ttdeci">bool use_footprint_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00433">dwa_planner.h:433</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a05cec7ce1a8d75286d3c2a757bb7fd40"><div class="ttname"><a href="classDWAPlanner.html#a05cec7ce1a8d75286d3c2a757bb7fd40">DWAPlanner::candidate_trajectories_pub_</a></div><div class="ttdeci">ros::Publisher candidate_trajectories_pub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00455">dwa_planner.h:455</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_adb545e94c1525c67c70e6fe3a33575e5"><div class="ttname"><a href="classDWAPlanner.html#adb545e94c1525c67c70e6fe3a33575e5">DWAPlanner::scan_to_obs</a></div><div class="ttdeci">void scan_to_obs(const sensor_msgs::LaserScan &amp;scan)</div><div class="ttdoc">Get obstacle list from laser scan.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00721">dwa_planner.cpp:721</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a6f4ad39dc3067623588dc8f58088e497"><div class="ttname"><a href="classDWAPlanner.html#a6f4ad39dc3067623588dc8f58088e497">DWAPlanner::path_cost_gain_</a></div><div class="ttdeci">double path_cost_gain_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00423">dwa_planner.h:423</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ae05204eadd96f3ce82863ce35173c54d"><div class="ttname"><a href="classDWAPlanner.html#ae05204eadd96f3ce82863ce35173c54d">DWAPlanner::listener_</a></div><div class="ttdeci">tf::TransformListener listener_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00476">dwa_planner.h:476</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a320e7e8181cad788c41ce82b5fbd96ce"><div class="ttname"><a href="classDWAPlanner.html#a320e7e8181cad788c41ce82b5fbd96ce">DWAPlanner::motion</a></div><div class="ttdeci">void motion(State &amp;state, const double velocity, const double yawrate)</div><div class="ttdoc">Simulate the robot motion.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00711">dwa_planner.cpp:711</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a9f69931d0d6bded376f1fd09b6a5bd80"><div class="ttname"><a href="classDWAPlanner.html#a9f69931d0d6bded376f1fd09b6a5bd80">DWAPlanner::local_map_sub_</a></div><div class="ttdeci">ros::Subscriber local_map_sub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00463">dwa_planner.h:463</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a6b737a7173a88d329229c4f6c032b469"><div class="ttname"><a href="classDWAPlanner.html#a6b737a7173a88d329229c4f6c032b469">DWAPlanner::hz_</a></div><div class="ttdeci">double hz_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00405">dwa_planner.h:405</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a90a0f83317eb1b24bb50ee20fa90f251"><div class="ttname"><a href="classDWAPlanner.html#a90a0f83317eb1b24bb50ee20fa90f251">DWAPlanner::odom_callback</a></div><div class="ttdeci">void odom_callback(const nav_msgs::OdometryConstPtr &amp;msg)</div><div class="ttdoc">A callback to hanldle buffering odometry messages.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00124">dwa_planner.cpp:124</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a42d1a6b3f75845349a463d3331e636f9"><div class="ttname"><a href="classDWAPlanner.html#a42d1a6b3f75845349a463d3331e636f9">DWAPlanner::footprint_</a></div><div class="ttdeci">geometry_msgs::PolygonStamped footprint_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00471">dwa_planner.h:471</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a8d103793791af71de914b43e7b8a5134"><div class="ttname"><a href="classDWAPlanner.html#a8d103793791af71de914b43e7b8a5134">DWAPlanner::visualize_trajectory</a></div><div class="ttdeci">void visualize_trajectory(const std::vector&lt; State &gt; &amp;trajectory, const ros::Publisher &amp;pub)</div><div class="ttdoc">Publish selected trajectory.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00810">dwa_planner.cpp:810</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_1_1Cost_html_ab0a513399b6aad6c585e8706d1ba5b71"><div class="ttname"><a href="classDWAPlanner_1_1Cost.html#ab0a513399b6aad6c585e8706d1ba5b71">DWAPlanner::Cost::calc_total_cost</a></div><div class="ttdeci">void calc_total_cost(void)</div><div class="ttdoc">Calculate the total cost.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00089">dwa_planner.cpp:89</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a260998589030cf3ec16e817e23026f0a"><div class="ttname"><a href="classDWAPlanner.html#a260998589030cf3ec16e817e23026f0a">DWAPlanner::local_map_callback</a></div><div class="ttdeci">void local_map_callback(const nav_msgs::OccupancyGridConstPtr &amp;msg)</div><div class="ttdoc">A callback to hanldle buffering local map messages.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00116">dwa_planner.cpp:116</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a153ce2ec57ab3365fd9f17d7f5395853"><div class="ttname"><a href="classDWAPlanner.html#a153ce2ec57ab3365fd9f17d7f5395853">DWAPlanner::sim_direction_</a></div><div class="ttdeci">double sim_direction_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00427">dwa_planner.h:427</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ac9a0ab8e147e8d8aaa752071d410d2dc"><div class="ttname"><a href="classDWAPlanner.html#ac9a0ab8e147e8d8aaa752071d410d2dc">DWAPlanner::calc_speed_cost</a></div><div class="ttdeci">float calc_speed_cost(const std::vector&lt; State &gt; &amp;traj)</div><div class="ttdoc">Calculate the speed cost.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00506">dwa_planner.cpp:506</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_af2e7c61dc465e5fdc78d2f5e30bf3257"><div class="ttname"><a href="classDWAPlanner.html#af2e7c61dc465e5fdc78d2f5e30bf3257">DWAPlanner::goal_sub_</a></div><div class="ttdeci">ros::Subscriber goal_sub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00462">dwa_planner.h:462</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ae44b49bc033ac28871f35634ced91e82"><div class="ttname"><a href="classDWAPlanner.html#ae44b49bc033ac28871f35634ced91e82">DWAPlanner::max_acceleration_</a></div><div class="ttdeci">double max_acceleration_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00413">dwa_planner.h:413</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a46626d8077945c25fb09eb3118cc1726"><div class="ttname"><a href="classDWAPlanner.html#a46626d8077945c25fb09eb3118cc1726">DWAPlanner::goal_subscribed_</a></div><div class="ttdeci">bool goal_subscribed_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00438">dwa_planner.h:438</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_aaa592c3dbe4ad17abdf59f09b47a2242"><div class="ttname"><a href="classDWAPlanner.html#aaa592c3dbe4ad17abdf59f09b47a2242">DWAPlanner::dist_to_goal_th_callback</a></div><div class="ttdeci">void dist_to_goal_th_callback(const std_msgs::Float64ConstPtr &amp;msg)</div><div class="ttdoc">A callback to handle buffering distance to goal threshold messages.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00148">dwa_planner.cpp:148</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_aae6d46481efb31274002c20048ebec3f"><div class="ttname"><a href="classDWAPlanner.html#aae6d46481efb31274002c20048ebec3f">DWAPlanner::current_cmd_vel_</a></div><div class="ttdeci">geometry_msgs::Twist current_cmd_vel_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00468">dwa_planner.h:468</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a40a68af9d1aa523e8b0a9064245ed40c"><div class="ttname"><a href="classDWAPlanner.html#a40a68af9d1aa523e8b0a9064245ed40c">DWAPlanner::obs_list_</a></div><div class="ttdeci">geometry_msgs::PoseArray obs_list_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00470">dwa_planner.h:470</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ac6b9c096dbcb9a93b035e8126f560aee"><div class="ttname"><a href="classDWAPlanner.html#ac6b9c096dbcb9a93b035e8126f560aee">DWAPlanner::yawrate_samples_</a></div><div class="ttdeci">int yawrate_samples_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00445">dwa_planner.h:445</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a671005ef52b7acde226ef9b4c2c3cb3b"><div class="ttname"><a href="classDWAPlanner.html#a671005ef52b7acde226ef9b4c2c3cb3b">DWAPlanner::target_velocity_callback</a></div><div class="ttdeci">void target_velocity_callback(const geometry_msgs::TwistConstPtr &amp;msg)</div><div class="ttdoc">A callback to hanldle buffering target velocity messages.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00131">dwa_planner.cpp:131</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a50de685d9878e76a3c5143fbda4c66a1"><div class="ttname"><a href="classDWAPlanner.html#a50de685d9878e76a3c5143fbda4c66a1">DWAPlanner::angle_to_goal_th_</a></div><div class="ttdeci">double angle_to_goal_th_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00426">dwa_planner.h:426</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ab601045c87c8925652ec423dd5c46062"><div class="ttname"><a href="classDWAPlanner.html#ab601045c87c8925652ec423dd5c46062">DWAPlanner::calc_cmd_vel</a></div><div class="ttdeci">geometry_msgs::Twist calc_cmd_vel(void)</div><div class="ttdoc">Calculate the command velocity.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00358">dwa_planner.cpp:358</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a489f2afb286a975b1416e0c356cc3d92"><div class="ttname"><a href="classDWAPlanner.html#a489f2afb286a975b1416e0c356cc3d92">DWAPlanner::max_yawrate_</a></div><div class="ttdeci">double max_yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00411">dwa_planner.h:411</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ad481084566fe0bb82f732a8a8dbffe93"><div class="ttname"><a href="classDWAPlanner.html#ad481084566fe0bb82f732a8a8dbffe93">DWAPlanner::can_move</a></div><div class="ttdeci">bool can_move(void)</div><div class="ttdoc">Check if the robot can move.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00328">dwa_planner.cpp:328</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_1_1Cost_html_adc309115613ed2fea5d5f5f5d9e1f2fe"><div class="ttname"><a href="classDWAPlanner_1_1Cost.html#adc309115613ed2fea5d5f5f5d9e1f2fe">DWAPlanner::Cost::show</a></div><div class="ttdeci">void show(void)</div><div class="ttdoc">Show the cost.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00077">dwa_planner.cpp:77</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a51b0f44c576d7d75b64a66733bf0e959"><div class="ttname"><a href="classDWAPlanner.html#a51b0f44c576d7d75b64a66733bf0e959">DWAPlanner::calc_obs_cost</a></div><div class="ttdeci">float calc_obs_cost(const std::vector&lt; State &gt; &amp;traj)</div><div class="ttdoc">Calculate obstacle cost.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00479">dwa_planner.cpp:479</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a0a6a9e24ea11d7a02203a9f2d57a6c2a"><div class="ttname"><a href="classDWAPlanner.html#a0a6a9e24ea11d7a02203a9f2d57a6c2a">DWAPlanner::use_footprint_</a></div><div class="ttdeci">bool use_footprint_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00435">dwa_planner.h:435</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a05cec7ce1a8d75286d3c2a757bb7fd40"><div class="ttname"><a href="classDWAPlanner.html#a05cec7ce1a8d75286d3c2a757bb7fd40">DWAPlanner::candidate_trajectories_pub_</a></div><div class="ttdeci">ros::Publisher candidate_trajectories_pub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00454">dwa_planner.h:454</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a6f4ad39dc3067623588dc8f58088e497"><div class="ttname"><a href="classDWAPlanner.html#a6f4ad39dc3067623588dc8f58088e497">DWAPlanner::path_cost_gain_</a></div><div class="ttdeci">double path_cost_gain_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00425">dwa_planner.h:425</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ae05204eadd96f3ce82863ce35173c54d"><div class="ttname"><a href="classDWAPlanner.html#ae05204eadd96f3ce82863ce35173c54d">DWAPlanner::listener_</a></div><div class="ttdeci">tf::TransformListener listener_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00475">dwa_planner.h:475</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a320e7e8181cad788c41ce82b5fbd96ce"><div class="ttname"><a href="classDWAPlanner.html#a320e7e8181cad788c41ce82b5fbd96ce">DWAPlanner::motion</a></div><div class="ttdeci">void motion(State &amp;state, const double velocity, const double yawrate)</div><div class="ttdoc">Simulate the robot motion.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00705">dwa_planner.cpp:705</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a9f69931d0d6bded376f1fd09b6a5bd80"><div class="ttname"><a href="classDWAPlanner.html#a9f69931d0d6bded376f1fd09b6a5bd80">DWAPlanner::local_map_sub_</a></div><div class="ttdeci">ros::Subscriber local_map_sub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00462">dwa_planner.h:462</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a6b737a7173a88d329229c4f6c032b469"><div class="ttname"><a href="classDWAPlanner.html#a6b737a7173a88d329229c4f6c032b469">DWAPlanner::hz_</a></div><div class="ttdeci">double hz_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00407">dwa_planner.h:407</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a90a0f83317eb1b24bb50ee20fa90f251"><div class="ttname"><a href="classDWAPlanner.html#a90a0f83317eb1b24bb50ee20fa90f251">DWAPlanner::odom_callback</a></div><div class="ttdeci">void odom_callback(const nav_msgs::OdometryConstPtr &amp;msg)</div><div class="ttdoc">A callback to hanldle buffering odometry messages.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00121">dwa_planner.cpp:121</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a8d103793791af71de914b43e7b8a5134"><div class="ttname"><a href="classDWAPlanner.html#a8d103793791af71de914b43e7b8a5134">DWAPlanner::visualize_trajectory</a></div><div class="ttdeci">void visualize_trajectory(const std::vector&lt; State &gt; &amp;trajectory, const ros::Publisher &amp;pub)</div><div class="ttdoc">Publish selected trajectory.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00804">dwa_planner.cpp:804</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_1_1Cost_html_ab0a513399b6aad6c585e8706d1ba5b71"><div class="ttname"><a href="classDWAPlanner_1_1Cost.html#ab0a513399b6aad6c585e8706d1ba5b71">DWAPlanner::Cost::calc_total_cost</a></div><div class="ttdeci">void calc_total_cost(void)</div><div class="ttdoc">Calculate the total cost.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00086">dwa_planner.cpp:86</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a260998589030cf3ec16e817e23026f0a"><div class="ttname"><a href="classDWAPlanner.html#a260998589030cf3ec16e817e23026f0a">DWAPlanner::local_map_callback</a></div><div class="ttdeci">void local_map_callback(const nav_msgs::OccupancyGridConstPtr &amp;msg)</div><div class="ttdoc">A callback to hanldle buffering local map messages.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00113">dwa_planner.cpp:113</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a153ce2ec57ab3365fd9f17d7f5395853"><div class="ttname"><a href="classDWAPlanner.html#a153ce2ec57ab3365fd9f17d7f5395853">DWAPlanner::sim_direction_</a></div><div class="ttdeci">double sim_direction_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00429">dwa_planner.h:429</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ac9a0ab8e147e8d8aaa752071d410d2dc"><div class="ttname"><a href="classDWAPlanner.html#ac9a0ab8e147e8d8aaa752071d410d2dc">DWAPlanner::calc_speed_cost</a></div><div class="ttdeci">float calc_speed_cost(const std::vector&lt; State &gt; &amp;traj)</div><div class="ttdoc">Calculate the speed cost.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00500">dwa_planner.cpp:500</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_af2e7c61dc465e5fdc78d2f5e30bf3257"><div class="ttname"><a href="classDWAPlanner.html#af2e7c61dc465e5fdc78d2f5e30bf3257">DWAPlanner::goal_sub_</a></div><div class="ttdeci">ros::Subscriber goal_sub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00461">dwa_planner.h:461</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ae44b49bc033ac28871f35634ced91e82"><div class="ttname"><a href="classDWAPlanner.html#ae44b49bc033ac28871f35634ced91e82">DWAPlanner::max_acceleration_</a></div><div class="ttdeci">double max_acceleration_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00415">dwa_planner.h:415</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_aaa592c3dbe4ad17abdf59f09b47a2242"><div class="ttname"><a href="classDWAPlanner.html#aaa592c3dbe4ad17abdf59f09b47a2242">DWAPlanner::dist_to_goal_th_callback</a></div><div class="ttdeci">void dist_to_goal_th_callback(const std_msgs::Float64ConstPtr &amp;msg)</div><div class="ttdoc">A callback to handle buffering distance to goal threshold messages.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00144">dwa_planner.cpp:144</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ab9c2ee71d5221afa423ce9c1d4c31362"><div class="ttname"><a href="classDWAPlanner.html#ab9c2ee71d5221afa423ce9c1d4c31362">DWAPlanner::edge_points_on_path_</a></div><div class="ttdeci">std::optional&lt; nav_msgs::Path &gt; edge_points_on_path_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00471">dwa_planner.h:471</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_aae6d46481efb31274002c20048ebec3f"><div class="ttname"><a href="classDWAPlanner.html#aae6d46481efb31274002c20048ebec3f">DWAPlanner::current_cmd_vel_</a></div><div class="ttdeci">geometry_msgs::Twist current_cmd_vel_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00467">dwa_planner.h:467</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a40a68af9d1aa523e8b0a9064245ed40c"><div class="ttname"><a href="classDWAPlanner.html#a40a68af9d1aa523e8b0a9064245ed40c">DWAPlanner::obs_list_</a></div><div class="ttdeci">geometry_msgs::PoseArray obs_list_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00469">dwa_planner.h:469</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ac6b9c096dbcb9a93b035e8126f560aee"><div class="ttname"><a href="classDWAPlanner.html#ac6b9c096dbcb9a93b035e8126f560aee">DWAPlanner::yawrate_samples_</a></div><div class="ttdeci">int yawrate_samples_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00444">dwa_planner.h:444</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a671005ef52b7acde226ef9b4c2c3cb3b"><div class="ttname"><a href="classDWAPlanner.html#a671005ef52b7acde226ef9b4c2c3cb3b">DWAPlanner::target_velocity_callback</a></div><div class="ttdeci">void target_velocity_callback(const geometry_msgs::TwistConstPtr &amp;msg)</div><div class="ttdoc">A callback to hanldle buffering target velocity messages.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00128">dwa_planner.cpp:128</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a50de685d9878e76a3c5143fbda4c66a1"><div class="ttname"><a href="classDWAPlanner.html#a50de685d9878e76a3c5143fbda4c66a1">DWAPlanner::angle_to_goal_th_</a></div><div class="ttdeci">double angle_to_goal_th_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00428">dwa_planner.h:428</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_1_1Window_html_ac6ba1f416961bc4d90d9afc2346d7457"><div class="ttname"><a href="classDWAPlanner_1_1Window.html#ac6ba1f416961bc4d90d9afc2346d7457">DWAPlanner::Window::max_velocity_</a></div><div class="ttdeci">double max_velocity_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00095">dwa_planner.h:95</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_af398e6211e5543357af9b72ea84f40a8"><div class="ttname"><a href="classDWAPlanner.html#af398e6211e5543357af9b72ea84f40a8">DWAPlanner::visualize_trajectories</a></div><div class="ttdeci">void visualize_trajectories(const std::vector&lt; std::pair&lt; std::vector&lt; State &gt;, bool &gt;&gt; &amp;trajectories, const ros::Publisher &amp;pub)</div><div class="ttdoc">Publish candidate trajectories.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00818">dwa_planner.cpp:818</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_1_1Cost_html_a4c5dc99385cf7d4217c3a51d6cba910e"><div class="ttname"><a href="classDWAPlanner_1_1Cost.html#a4c5dc99385cf7d4217c3a51d6cba910e">DWAPlanner::Cost::Cost</a></div><div class="ttdeci">Cost(void)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00068">dwa_planner.cpp:68</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a0673ca747da2b9d898408bf3f6b1ef35"><div class="ttname"><a href="classDWAPlanner.html#a0673ca747da2b9d898408bf3f6b1ef35">DWAPlanner::sleep_time_after_finish_</a></div><div class="ttdeci">double sleep_time_after_finish_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00419">dwa_planner.h:419</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_af398e6211e5543357af9b72ea84f40a8"><div class="ttname"><a href="classDWAPlanner.html#af398e6211e5543357af9b72ea84f40a8">DWAPlanner::visualize_trajectories</a></div><div class="ttdeci">void visualize_trajectories(const std::vector&lt; std::pair&lt; std::vector&lt; State &gt;, bool &gt;&gt; &amp;trajectories, const ros::Publisher &amp;pub)</div><div class="ttdoc">Publish candidate trajectories.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00812">dwa_planner.cpp:812</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_1_1Cost_html_a4c5dc99385cf7d4217c3a51d6cba910e"><div class="ttname"><a href="classDWAPlanner_1_1Cost.html#a4c5dc99385cf7d4217c3a51d6cba910e">DWAPlanner::Cost::Cost</a></div><div class="ttdeci">Cost(void)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00065">dwa_planner.cpp:65</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a0673ca747da2b9d898408bf3f6b1ef35"><div class="ttname"><a href="classDWAPlanner.html#a0673ca747da2b9d898408bf3f6b1ef35">DWAPlanner::sleep_time_after_finish_</a></div><div class="ttdeci">double sleep_time_after_finish_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00421">dwa_planner.h:421</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_1_1State_html_a73164c3b83e2e4e51b17b85a7c22a322"><div class="ttname"><a href="classDWAPlanner_1_1State.html#a73164c3b83e2e4e51b17b85a7c22a322">DWAPlanner::State::x_</a></div><div class="ttdeci">double x_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00068">dwa_planner.h:68</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_aacd71717ea2fa4a6c2d8a9eec186e189"><div class="ttname"><a href="classDWAPlanner.html#aacd71717ea2fa4a6c2d8a9eec186e189">DWAPlanner::is_inside_of_triangle</a></div><div class="ttdeci">bool is_inside_of_triangle(const geometry_msgs::Point &amp;target_point, const geometry_msgs::Polygon &amp;triangle)</div><div class="ttdoc">Check if the target point is inside of triangle.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00680">dwa_planner.cpp:680</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a8de4fbc9efa1a16b62e2771c195042b8"><div class="ttname"><a href="classDWAPlanner.html#a8de4fbc9efa1a16b62e2771c195042b8">DWAPlanner::sim_period_</a></div><div class="ttdeci">double sim_period_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00416">dwa_planner.h:416</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a1a8deecdb6e6d4bcb0a953bbfb6cf436"><div class="ttname"><a href="classDWAPlanner.html#a1a8deecdb6e6d4bcb0a953bbfb6cf436">DWAPlanner::dist_to_goal_th_</a></div><div class="ttdeci">double dist_to_goal_th_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00424">dwa_planner.h:424</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_abfa3ac6593ebdea54223da288841b1ca"><div class="ttname"><a href="classDWAPlanner.html#abfa3ac6593ebdea54223da288841b1ca">DWAPlanner::obs_range_</a></div><div class="ttdeci">double obs_range_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00429">dwa_planner.h:429</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_aacd71717ea2fa4a6c2d8a9eec186e189"><div class="ttname"><a href="classDWAPlanner.html#aacd71717ea2fa4a6c2d8a9eec186e189">DWAPlanner::is_inside_of_triangle</a></div><div class="ttdeci">bool is_inside_of_triangle(const geometry_msgs::Point &amp;target_point, const geometry_msgs::Polygon &amp;triangle)</div><div class="ttdoc">Check if the target point is inside of triangle.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00674">dwa_planner.cpp:674</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a8de4fbc9efa1a16b62e2771c195042b8"><div class="ttname"><a href="classDWAPlanner.html#a8de4fbc9efa1a16b62e2771c195042b8">DWAPlanner::sim_period_</a></div><div class="ttdeci">double sim_period_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00418">dwa_planner.h:418</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a1a8deecdb6e6d4bcb0a953bbfb6cf436"><div class="ttname"><a href="classDWAPlanner.html#a1a8deecdb6e6d4bcb0a953bbfb6cf436">DWAPlanner::dist_to_goal_th_</a></div><div class="ttdeci">double dist_to_goal_th_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00426">dwa_planner.h:426</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_abfa3ac6593ebdea54223da288841b1ca"><div class="ttname"><a href="classDWAPlanner.html#abfa3ac6593ebdea54223da288841b1ca">DWAPlanner::obs_range_</a></div><div class="ttdeci">double obs_range_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00431">dwa_planner.h:431</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_1_1Cost_html_a8216a1c20408c93b363ec189b56f5962"><div class="ttname"><a href="classDWAPlanner_1_1Cost.html#a8216a1c20408c93b363ec189b56f5962">DWAPlanner::Cost::speed_cost_</a></div><div class="ttdeci">float speed_cost_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00138">dwa_planner.h:138</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_1_1Window_html_ad308cdb162caaf7e8a749424ee8a81a5"><div class="ttname"><a href="classDWAPlanner_1_1Window.html#ad308cdb162caaf7e8a749424ee8a81a5">DWAPlanner::Window::Window</a></div><div class="ttdeci">Window(void)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00055">dwa_planner.cpp:55</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_1_1Window_html_ad308cdb162caaf7e8a749424ee8a81a5"><div class="ttname"><a href="classDWAPlanner_1_1Window.html#ad308cdb162caaf7e8a749424ee8a81a5">DWAPlanner::Window::Window</a></div><div class="ttdeci">Window(void)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00052">dwa_planner.cpp:52</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_1_1Cost_html_a88ad9123fd6a216dda6f6620d2eb6f18"><div class="ttname"><a href="classDWAPlanner_1_1Cost.html#a88ad9123fd6a216dda6f6620d2eb6f18">DWAPlanner::Cost::total_cost_</a></div><div class="ttdeci">float total_cost_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00140">dwa_planner.h:140</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_adbc44965f21a9f550aad4b39effc705e"><div class="ttname"><a href="classDWAPlanner.html#adbc44965f21a9f550aad4b39effc705e">DWAPlanner::scan_sub_</a></div><div class="ttdeci">ros::Subscriber scan_sub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00465">dwa_planner.h:465</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a406d905277ba0475cec9fd9e9ea581d9"><div class="ttname"><a href="classDWAPlanner.html#a406d905277ba0475cec9fd9e9ea581d9">DWAPlanner::edge_on_global_path_subscribed_</a></div><div class="ttdeci">bool edge_on_global_path_subscribed_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00439">dwa_planner.h:439</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_1_1Window_html_ab3957b83074f94c8dfa3fb3a3c59851c"><div class="ttname"><a href="classDWAPlanner_1_1Window.html#ab3957b83074f94c8dfa3fb3a3c59851c">DWAPlanner::Window::show</a></div><div class="ttdeci">void show(void)</div><div class="ttdoc">Show the dynamic window information.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00057">dwa_planner.cpp:57</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a7980adb5c585031a27aed3f953f4c674"><div class="ttname"><a href="classDWAPlanner.html#a7980adb5c585031a27aed3f953f4c674">DWAPlanner::v_path_width_</a></div><div class="ttdeci">double v_path_width_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00432">dwa_planner.h:432</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_abff251f2fbf87c65af5da3937ec475bb"><div class="ttname"><a href="classDWAPlanner.html#abff251f2fbf87c65af5da3937ec475bb">DWAPlanner::max_deceleration_</a></div><div class="ttdeci">double max_deceleration_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00414">dwa_planner.h:414</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_adbc44965f21a9f550aad4b39effc705e"><div class="ttname"><a href="classDWAPlanner.html#adbc44965f21a9f550aad4b39effc705e">DWAPlanner::scan_sub_</a></div><div class="ttdeci">ros::Subscriber scan_sub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00464">dwa_planner.h:464</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_1_1Window_html_ab3957b83074f94c8dfa3fb3a3c59851c"><div class="ttname"><a href="classDWAPlanner_1_1Window.html#ab3957b83074f94c8dfa3fb3a3c59851c">DWAPlanner::Window::show</a></div><div class="ttdeci">void show(void)</div><div class="ttdoc">Show the dynamic window information.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00054">dwa_planner.cpp:54</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a7980adb5c585031a27aed3f953f4c674"><div class="ttname"><a href="classDWAPlanner.html#a7980adb5c585031a27aed3f953f4c674">DWAPlanner::v_path_width_</a></div><div class="ttdeci">double v_path_width_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00434">dwa_planner.h:434</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_abff251f2fbf87c65af5da3937ec475bb"><div class="ttname"><a href="classDWAPlanner.html#abff251f2fbf87c65af5da3937ec475bb">DWAPlanner::max_deceleration_</a></div><div class="ttdeci">double max_deceleration_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00416">dwa_planner.h:416</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_1_1State_html_a170e74beb0d29fd38902f2815589f508"><div class="ttname"><a href="classDWAPlanner_1_1State.html#a170e74beb0d29fd38902f2815589f508">DWAPlanner::State::y_</a></div><div class="ttdeci">double y_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00069">dwa_planner.h:69</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ae079e837dcdd7897fae18a09614bc863"><div class="ttname"><a href="classDWAPlanner.html#ae079e837dcdd7897fae18a09614bc863">DWAPlanner::use_speed_cost_</a></div><div class="ttdeci">bool use_speed_cost_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00436">dwa_planner.h:436</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a9c3faf43ce5629b5468141c47f637461"><div class="ttname"><a href="classDWAPlanner.html#a9c3faf43ce5629b5468141c47f637461">DWAPlanner::has_reached_</a></div><div class="ttdeci">bool has_reached_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00443">dwa_planner.h:443</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ae079e837dcdd7897fae18a09614bc863"><div class="ttname"><a href="classDWAPlanner.html#ae079e837dcdd7897fae18a09614bc863">DWAPlanner::use_speed_cost_</a></div><div class="ttdeci">bool use_speed_cost_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00438">dwa_planner.h:438</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a9c3faf43ce5629b5468141c47f637461"><div class="ttname"><a href="classDWAPlanner.html#a9c3faf43ce5629b5468141c47f637461">DWAPlanner::has_reached_</a></div><div class="ttdeci">bool has_reached_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00442">dwa_planner.h:442</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_html_accb330377e1503287d4228d334b61287"><div class="ttname"><a href="classDWAPlanner.html#accb330377e1503287d4228d334b61287">DWAPlanner::print_params</a></div><div class="ttdeci">void print_params(void)</div><div class="ttdoc">Print parameters.</div><div class="ttdef"><b>Definition:</b> <a href="parameters_8cpp_source.html#l00064">parameters.cpp:64</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a5508317f853be8074ec762e9204526e4"><div class="ttname"><a href="classDWAPlanner.html#a5508317f853be8074ec762e9204526e4">DWAPlanner::local_nh_</a></div><div class="ttdeci">ros::NodeHandle local_nh_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00453">dwa_planner.h:453</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a5508317f853be8074ec762e9204526e4"><div class="ttname"><a href="classDWAPlanner.html#a5508317f853be8074ec762e9204526e4">DWAPlanner::local_nh_</a></div><div class="ttdeci">ros::NodeHandle local_nh_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00452">dwa_planner.h:452</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_html_a7ff50924e740d16a990e607ec5a043cd"><div class="ttname"><a href="classDWAPlanner.html#a7ff50924e740d16a990e607ec5a043cd">DWAPlanner::load_params</a></div><div class="ttdeci">void load_params(void)</div><div class="ttdoc">Load parameters.</div><div class="ttdef"><b>Definition:</b> <a href="parameters_8cpp_source.html#l00008">parameters.cpp:8</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_adb0934bf6918c7af1a6b846a1d6cfd8a"><div class="ttname"><a href="classDWAPlanner.html#adb0934bf6918c7af1a6b846a1d6cfd8a">DWAPlanner::evaluate_trajectory</a></div><div class="ttdeci">Cost evaluate_trajectory(const std::vector&lt; State &gt; &amp;trajectory, const Eigen::Vector3d &amp;goal)</div><div class="ttdoc">Evaluate trajectory.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00561">dwa_planner.cpp:561</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_adb0934bf6918c7af1a6b846a1d6cfd8a"><div class="ttname"><a href="classDWAPlanner.html#adb0934bf6918c7af1a6b846a1d6cfd8a">DWAPlanner::evaluate_trajectory</a></div><div class="ttdeci">Cost evaluate_trajectory(const std::vector&lt; State &gt; &amp;trajectory, const Eigen::Vector3d &amp;goal)</div><div class="ttdoc">Evaluate trajectory.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00555">dwa_planner.cpp:555</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_1_1Window_html_a3aeb6f0ec9378876527d1dd9b4bff57b"><div class="ttname"><a href="classDWAPlanner_1_1Window.html#a3aeb6f0ec9378876527d1dd9b4bff57b">DWAPlanner::Window::max_yawrate_</a></div><div class="ttdeci">double max_yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00097">dwa_planner.h:97</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a12cabee5b51e8efaded6796d0b4ba84b"><div class="ttname"><a href="classDWAPlanner.html#a12cabee5b51e8efaded6796d0b4ba84b">DWAPlanner::can_adjust_robot_direction</a></div><div class="ttdeci">bool can_adjust_robot_direction(const Eigen::Vector3d &amp;goal)</div><div class="ttdoc">Check if the robot can adjust the direction.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00436">dwa_planner.cpp:436</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a86c80590b91e97104cfe300ffbd1383c"><div class="ttname"><a href="classDWAPlanner.html#a86c80590b91e97104cfe300ffbd1383c">DWAPlanner::local_map_updated_</a></div><div class="ttdeci">bool local_map_updated_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00441">dwa_planner.h:441</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a69508170a18753d06dec87f99c59eb6e"><div class="ttname"><a href="classDWAPlanner.html#a69508170a18753d06dec87f99c59eb6e">DWAPlanner::slow_velocity_th_</a></div><div class="ttdeci">double slow_velocity_th_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00428">dwa_planner.h:428</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a60b3fffeaa811afd6dea2104760ab824"><div class="ttname"><a href="classDWAPlanner.html#a60b3fffeaa811afd6dea2104760ab824">DWAPlanner::create_marker_msg</a></div><div class="ttdeci">visualization_msgs::Marker create_marker_msg(const int id, const double scale, const std_msgs::ColorRGBA color, const std::vector&lt; State &gt; &amp;trajectory, const geometry_msgs::PolygonStamped &amp;footprint=geometry_msgs::PolygonStamped())</div><div class="ttdoc">Create a marker message.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00768">dwa_planner.cpp:768</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_aba89ca88e42c4401e1391db53b4d2b8a"><div class="ttname"><a href="classDWAPlanner.html#aba89ca88e42c4401e1391db53b4d2b8a">DWAPlanner::robot_frame_</a></div><div class="ttdeci">std::string robot_frame_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00404">dwa_planner.h:404</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a966a8178627cee9001f042a07d934aec"><div class="ttname"><a href="classDWAPlanner.html#a966a8178627cee9001f042a07d934aec">DWAPlanner::predict_footprints_pub_</a></div><div class="ttdeci">ros::Publisher predict_footprints_pub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00457">dwa_planner.h:457</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ac63a462c7660f12c9c6ac79b6717e7c4"><div class="ttname"><a href="classDWAPlanner.html#ac63a462c7660f12c9c6ac79b6717e7c4">DWAPlanner::process</a></div><div class="ttdeci">void process(void)</div><div class="ttdoc">Execute local path planning.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00309">dwa_planner.cpp:309</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_1_1State_html_aa89c6d37950cc88646e2d1c915f343ee"><div class="ttname"><a href="classDWAPlanner_1_1State.html#aa89c6d37950cc88646e2d1c915f343ee">DWAPlanner::State::State</a></div><div class="ttdeci">State(void)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00048">dwa_planner.cpp:48</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a2174dc1fa664acb76368808bdb2fe179"><div class="ttname"><a href="classDWAPlanner.html#a2174dc1fa664acb76368808bdb2fe179">DWAPlanner::dwa_planning</a></div><div class="ttdeci">std::vector&lt; State &gt; dwa_planning(const Eigen::Vector3d &amp;goal, std::vector&lt; std::pair&lt; std::vector&lt; State &gt;, bool &gt;&gt; &amp;trajectories)</div><div class="ttdoc">Execute dwa planning.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00173">dwa_planner.cpp:173</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a6f33c3917f8984609afae530828612e2"><div class="ttname"><a href="classDWAPlanner.html#a6f33c3917f8984609afae530828612e2">DWAPlanner::subscribe_count_th_</a></div><div class="ttdeci">int subscribe_count_th_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00447">dwa_planner.h:447</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ac0032d860e85f03c309168f6e557e39f"><div class="ttname"><a href="classDWAPlanner.html#ac0032d860e85f03c309168f6e557e39f">DWAPlanner::selected_trajectory_pub_</a></div><div class="ttdeci">ros::Publisher selected_trajectory_pub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00456">dwa_planner.h:456</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a5d162a39c979fe8024aaa4a2babd3f17"><div class="ttname"><a href="classDWAPlanner.html#a5d162a39c979fe8024aaa4a2babd3f17">DWAPlanner::target_velocity_sub_</a></div><div class="ttdeci">ros::Subscriber target_velocity_sub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00466">dwa_planner.h:466</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a11369ac49bea10466ca789168ea6c71e"><div class="ttname"><a href="classDWAPlanner.html#a11369ac49bea10466ca789168ea6c71e">DWAPlanner::odom_sub_</a></div><div class="ttdeci">ros::Subscriber odom_sub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00464">dwa_planner.h:464</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a5f5a93a9a3e3534ace921095d813e6d9"><div class="ttname"><a href="classDWAPlanner.html#a5f5a93a9a3e3534ace921095d813e6d9">DWAPlanner::is_inside_of_robot</a></div><div class="ttdeci">bool is_inside_of_robot(const geometry_msgs::Point &amp;obstacle, const geometry_msgs::PolygonStamped &amp;footprint, const State &amp;state)</div><div class="ttdoc">Check if the obstacle is inside of robot footprint.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00655">dwa_planner.cpp:655</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a3c3b2296c51126e0d12557566ace0453"><div class="ttname"><a href="classDWAPlanner.html#a3c3b2296c51126e0d12557566ace0453">DWAPlanner::turn_direction_th_</a></div><div class="ttdeci">double turn_direction_th_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00425">dwa_planner.h:425</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a2151c7a05e2111ec1cf0c501b265a493"><div class="ttname"><a href="classDWAPlanner.html#a2151c7a05e2111ec1cf0c501b265a493">DWAPlanner::speed_cost_gain_</a></div><div class="ttdeci">double speed_cost_gain_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00422">dwa_planner.h:422</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ab42a379ef62d72d9b23ff1de6c9416bd"><div class="ttname"><a href="classDWAPlanner.html#ab42a379ef62d72d9b23ff1de6c9416bd">DWAPlanner::robot_radius_</a></div><div class="ttdeci">double robot_radius_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00430">dwa_planner.h:430</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_abc0f00d95e9643456d4be61322c7ed30"><div class="ttname"><a href="classDWAPlanner.html#abc0f00d95e9643456d4be61322c7ed30">DWAPlanner::max_d_yawrate_</a></div><div class="ttdeci">double max_d_yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00415">dwa_planner.h:415</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a12cabee5b51e8efaded6796d0b4ba84b"><div class="ttname"><a href="classDWAPlanner.html#a12cabee5b51e8efaded6796d0b4ba84b">DWAPlanner::can_adjust_robot_direction</a></div><div class="ttdeci">bool can_adjust_robot_direction(const Eigen::Vector3d &amp;goal)</div><div class="ttdoc">Check if the robot can adjust the direction.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00430">dwa_planner.cpp:430</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_afd7eeefae6b6c03b987c7a7bef0b1030"><div class="ttname"><a href="classDWAPlanner.html#afd7eeefae6b6c03b987c7a7bef0b1030">DWAPlanner::footprint_</a></div><div class="ttdeci">std::optional&lt; geometry_msgs::PolygonStamped &gt; footprint_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00470">dwa_planner.h:470</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a86c80590b91e97104cfe300ffbd1383c"><div class="ttname"><a href="classDWAPlanner.html#a86c80590b91e97104cfe300ffbd1383c">DWAPlanner::local_map_updated_</a></div><div class="ttdeci">bool local_map_updated_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00440">dwa_planner.h:440</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a69508170a18753d06dec87f99c59eb6e"><div class="ttname"><a href="classDWAPlanner.html#a69508170a18753d06dec87f99c59eb6e">DWAPlanner::slow_velocity_th_</a></div><div class="ttdeci">double slow_velocity_th_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00430">dwa_planner.h:430</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a60b3fffeaa811afd6dea2104760ab824"><div class="ttname"><a href="classDWAPlanner.html#a60b3fffeaa811afd6dea2104760ab824">DWAPlanner::create_marker_msg</a></div><div class="ttdeci">visualization_msgs::Marker create_marker_msg(const int id, const double scale, const std_msgs::ColorRGBA color, const std::vector&lt; State &gt; &amp;trajectory, const geometry_msgs::PolygonStamped &amp;footprint=geometry_msgs::PolygonStamped())</div><div class="ttdoc">Create a marker message.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00762">dwa_planner.cpp:762</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_aba89ca88e42c4401e1391db53b4d2b8a"><div class="ttname"><a href="classDWAPlanner.html#aba89ca88e42c4401e1391db53b4d2b8a">DWAPlanner::robot_frame_</a></div><div class="ttdeci">std::string robot_frame_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00406">dwa_planner.h:406</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a966a8178627cee9001f042a07d934aec"><div class="ttname"><a href="classDWAPlanner.html#a966a8178627cee9001f042a07d934aec">DWAPlanner::predict_footprints_pub_</a></div><div class="ttdeci">ros::Publisher predict_footprints_pub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00456">dwa_planner.h:456</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ac63a462c7660f12c9c6ac79b6717e7c4"><div class="ttname"><a href="classDWAPlanner.html#ac63a462c7660f12c9c6ac79b6717e7c4">DWAPlanner::process</a></div><div class="ttdeci">void process(void)</div><div class="ttdoc">Execute local path planning.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00303">dwa_planner.cpp:303</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_1_1State_html_aa89c6d37950cc88646e2d1c915f343ee"><div class="ttname"><a href="classDWAPlanner_1_1State.html#aa89c6d37950cc88646e2d1c915f343ee">DWAPlanner::State::State</a></div><div class="ttdeci">State(void)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00045">dwa_planner.cpp:45</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a2174dc1fa664acb76368808bdb2fe179"><div class="ttname"><a href="classDWAPlanner.html#a2174dc1fa664acb76368808bdb2fe179">DWAPlanner::dwa_planning</a></div><div class="ttdeci">std::vector&lt; State &gt; dwa_planning(const Eigen::Vector3d &amp;goal, std::vector&lt; std::pair&lt; std::vector&lt; State &gt;, bool &gt;&gt; &amp;trajectories)</div><div class="ttdoc">Execute dwa planning.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00167">dwa_planner.cpp:167</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a6f33c3917f8984609afae530828612e2"><div class="ttname"><a href="classDWAPlanner.html#a6f33c3917f8984609afae530828612e2">DWAPlanner::subscribe_count_th_</a></div><div class="ttdeci">int subscribe_count_th_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00446">dwa_planner.h:446</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ac0032d860e85f03c309168f6e557e39f"><div class="ttname"><a href="classDWAPlanner.html#ac0032d860e85f03c309168f6e557e39f">DWAPlanner::selected_trajectory_pub_</a></div><div class="ttdeci">ros::Publisher selected_trajectory_pub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00455">dwa_planner.h:455</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a5d162a39c979fe8024aaa4a2babd3f17"><div class="ttname"><a href="classDWAPlanner.html#a5d162a39c979fe8024aaa4a2babd3f17">DWAPlanner::target_velocity_sub_</a></div><div class="ttdeci">ros::Subscriber target_velocity_sub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00465">dwa_planner.h:465</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a11369ac49bea10466ca789168ea6c71e"><div class="ttname"><a href="classDWAPlanner.html#a11369ac49bea10466ca789168ea6c71e">DWAPlanner::odom_sub_</a></div><div class="ttdeci">ros::Subscriber odom_sub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00463">dwa_planner.h:463</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a5f5a93a9a3e3534ace921095d813e6d9"><div class="ttname"><a href="classDWAPlanner.html#a5f5a93a9a3e3534ace921095d813e6d9">DWAPlanner::is_inside_of_robot</a></div><div class="ttdeci">bool is_inside_of_robot(const geometry_msgs::Point &amp;obstacle, const geometry_msgs::PolygonStamped &amp;footprint, const State &amp;state)</div><div class="ttdoc">Check if the obstacle is inside of robot footprint.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00649">dwa_planner.cpp:649</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a3c3b2296c51126e0d12557566ace0453"><div class="ttname"><a href="classDWAPlanner.html#a3c3b2296c51126e0d12557566ace0453">DWAPlanner::turn_direction_th_</a></div><div class="ttdeci">double turn_direction_th_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00427">dwa_planner.h:427</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a2151c7a05e2111ec1cf0c501b265a493"><div class="ttname"><a href="classDWAPlanner.html#a2151c7a05e2111ec1cf0c501b265a493">DWAPlanner::speed_cost_gain_</a></div><div class="ttdeci">double speed_cost_gain_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00424">dwa_planner.h:424</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ab42a379ef62d72d9b23ff1de6c9416bd"><div class="ttname"><a href="classDWAPlanner.html#ab42a379ef62d72d9b23ff1de6c9416bd">DWAPlanner::robot_radius_</a></div><div class="ttdeci">double robot_radius_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00432">dwa_planner.h:432</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_abc0f00d95e9643456d4be61322c7ed30"><div class="ttname"><a href="classDWAPlanner.html#abc0f00d95e9643456d4be61322c7ed30">DWAPlanner::max_d_yawrate_</a></div><div class="ttdeci">double max_d_yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00417">dwa_planner.h:417</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_1_1Window_html_ad9d72c1a09fac5f634709f98f2df61b8"><div class="ttname"><a href="classDWAPlanner_1_1Window.html#ad9d72c1a09fac5f634709f98f2df61b8">DWAPlanner::Window::min_yawrate_</a></div><div class="ttdeci">double min_yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00096">dwa_planner.h:96</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a93309a99fd864dafa45f6b7390d781c3"><div class="ttname"><a href="classDWAPlanner.html#a93309a99fd864dafa45f6b7390d781c3">DWAPlanner::calc_to_goal_cost</a></div><div class="ttdeci">float calc_to_goal_cost(const std::vector&lt; State &gt; &amp;traj, const Eigen::Vector3d &amp;goal)</div><div class="ttdoc">Calculate the distance of current pose to goal pose.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00479">dwa_planner.cpp:479</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_aa138c408a334a2e07955e405cc9042d7"><div class="ttname"><a href="classDWAPlanner.html#aa138c408a334a2e07955e405cc9042d7">DWAPlanner::target_velocity_</a></div><div class="ttdeci">double target_velocity_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00406">dwa_planner.h:406</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_acc27d2dfefaa7903b413e8d37f36dab0"><div class="ttname"><a href="classDWAPlanner.html#acc27d2dfefaa7903b413e8d37f36dab0">DWAPlanner::footprint_padding_</a></div><div class="ttdeci">double footprint_padding_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00431">dwa_planner.h:431</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ac2cd905a4ff32631d4f498a7a914fe0e"><div class="ttname"><a href="classDWAPlanner.html#ac2cd905a4ff32631d4f498a7a914fe0e">DWAPlanner::max_in_place_yawrate_</a></div><div class="ttdeci">double max_in_place_yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00411">dwa_planner.h:411</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a533327c9fae4aceb07a959958b24dd75"><div class="ttname"><a href="classDWAPlanner.html#a533327c9fae4aceb07a959958b24dd75">DWAPlanner::odom_updated_</a></div><div class="ttdeci">bool odom_updated_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00440">dwa_planner.h:440</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_afe2097eedd8de9ce635105c4b34c356e"><div class="ttname"><a href="classDWAPlanner.html#afe2097eedd8de9ce635105c4b34c356e">DWAPlanner::global_frame_</a></div><div class="ttdeci">std::string global_frame_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00403">dwa_planner.h:403</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a9498b7b4e03f58e8286475a0c0f6d2ce"><div class="ttname"><a href="classDWAPlanner.html#a9498b7b4e03f58e8286475a0c0f6d2ce">DWAPlanner::min_velocity_</a></div><div class="ttdeci">double min_velocity_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00408">dwa_planner.h:408</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a93309a99fd864dafa45f6b7390d781c3"><div class="ttname"><a href="classDWAPlanner.html#a93309a99fd864dafa45f6b7390d781c3">DWAPlanner::calc_to_goal_cost</a></div><div class="ttdeci">float calc_to_goal_cost(const std::vector&lt; State &gt; &amp;traj, const Eigen::Vector3d &amp;goal)</div><div class="ttdoc">Calculate the distance of current pose to goal pose.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00473">dwa_planner.cpp:473</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_aa138c408a334a2e07955e405cc9042d7"><div class="ttname"><a href="classDWAPlanner.html#aa138c408a334a2e07955e405cc9042d7">DWAPlanner::target_velocity_</a></div><div class="ttdeci">double target_velocity_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00408">dwa_planner.h:408</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_acc27d2dfefaa7903b413e8d37f36dab0"><div class="ttname"><a href="classDWAPlanner.html#acc27d2dfefaa7903b413e8d37f36dab0">DWAPlanner::footprint_padding_</a></div><div class="ttdeci">double footprint_padding_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00433">dwa_planner.h:433</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ac2cd905a4ff32631d4f498a7a914fe0e"><div class="ttname"><a href="classDWAPlanner.html#ac2cd905a4ff32631d4f498a7a914fe0e">DWAPlanner::max_in_place_yawrate_</a></div><div class="ttdeci">double max_in_place_yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00413">dwa_planner.h:413</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a533327c9fae4aceb07a959958b24dd75"><div class="ttname"><a href="classDWAPlanner.html#a533327c9fae4aceb07a959958b24dd75">DWAPlanner::odom_updated_</a></div><div class="ttdeci">bool odom_updated_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00439">dwa_planner.h:439</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_afe2097eedd8de9ce635105c4b34c356e"><div class="ttname"><a href="classDWAPlanner.html#afe2097eedd8de9ce635105c4b34c356e">DWAPlanner::global_frame_</a></div><div class="ttdeci">std::string global_frame_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00405">dwa_planner.h:405</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a9498b7b4e03f58e8286475a0c0f6d2ce"><div class="ttname"><a href="classDWAPlanner.html#a9498b7b4e03f58e8286475a0c0f6d2ce">DWAPlanner::min_velocity_</a></div><div class="ttdeci">double min_velocity_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00410">dwa_planner.h:410</a></div></div>
 
 <br clear="all" />
 <hr size="1"><div style="align: right;">
 <a href="http://wiki.ros.org/dwa_planner">dwa_planner</a><br />
 Author(s): </br />
-<small>autogenerated on Sun Apr 28 2024 18:44:24</small>
+<small>autogenerated on Thu May 9 2024 01:28:03</small>
 </div>
 </body>
 </html>
diff --git a/docs/dwa__planner_8h.html b/docs/dwa__planner_8h.html
index 6a86f5c..16f7852 100644
--- a/docs/dwa__planner_8h.html
+++ b/docs/dwa__planner_8h.html
@@ -110,7 +110,7 @@
 <hr size="1"><div style="align: right;">
 <a href="http://wiki.ros.org/dwa_planner">dwa_planner</a><br />
 Author(s): </br />
-<small>autogenerated on Sun Apr 28 2024 18:44:24</small>
+<small>autogenerated on Thu May 9 2024 01:28:03</small>
 </div>
 </body>
 </html>
diff --git a/docs/dwa__planner_8h_source.html b/docs/dwa__planner_8h_source.html
index 2161db3..f0d6203 100644
--- a/docs/dwa__planner_8h_source.html
+++ b/docs/dwa__planner_8h_source.html
@@ -146,269 +146,262 @@
 <div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; </div>
 <div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classDWAPlanner.html#a320e7e8181cad788c41ce82b5fbd96ce">motion</a>(<a class="code" href="classDWAPlanner_1_1State.html">State</a> &amp;state, <span class="keyword">const</span> <span class="keywordtype">double</span> velocity, <span class="keyword">const</span> <span class="keywordtype">double</span> yawrate);</div>
 <div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
-<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classDWAPlanner.html#ad2634dc4592ca28fb24f490e93751dc7">raycast</a>(<span class="keyword">const</span> nav_msgs::OccupancyGrid &amp;map);</div>
-<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160; </div>
-<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classDWAPlanner.html#adb545e94c1525c67c70e6fe3a33575e5">scan_to_obs</a>(<span class="keyword">const</span> sensor_msgs::LaserScan &amp;scan);</div>
-<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
-<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  <span class="keywordtype">float</span> <a class="code" href="classDWAPlanner.html#a840a031c8d25484bcab244edb39c97d5">calc_dist_from_robot</a>(<span class="keyword">const</span> geometry_msgs::Point &amp;obstacle, <span class="keyword">const</span> <a class="code" href="classDWAPlanner_1_1State.html">State</a> &amp;state);</div>
-<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160; </div>
-<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  geometry_msgs::PolygonStamped <a class="code" href="classDWAPlanner.html#a463096d7d4bcfc3bc7cd7a9cf9b9a398">move_footprint</a>(<span class="keyword">const</span> <a class="code" href="classDWAPlanner_1_1State.html">State</a> &amp;target_pose);</div>
-<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
-<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classDWAPlanner.html#a5f5a93a9a3e3534ace921095d813e6d9">is_inside_of_robot</a>(</div>
-<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;      <span class="keyword">const</span> geometry_msgs::Point &amp;obstacle, <span class="keyword">const</span> geometry_msgs::PolygonStamped &amp;footprint, <span class="keyword">const</span> <a class="code" href="classDWAPlanner_1_1State.html">State</a> &amp;state);</div>
-<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160; </div>
-<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classDWAPlanner.html#aacd71717ea2fa4a6c2d8a9eec186e189">is_inside_of_triangle</a>(<span class="keyword">const</span> geometry_msgs::Point &amp;target_point, <span class="keyword">const</span> geometry_msgs::Polygon &amp;triangle);</div>
-<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160; </div>
-<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  geometry_msgs::Point</div>
-<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;  <a class="code" href="classDWAPlanner.html#a2639f54e669e23a5022be9441fee3bf3">calc_intersection</a>(<span class="keyword">const</span> geometry_msgs::Point &amp;obstacle, <span class="keyword">const</span> <a class="code" href="classDWAPlanner_1_1State.html">State</a> &amp;state, geometry_msgs::PolygonStamped footprint);</div>
-<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160; </div>
-<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;  std::vector&lt;State&gt; <a class="code" href="classDWAPlanner.html#ac45d566b529f7420cef9e0e5a32907a0">generate_trajectory</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> velocity, <span class="keyword">const</span> <span class="keywordtype">double</span> yawrate);</div>
-<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160; </div>
-<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;  std::vector&lt;State&gt; <a class="code" href="classDWAPlanner.html#ac45d566b529f7420cef9e0e5a32907a0">generate_trajectory</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> yawrate, <span class="keyword">const</span> Eigen::Vector3d &amp;goal);</div>
-<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160; </div>
-<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;  <a class="code" href="classDWAPlanner_1_1Cost.html">Cost</a> <a class="code" href="classDWAPlanner.html#adb0934bf6918c7af1a6b846a1d6cfd8a">evaluate_trajectory</a>(<span class="keyword">const</span> std::vector&lt;State&gt; &amp;trajectory, <span class="keyword">const</span> Eigen::Vector3d &amp;goal);</div>
-<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160; </div>
-<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classDWAPlanner.html#ad481084566fe0bb82f732a8a8dbffe93">can_move</a>(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160; </div>
-<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;  geometry_msgs::Twist <a class="code" href="classDWAPlanner.html#ab601045c87c8925652ec423dd5c46062">calc_cmd_vel</a>(<span class="keywordtype">void</span>);</div>
-<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160; </div>
-<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classDWAPlanner.html#a12cabee5b51e8efaded6796d0b4ba84b">can_adjust_robot_direction</a>(<span class="keyword">const</span> Eigen::Vector3d &amp;goal);</div>
-<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160; </div>
-<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classDWAPlanner.html#a2821527877be42becc37cc9a867d3528">check_collision</a>(<span class="keyword">const</span> std::vector&lt;State&gt; &amp;traj);</div>
-<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160; </div>
-<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classDWAPlanner.html#aae53f07597841281fe61f4448c12c6dc">normalize_costs</a>(std::vector&lt;Cost&gt; &amp;costs);</div>
-<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160; </div>
-<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;  visualization_msgs::Marker <a class="code" href="classDWAPlanner.html#a60b3fffeaa811afd6dea2104760ab824">create_marker_msg</a>(</div>
-<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> <span class="keywordtype">id</span>, <span class="keyword">const</span> <span class="keywordtype">double</span> scale, <span class="keyword">const</span> std_msgs::ColorRGBA color, <span class="keyword">const</span> std::vector&lt;State&gt; &amp;trajectory,</div>
-<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;      <span class="keyword">const</span> geometry_msgs::PolygonStamped &amp;footprint = geometry_msgs::PolygonStamped());</div>
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+<div class="line"><a name="l00421"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a0673ca747da2b9d898408bf3f6b1ef35">  421</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classDWAPlanner.html#a0673ca747da2b9d898408bf3f6b1ef35">sleep_time_after_finish_</a>;</div>
+<div class="line"><a name="l00422"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a6b0fc2a356d9c3c89863533b1e81091f">  422</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classDWAPlanner.html#a6b0fc2a356d9c3c89863533b1e81091f">obs_cost_gain_</a>;</div>
+<div class="line"><a name="l00423"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a43f627b7c35d4e16e1ee80067daae75b">  423</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classDWAPlanner.html#a43f627b7c35d4e16e1ee80067daae75b">to_goal_cost_gain_</a>;</div>
+<div class="line"><a name="l00424"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a2151c7a05e2111ec1cf0c501b265a493">  424</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classDWAPlanner.html#a2151c7a05e2111ec1cf0c501b265a493">speed_cost_gain_</a>;</div>
+<div class="line"><a name="l00425"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a6f4ad39dc3067623588dc8f58088e497">  425</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classDWAPlanner.html#a6f4ad39dc3067623588dc8f58088e497">path_cost_gain_</a>;</div>
+<div class="line"><a name="l00426"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a1a8deecdb6e6d4bcb0a953bbfb6cf436">  426</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classDWAPlanner.html#a1a8deecdb6e6d4bcb0a953bbfb6cf436">dist_to_goal_th_</a>;</div>
+<div class="line"><a name="l00427"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a3c3b2296c51126e0d12557566ace0453">  427</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classDWAPlanner.html#a3c3b2296c51126e0d12557566ace0453">turn_direction_th_</a>;</div>
+<div class="line"><a name="l00428"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a50de685d9878e76a3c5143fbda4c66a1">  428</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classDWAPlanner.html#a50de685d9878e76a3c5143fbda4c66a1">angle_to_goal_th_</a>;</div>
+<div class="line"><a name="l00429"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a153ce2ec57ab3365fd9f17d7f5395853">  429</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classDWAPlanner.html#a153ce2ec57ab3365fd9f17d7f5395853">sim_direction_</a>;</div>
+<div class="line"><a name="l00430"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a69508170a18753d06dec87f99c59eb6e">  430</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classDWAPlanner.html#a69508170a18753d06dec87f99c59eb6e">slow_velocity_th_</a>;</div>
+<div class="line"><a name="l00431"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#abfa3ac6593ebdea54223da288841b1ca">  431</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classDWAPlanner.html#abfa3ac6593ebdea54223da288841b1ca">obs_range_</a>;</div>
+<div class="line"><a name="l00432"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#ab42a379ef62d72d9b23ff1de6c9416bd">  432</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classDWAPlanner.html#ab42a379ef62d72d9b23ff1de6c9416bd">robot_radius_</a>;</div>
+<div class="line"><a name="l00433"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#acc27d2dfefaa7903b413e8d37f36dab0">  433</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classDWAPlanner.html#acc27d2dfefaa7903b413e8d37f36dab0">footprint_padding_</a>;</div>
+<div class="line"><a name="l00434"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a7980adb5c585031a27aed3f953f4c674">  434</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classDWAPlanner.html#a7980adb5c585031a27aed3f953f4c674">v_path_width_</a>;</div>
+<div class="line"><a name="l00435"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a0a6a9e24ea11d7a02203a9f2d57a6c2a">  435</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classDWAPlanner.html#a0a6a9e24ea11d7a02203a9f2d57a6c2a">use_footprint_</a>;</div>
+<div class="line"><a name="l00436"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a27f250fe24e2a4f222fa45e457ac87a9">  436</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classDWAPlanner.html#a27f250fe24e2a4f222fa45e457ac87a9">use_scan_as_input_</a>;</div>
+<div class="line"><a name="l00437"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#ae2ee1947fa1e0e8350275e111889cdda">  437</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classDWAPlanner.html#ae2ee1947fa1e0e8350275e111889cdda">use_path_cost_</a>;</div>
+<div class="line"><a name="l00438"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#ae079e837dcdd7897fae18a09614bc863">  438</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classDWAPlanner.html#ae079e837dcdd7897fae18a09614bc863">use_speed_cost_</a>;</div>
+<div class="line"><a name="l00439"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a533327c9fae4aceb07a959958b24dd75">  439</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classDWAPlanner.html#a533327c9fae4aceb07a959958b24dd75">odom_updated_</a>;</div>
+<div class="line"><a name="l00440"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a86c80590b91e97104cfe300ffbd1383c">  440</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classDWAPlanner.html#a86c80590b91e97104cfe300ffbd1383c">local_map_updated_</a>;</div>
+<div class="line"><a name="l00441"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a7bc416f6ce1395235566cfd60d7b1770">  441</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classDWAPlanner.html#a7bc416f6ce1395235566cfd60d7b1770">scan_updated_</a>;</div>
+<div class="line"><a name="l00442"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a9c3faf43ce5629b5468141c47f637461">  442</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classDWAPlanner.html#a9c3faf43ce5629b5468141c47f637461">has_reached_</a>;</div>
+<div class="line"><a name="l00443"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#aae7d1c62cfbe78b2d842775ed59947f6">  443</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classDWAPlanner.html#aae7d1c62cfbe78b2d842775ed59947f6">velocity_samples_</a>;</div>
+<div class="line"><a name="l00444"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#ac6b9c096dbcb9a93b035e8126f560aee">  444</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classDWAPlanner.html#ac6b9c096dbcb9a93b035e8126f560aee">yawrate_samples_</a>;</div>
+<div class="line"><a name="l00445"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a3b0f356e84760a5f9dcb90e19b6efa69">  445</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classDWAPlanner.html#a3b0f356e84760a5f9dcb90e19b6efa69">sim_time_samples_</a>;</div>
+<div class="line"><a name="l00446"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a6f33c3917f8984609afae530828612e2">  446</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classDWAPlanner.html#a6f33c3917f8984609afae530828612e2">subscribe_count_th_</a>;</div>
+<div class="line"><a name="l00447"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a75f2b749625d62475f12f68c1ba86703">  447</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classDWAPlanner.html#a75f2b749625d62475f12f68c1ba86703">odom_not_subscribe_count_</a>;</div>
+<div class="line"><a name="l00448"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a0eb2324a258632fd2a8cb7a02bbdb703">  448</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classDWAPlanner.html#a0eb2324a258632fd2a8cb7a02bbdb703">local_map_not_subscribe_count_</a>;</div>
+<div class="line"><a name="l00449"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#acc2706026b1ce2a7d83b2a33ef201145">  449</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classDWAPlanner.html#acc2706026b1ce2a7d83b2a33ef201145">scan_not_subscribe_count_</a>;</div>
+<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160; </div>
+<div class="line"><a name="l00451"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a0e48f37c68a14272520398b948999b63">  451</a></span>&#160;  ros::NodeHandle <a class="code" href="classDWAPlanner.html#a0e48f37c68a14272520398b948999b63">nh_</a>;</div>
+<div class="line"><a name="l00452"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a5508317f853be8074ec762e9204526e4">  452</a></span>&#160;  ros::NodeHandle <a class="code" href="classDWAPlanner.html#a5508317f853be8074ec762e9204526e4">local_nh_</a>;</div>
+<div class="line"><a name="l00453"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a87a87a7fe7eb6f6b279af965da562d6f">  453</a></span>&#160;  ros::Publisher <a class="code" href="classDWAPlanner.html#a87a87a7fe7eb6f6b279af965da562d6f">velocity_pub_</a>;</div>
+<div class="line"><a name="l00454"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a05cec7ce1a8d75286d3c2a757bb7fd40">  454</a></span>&#160;  ros::Publisher <a class="code" href="classDWAPlanner.html#a05cec7ce1a8d75286d3c2a757bb7fd40">candidate_trajectories_pub_</a>;</div>
+<div class="line"><a name="l00455"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#ac0032d860e85f03c309168f6e557e39f">  455</a></span>&#160;  ros::Publisher <a class="code" href="classDWAPlanner.html#ac0032d860e85f03c309168f6e557e39f">selected_trajectory_pub_</a>;</div>
+<div class="line"><a name="l00456"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a966a8178627cee9001f042a07d934aec">  456</a></span>&#160;  ros::Publisher <a class="code" href="classDWAPlanner.html#a966a8178627cee9001f042a07d934aec">predict_footprints_pub_</a>;</div>
+<div class="line"><a name="l00457"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a655d7e12cbe359f26dfcf5b52e7a6b33">  457</a></span>&#160;  ros::Publisher <a class="code" href="classDWAPlanner.html#a655d7e12cbe359f26dfcf5b52e7a6b33">finish_flag_pub_</a>;</div>
+<div class="line"><a name="l00458"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a9ff6bc1bb61fb6d9a94310a949b3d58f">  458</a></span>&#160;  ros::Subscriber <a class="code" href="classDWAPlanner.html#a9ff6bc1bb61fb6d9a94310a949b3d58f">dist_to_goal_th_sub_</a>;</div>
+<div class="line"><a name="l00459"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a350b64cf0de51fbe656a09dd579de4f9">  459</a></span>&#160;  ros::Subscriber <a class="code" href="classDWAPlanner.html#a350b64cf0de51fbe656a09dd579de4f9">edge_on_global_path_sub_</a>;</div>
+<div class="line"><a name="l00460"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a8483eacf800d05461dc065480e06727e">  460</a></span>&#160;  ros::Subscriber <a class="code" href="classDWAPlanner.html#a8483eacf800d05461dc065480e06727e">footprint_sub_</a>;</div>
+<div class="line"><a name="l00461"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#af2e7c61dc465e5fdc78d2f5e30bf3257">  461</a></span>&#160;  ros::Subscriber <a class="code" href="classDWAPlanner.html#af2e7c61dc465e5fdc78d2f5e30bf3257">goal_sub_</a>;</div>
+<div class="line"><a name="l00462"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a9f69931d0d6bded376f1fd09b6a5bd80">  462</a></span>&#160;  ros::Subscriber <a class="code" href="classDWAPlanner.html#a9f69931d0d6bded376f1fd09b6a5bd80">local_map_sub_</a>;</div>
+<div class="line"><a name="l00463"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a11369ac49bea10466ca789168ea6c71e">  463</a></span>&#160;  ros::Subscriber <a class="code" href="classDWAPlanner.html#a11369ac49bea10466ca789168ea6c71e">odom_sub_</a>;</div>
+<div class="line"><a name="l00464"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#adbc44965f21a9f550aad4b39effc705e">  464</a></span>&#160;  ros::Subscriber <a class="code" href="classDWAPlanner.html#adbc44965f21a9f550aad4b39effc705e">scan_sub_</a>;</div>
+<div class="line"><a name="l00465"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a5d162a39c979fe8024aaa4a2babd3f17">  465</a></span>&#160;  ros::Subscriber <a class="code" href="classDWAPlanner.html#a5d162a39c979fe8024aaa4a2babd3f17">target_velocity_sub_</a>;</div>
+<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160; </div>
+<div class="line"><a name="l00467"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#aae6d46481efb31274002c20048ebec3f">  467</a></span>&#160;  geometry_msgs::Twist <a class="code" href="classDWAPlanner.html#aae6d46481efb31274002c20048ebec3f">current_cmd_vel_</a>;</div>
+<div class="line"><a name="l00468"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#ae8808a39a056f2b8aea650283e0e6139">  468</a></span>&#160;  std::optional&lt;geometry_msgs::PoseStamped&gt; <a class="code" href="classDWAPlanner.html#ae8808a39a056f2b8aea650283e0e6139">goal_msg_</a>;</div>
+<div class="line"><a name="l00469"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a40a68af9d1aa523e8b0a9064245ed40c">  469</a></span>&#160;  geometry_msgs::PoseArray <a class="code" href="classDWAPlanner.html#a40a68af9d1aa523e8b0a9064245ed40c">obs_list_</a>;</div>
+<div class="line"><a name="l00470"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#afd7eeefae6b6c03b987c7a7bef0b1030">  470</a></span>&#160;  std::optional&lt;geometry_msgs::PolygonStamped&gt; <a class="code" href="classDWAPlanner.html#afd7eeefae6b6c03b987c7a7bef0b1030">footprint_</a>;</div>
+<div class="line"><a name="l00471"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#ab9c2ee71d5221afa423ce9c1d4c31362">  471</a></span>&#160;  std::optional&lt;nav_msgs::Path&gt; <a class="code" href="classDWAPlanner.html#ab9c2ee71d5221afa423ce9c1d4c31362">edge_points_on_path_</a>;</div>
+<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160; </div>
+<div class="line"><a name="l00473"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#a461198b6316c4b8d007957dff80008b2">  473</a></span>&#160;  std_msgs::Bool <a class="code" href="classDWAPlanner.html#a461198b6316c4b8d007957dff80008b2">has_finished_</a>;</div>
+<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160; </div>
+<div class="line"><a name="l00475"></a><span class="lineno"><a class="line" href="classDWAPlanner.html#ae05204eadd96f3ce82863ce35173c54d">  475</a></span>&#160;  tf::TransformListener <a class="code" href="classDWAPlanner.html#ae05204eadd96f3ce82863ce35173c54d">listener_</a>;</div>
+<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;};</div>
+<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160; </div>
+<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;<span class="preprocessor">#endif  // DWA_PLANNER_DWA_PLANNER_H</span></div>
 </div><!-- fragment --></div><!-- contents -->
-<div class="ttc" id="aclassDWAPlanner_html_a9ff6bc1bb61fb6d9a94310a949b3d58f"><div class="ttname"><a href="classDWAPlanner.html#a9ff6bc1bb61fb6d9a94310a949b3d58f">DWAPlanner::dist_to_goal_th_sub_</a></div><div class="ttdeci">ros::Subscriber dist_to_goal_th_sub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00459">dwa_planner.h:459</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a655d7e12cbe359f26dfcf5b52e7a6b33"><div class="ttname"><a href="classDWAPlanner.html#a655d7e12cbe359f26dfcf5b52e7a6b33">DWAPlanner::finish_flag_pub_</a></div><div class="ttdeci">ros::Publisher finish_flag_pub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00458">dwa_planner.h:458</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a1baf4f87f2e0c29818fa36004994ed4d"><div class="ttname"><a href="classDWAPlanner.html#a1baf4f87f2e0c29818fa36004994ed4d">DWAPlanner::edge_points_on_path_</a></div><div class="ttdeci">std::vector&lt; geometry_msgs::PoseStamped &gt; edge_points_on_path_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00472">dwa_planner.h:472</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a2821527877be42becc37cc9a867d3528"><div class="ttname"><a href="classDWAPlanner.html#a2821527877be42becc37cc9a867d3528">DWAPlanner::check_collision</a></div><div class="ttdeci">bool check_collision(const std::vector&lt; State &gt; &amp;traj)</div><div class="ttdoc">Check if the robot has collided.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00451">dwa_planner.cpp:451</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_adcda02de1857cdde039ed3dabe4d4106"><div class="ttname"><a href="classDWAPlanner.html#adcda02de1857cdde039ed3dabe4d4106">DWAPlanner::angle_resolution_</a></div><div class="ttdeci">double angle_resolution_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00417">dwa_planner.h:417</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a9ff6bc1bb61fb6d9a94310a949b3d58f"><div class="ttname"><a href="classDWAPlanner.html#a9ff6bc1bb61fb6d9a94310a949b3d58f">DWAPlanner::dist_to_goal_th_sub_</a></div><div class="ttdeci">ros::Subscriber dist_to_goal_th_sub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00458">dwa_planner.h:458</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a655d7e12cbe359f26dfcf5b52e7a6b33"><div class="ttname"><a href="classDWAPlanner.html#a655d7e12cbe359f26dfcf5b52e7a6b33">DWAPlanner::finish_flag_pub_</a></div><div class="ttdeci">ros::Publisher finish_flag_pub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00457">dwa_planner.h:457</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a2821527877be42becc37cc9a867d3528"><div class="ttname"><a href="classDWAPlanner.html#a2821527877be42becc37cc9a867d3528">DWAPlanner::check_collision</a></div><div class="ttdeci">bool check_collision(const std::vector&lt; State &gt; &amp;traj)</div><div class="ttdoc">Check if the robot has collided.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00445">dwa_planner.cpp:445</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_adcda02de1857cdde039ed3dabe4d4106"><div class="ttname"><a href="classDWAPlanner.html#adcda02de1857cdde039ed3dabe4d4106">DWAPlanner::angle_resolution_</a></div><div class="ttdeci">double angle_resolution_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00419">dwa_planner.h:419</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_1_1State_html_a878214bada81b2ee685b590f0417aaa2"><div class="ttname"><a href="classDWAPlanner_1_1State.html#a878214bada81b2ee685b590f0417aaa2">DWAPlanner::State::yaw_</a></div><div class="ttdeci">double yaw_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00070">dwa_planner.h:70</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_af9dcc8b5d0e860ea2d50f753a34a7a36"><div class="ttname"><a href="classDWAPlanner.html#af9dcc8b5d0e860ea2d50f753a34a7a36">DWAPlanner::scan_callback</a></div><div class="ttdeci">void scan_callback(const sensor_msgs::LaserScanConstPtr &amp;msg)</div><div class="ttdoc">A callback to hanldle buffering scan messages.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00108">dwa_planner.cpp:108</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a0e48f37c68a14272520398b948999b63"><div class="ttname"><a href="classDWAPlanner.html#a0e48f37c68a14272520398b948999b63">DWAPlanner::nh_</a></div><div class="ttdeci">ros::NodeHandle nh_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00452">dwa_planner.h:452</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a461198b6316c4b8d007957dff80008b2"><div class="ttname"><a href="classDWAPlanner.html#a461198b6316c4b8d007957dff80008b2">DWAPlanner::has_finished_</a></div><div class="ttdeci">std_msgs::Bool has_finished_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00474">dwa_planner.h:474</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_acc2706026b1ce2a7d83b2a33ef201145"><div class="ttname"><a href="classDWAPlanner.html#acc2706026b1ce2a7d83b2a33ef201145">DWAPlanner::scan_not_subscribe_count_</a></div><div class="ttdeci">int scan_not_subscribe_count_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00450">dwa_planner.h:450</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a27f250fe24e2a4f222fa45e457ac87a9"><div class="ttname"><a href="classDWAPlanner.html#a27f250fe24e2a4f222fa45e457ac87a9">DWAPlanner::use_scan_as_input_</a></div><div class="ttdeci">bool use_scan_as_input_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00434">dwa_planner.h:434</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a350b64cf0de51fbe656a09dd579de4f9"><div class="ttname"><a href="classDWAPlanner.html#a350b64cf0de51fbe656a09dd579de4f9">DWAPlanner::edge_on_global_path_sub_</a></div><div class="ttdeci">ros::Subscriber edge_on_global_path_sub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00460">dwa_planner.h:460</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ac45d566b529f7420cef9e0e5a32907a0"><div class="ttname"><a href="classDWAPlanner.html#ac45d566b529f7420cef9e0e5a32907a0">DWAPlanner::generate_trajectory</a></div><div class="ttdeci">std::vector&lt; State &gt; generate_trajectory(const double velocity, const double yawrate)</div><div class="ttdoc">Generate trajectory.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00533">dwa_planner.cpp:533</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ad828f8cf5e3705c42fe494dbf0927e1a"><div class="ttname"><a href="classDWAPlanner.html#ad828f8cf5e3705c42fe494dbf0927e1a">DWAPlanner::calc_path_cost</a></div><div class="ttdeci">float calc_path_cost(const std::vector&lt; State &gt; &amp;traj)</div><div class="ttdoc">Calculate the path cost.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00514">dwa_planner.cpp:514</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_af9dcc8b5d0e860ea2d50f753a34a7a36"><div class="ttname"><a href="classDWAPlanner.html#af9dcc8b5d0e860ea2d50f753a34a7a36">DWAPlanner::scan_callback</a></div><div class="ttdeci">void scan_callback(const sensor_msgs::LaserScanConstPtr &amp;msg)</div><div class="ttdoc">A callback to hanldle buffering scan messages.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00105">dwa_planner.cpp:105</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a0e48f37c68a14272520398b948999b63"><div class="ttname"><a href="classDWAPlanner.html#a0e48f37c68a14272520398b948999b63">DWAPlanner::nh_</a></div><div class="ttdeci">ros::NodeHandle nh_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00451">dwa_planner.h:451</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a461198b6316c4b8d007957dff80008b2"><div class="ttname"><a href="classDWAPlanner.html#a461198b6316c4b8d007957dff80008b2">DWAPlanner::has_finished_</a></div><div class="ttdeci">std_msgs::Bool has_finished_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00473">dwa_planner.h:473</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_acc2706026b1ce2a7d83b2a33ef201145"><div class="ttname"><a href="classDWAPlanner.html#acc2706026b1ce2a7d83b2a33ef201145">DWAPlanner::scan_not_subscribe_count_</a></div><div class="ttdeci">int scan_not_subscribe_count_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00449">dwa_planner.h:449</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a27f250fe24e2a4f222fa45e457ac87a9"><div class="ttname"><a href="classDWAPlanner.html#a27f250fe24e2a4f222fa45e457ac87a9">DWAPlanner::use_scan_as_input_</a></div><div class="ttdeci">bool use_scan_as_input_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00436">dwa_planner.h:436</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a350b64cf0de51fbe656a09dd579de4f9"><div class="ttname"><a href="classDWAPlanner.html#a350b64cf0de51fbe656a09dd579de4f9">DWAPlanner::edge_on_global_path_sub_</a></div><div class="ttdeci">ros::Subscriber edge_on_global_path_sub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00459">dwa_planner.h:459</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ac45d566b529f7420cef9e0e5a32907a0"><div class="ttname"><a href="classDWAPlanner.html#ac45d566b529f7420cef9e0e5a32907a0">DWAPlanner::generate_trajectory</a></div><div class="ttdeci">std::vector&lt; State &gt; generate_trajectory(const double velocity, const double yawrate)</div><div class="ttdoc">Generate trajectory.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00527">dwa_planner.cpp:527</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ad828f8cf5e3705c42fe494dbf0927e1a"><div class="ttname"><a href="classDWAPlanner.html#ad828f8cf5e3705c42fe494dbf0927e1a">DWAPlanner::calc_path_cost</a></div><div class="ttdeci">float calc_path_cost(const std::vector&lt; State &gt; &amp;traj)</div><div class="ttdoc">Calculate the path cost.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00508">dwa_planner.cpp:508</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_1_1State_html_a4f3b650eb238a2ae3845c0c554cd6628"><div class="ttname"><a href="classDWAPlanner_1_1State.html#a4f3b650eb238a2ae3845c0c554cd6628">DWAPlanner::State::yawrate_</a></div><div class="ttdeci">double yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00072">dwa_planner.h:72</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a987b2b726a8c1a1a7963802de728e54e"><div class="ttname"><a href="classDWAPlanner.html#a987b2b726a8c1a1a7963802de728e54e">DWAPlanner::footprint_callback</a></div><div class="ttdeci">void footprint_callback(const geometry_msgs::PolygonStampedPtr &amp;msg)</div><div class="ttdoc">A calllback to handle buffering footprint messages.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00137">dwa_planner.cpp:137</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_aee78d648c4143bbb16320b8cb4913753"><div class="ttname"><a href="classDWAPlanner.html#aee78d648c4143bbb16320b8cb4913753">DWAPlanner::calc_dynamic_window</a></div><div class="ttdeci">Window calc_dynamic_window(void)</div><div class="ttdoc">Calculate dynamic window.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00469">dwa_planner.cpp:469</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a6b0fc2a356d9c3c89863533b1e81091f"><div class="ttname"><a href="classDWAPlanner.html#a6b0fc2a356d9c3c89863533b1e81091f">DWAPlanner::obs_cost_gain_</a></div><div class="ttdeci">double obs_cost_gain_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00420">dwa_planner.h:420</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a840a031c8d25484bcab244edb39c97d5"><div class="ttname"><a href="classDWAPlanner.html#a840a031c8d25484bcab244edb39c97d5">DWAPlanner::calc_dist_from_robot</a></div><div class="ttdeci">float calc_dist_from_robot(const geometry_msgs::Point &amp;obstacle, const State &amp;state)</div><div class="ttdoc">Calculate the distance from robot footprint to the nearest obstacle.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00605">dwa_planner.cpp:605</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_aeb3c7355707de25f99cf71e6c7382625"><div class="ttname"><a href="classDWAPlanner.html#aeb3c7355707de25f99cf71e6c7382625">DWAPlanner::min_yawrate_</a></div><div class="ttdeci">double min_yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00410">dwa_planner.h:410</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_aa8947f7df5a12a7f2ad844b8be1cb046"><div class="ttname"><a href="classDWAPlanner.html#aa8947f7df5a12a7f2ad844b8be1cb046">DWAPlanner::calc_dist_to_path</a></div><div class="ttdeci">float calc_dist_to_path(const State state)</div><div class="ttdoc">Calculate the distance of current pose to global path.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00522">dwa_planner.cpp:522</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a75f2b749625d62475f12f68c1ba86703"><div class="ttname"><a href="classDWAPlanner.html#a75f2b749625d62475f12f68c1ba86703">DWAPlanner::odom_not_subscribe_count_</a></div><div class="ttdeci">int odom_not_subscribe_count_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00448">dwa_planner.h:448</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ac99b6cb22926c93029868661c4208304"><div class="ttname"><a href="classDWAPlanner.html#ac99b6cb22926c93029868661c4208304">DWAPlanner::footprint_subscribed_</a></div><div class="ttdeci">bool footprint_subscribed_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00437">dwa_planner.h:437</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a0eb2324a258632fd2a8cb7a02bbdb703"><div class="ttname"><a href="classDWAPlanner.html#a0eb2324a258632fd2a8cb7a02bbdb703">DWAPlanner::local_map_not_subscribe_count_</a></div><div class="ttdeci">int local_map_not_subscribe_count_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00449">dwa_planner.h:449</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ad2634dc4592ca28fb24f490e93751dc7"><div class="ttname"><a href="classDWAPlanner.html#ad2634dc4592ca28fb24f490e93751dc7">DWAPlanner::raycast</a></div><div class="ttdeci">void raycast(const nav_msgs::OccupancyGrid &amp;map)</div><div class="ttdoc">Get obstacle list from local map.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00742">dwa_planner.cpp:742</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_afb16cecacc328ba0dfa1a3741380f65b"><div class="ttname"><a href="classDWAPlanner.html#afb16cecacc328ba0dfa1a3741380f65b">DWAPlanner::predict_time_</a></div><div class="ttdeci">double predict_time_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00418">dwa_planner.h:418</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a463096d7d4bcfc3bc7cd7a9cf9b9a398"><div class="ttname"><a href="classDWAPlanner.html#a463096d7d4bcfc3bc7cd7a9cf9b9a398">DWAPlanner::move_footprint</a></div><div class="ttdeci">geometry_msgs::PolygonStamped move_footprint(const State &amp;target_pose)</div><div class="ttdoc">Move the robot footprint to the target pose.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00619">dwa_planner.cpp:619</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_aae7d1c62cfbe78b2d842775ed59947f6"><div class="ttname"><a href="classDWAPlanner.html#aae7d1c62cfbe78b2d842775ed59947f6">DWAPlanner::velocity_samples_</a></div><div class="ttdeci">int velocity_samples_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00444">dwa_planner.h:444</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a8483eacf800d05461dc065480e06727e"><div class="ttname"><a href="classDWAPlanner.html#a8483eacf800d05461dc065480e06727e">DWAPlanner::footprint_sub_</a></div><div class="ttdeci">ros::Subscriber footprint_sub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00461">dwa_planner.h:461</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ad29b1f49e5199913b71be5fa67df819c"><div class="ttname"><a href="classDWAPlanner.html#ad29b1f49e5199913b71be5fa67df819c">DWAPlanner::goal_msg_</a></div><div class="ttdeci">geometry_msgs::PoseStamped goal_msg_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00469">dwa_planner.h:469</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a68b70a29964590639005a4bbded68778"><div class="ttname"><a href="classDWAPlanner.html#a68b70a29964590639005a4bbded68778">DWAPlanner::goal_callback</a></div><div class="ttdeci">void goal_callback(const geometry_msgs::PoseStampedConstPtr &amp;msg)</div><div class="ttdoc">A callback to hanldle buffering local goal messages.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00091">dwa_planner.cpp:91</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a0a449583ecdfc796e38a3c9b9475da4c"><div class="ttname"><a href="classDWAPlanner.html#a0a449583ecdfc796e38a3c9b9475da4c">DWAPlanner::max_velocity_</a></div><div class="ttdeci">double max_velocity_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00407">dwa_planner.h:407</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a43f627b7c35d4e16e1ee80067daae75b"><div class="ttname"><a href="classDWAPlanner.html#a43f627b7c35d4e16e1ee80067daae75b">DWAPlanner::to_goal_cost_gain_</a></div><div class="ttdeci">double to_goal_cost_gain_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00421">dwa_planner.h:421</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ae2ee1947fa1e0e8350275e111889cdda"><div class="ttname"><a href="classDWAPlanner.html#ae2ee1947fa1e0e8350275e111889cdda">DWAPlanner::use_path_cost_</a></div><div class="ttdeci">bool use_path_cost_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00435">dwa_planner.h:435</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a987b2b726a8c1a1a7963802de728e54e"><div class="ttname"><a href="classDWAPlanner.html#a987b2b726a8c1a1a7963802de728e54e">DWAPlanner::footprint_callback</a></div><div class="ttdeci">void footprint_callback(const geometry_msgs::PolygonStampedPtr &amp;msg)</div><div class="ttdoc">A calllback to handle buffering footprint messages.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00134">dwa_planner.cpp:134</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_aee78d648c4143bbb16320b8cb4913753"><div class="ttname"><a href="classDWAPlanner.html#aee78d648c4143bbb16320b8cb4913753">DWAPlanner::calc_dynamic_window</a></div><div class="ttdeci">Window calc_dynamic_window(void)</div><div class="ttdoc">Calculate dynamic window.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00463">dwa_planner.cpp:463</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a6b0fc2a356d9c3c89863533b1e81091f"><div class="ttname"><a href="classDWAPlanner.html#a6b0fc2a356d9c3c89863533b1e81091f">DWAPlanner::obs_cost_gain_</a></div><div class="ttdeci">double obs_cost_gain_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00422">dwa_planner.h:422</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a840a031c8d25484bcab244edb39c97d5"><div class="ttname"><a href="classDWAPlanner.html#a840a031c8d25484bcab244edb39c97d5">DWAPlanner::calc_dist_from_robot</a></div><div class="ttdeci">float calc_dist_from_robot(const geometry_msgs::Point &amp;obstacle, const State &amp;state)</div><div class="ttdoc">Calculate the distance from robot footprint to the nearest obstacle.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00599">dwa_planner.cpp:599</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_aeb3c7355707de25f99cf71e6c7382625"><div class="ttname"><a href="classDWAPlanner.html#aeb3c7355707de25f99cf71e6c7382625">DWAPlanner::min_yawrate_</a></div><div class="ttdeci">double min_yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00412">dwa_planner.h:412</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_aa8947f7df5a12a7f2ad844b8be1cb046"><div class="ttname"><a href="classDWAPlanner.html#aa8947f7df5a12a7f2ad844b8be1cb046">DWAPlanner::calc_dist_to_path</a></div><div class="ttdeci">float calc_dist_to_path(const State state)</div><div class="ttdoc">Calculate the distance of current pose to global path.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00516">dwa_planner.cpp:516</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a75f2b749625d62475f12f68c1ba86703"><div class="ttname"><a href="classDWAPlanner.html#a75f2b749625d62475f12f68c1ba86703">DWAPlanner::odom_not_subscribe_count_</a></div><div class="ttdeci">int odom_not_subscribe_count_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00447">dwa_planner.h:447</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a0eb2324a258632fd2a8cb7a02bbdb703"><div class="ttname"><a href="classDWAPlanner.html#a0eb2324a258632fd2a8cb7a02bbdb703">DWAPlanner::local_map_not_subscribe_count_</a></div><div class="ttdeci">int local_map_not_subscribe_count_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00448">dwa_planner.h:448</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_afb16cecacc328ba0dfa1a3741380f65b"><div class="ttname"><a href="classDWAPlanner.html#afb16cecacc328ba0dfa1a3741380f65b">DWAPlanner::predict_time_</a></div><div class="ttdeci">double predict_time_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00420">dwa_planner.h:420</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_adeb538e0e0f6c5c83034322155796242"><div class="ttname"><a href="classDWAPlanner.html#adeb538e0e0f6c5c83034322155796242">DWAPlanner::create_obs_list</a></div><div class="ttdeci">void create_obs_list(const nav_msgs::OccupancyGrid &amp;map)</div><div class="ttdoc">Get obstacle list from local map.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00736">dwa_planner.cpp:736</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a463096d7d4bcfc3bc7cd7a9cf9b9a398"><div class="ttname"><a href="classDWAPlanner.html#a463096d7d4bcfc3bc7cd7a9cf9b9a398">DWAPlanner::move_footprint</a></div><div class="ttdeci">geometry_msgs::PolygonStamped move_footprint(const State &amp;target_pose)</div><div class="ttdoc">Move the robot footprint to the target pose.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00613">dwa_planner.cpp:613</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_aae7d1c62cfbe78b2d842775ed59947f6"><div class="ttname"><a href="classDWAPlanner.html#aae7d1c62cfbe78b2d842775ed59947f6">DWAPlanner::velocity_samples_</a></div><div class="ttdeci">int velocity_samples_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00443">dwa_planner.h:443</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a8483eacf800d05461dc065480e06727e"><div class="ttname"><a href="classDWAPlanner.html#a8483eacf800d05461dc065480e06727e">DWAPlanner::footprint_sub_</a></div><div class="ttdeci">ros::Subscriber footprint_sub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00460">dwa_planner.h:460</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a68b70a29964590639005a4bbded68778"><div class="ttname"><a href="classDWAPlanner.html#a68b70a29964590639005a4bbded68778">DWAPlanner::goal_callback</a></div><div class="ttdeci">void goal_callback(const geometry_msgs::PoseStampedConstPtr &amp;msg)</div><div class="ttdoc">A callback to hanldle buffering local goal messages.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00088">dwa_planner.cpp:88</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a0a449583ecdfc796e38a3c9b9475da4c"><div class="ttname"><a href="classDWAPlanner.html#a0a449583ecdfc796e38a3c9b9475da4c">DWAPlanner::max_velocity_</a></div><div class="ttdeci">double max_velocity_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00409">dwa_planner.h:409</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a43f627b7c35d4e16e1ee80067daae75b"><div class="ttname"><a href="classDWAPlanner.html#a43f627b7c35d4e16e1ee80067daae75b">DWAPlanner::to_goal_cost_gain_</a></div><div class="ttdeci">double to_goal_cost_gain_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00423">dwa_planner.h:423</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ae2ee1947fa1e0e8350275e111889cdda"><div class="ttname"><a href="classDWAPlanner.html#ae2ee1947fa1e0e8350275e111889cdda">DWAPlanner::use_path_cost_</a></div><div class="ttdeci">bool use_path_cost_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00437">dwa_planner.h:437</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_html_add9a8c8f11e295e5546ba6a3b203b244"><div class="ttname"><a href="classDWAPlanner.html#add9a8c8f11e295e5546ba6a3b203b244">DWAPlanner::DWAPlanner</a></div><div class="ttdeci">DWAPlanner(void)</div><div class="ttdoc">Constructor for the DWAPlanner.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00010">dwa_planner.cpp:10</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a87a87a7fe7eb6f6b279af965da562d6f"><div class="ttname"><a href="classDWAPlanner.html#a87a87a7fe7eb6f6b279af965da562d6f">DWAPlanner::velocity_pub_</a></div><div class="ttdeci">ros::Publisher velocity_pub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00454">dwa_planner.h:454</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a87923f18a97dd118ef3176072cb75626"><div class="ttname"><a href="classDWAPlanner.html#a87923f18a97dd118ef3176072cb75626">DWAPlanner::edge_on_global_path_callback</a></div><div class="ttdeci">void edge_on_global_path_callback(const nav_msgs::PathConstPtr &amp;msg)</div><div class="ttdoc">A callback to handle buffering edge on global path messages.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00154">dwa_planner.cpp:154</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_aae53f07597841281fe61f4448c12c6dc"><div class="ttname"><a href="classDWAPlanner.html#aae53f07597841281fe61f4448c12c6dc">DWAPlanner::normalize_costs</a></div><div class="ttdeci">void normalize_costs(std::vector&lt; Cost &gt; &amp;costs)</div><div class="ttdoc">Normalize the costs.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00267">dwa_planner.cpp:267</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a87a87a7fe7eb6f6b279af965da562d6f"><div class="ttname"><a href="classDWAPlanner.html#a87a87a7fe7eb6f6b279af965da562d6f">DWAPlanner::velocity_pub_</a></div><div class="ttdeci">ros::Publisher velocity_pub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00453">dwa_planner.h:453</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a87923f18a97dd118ef3176072cb75626"><div class="ttname"><a href="classDWAPlanner.html#a87923f18a97dd118ef3176072cb75626">DWAPlanner::edge_on_global_path_callback</a></div><div class="ttdeci">void edge_on_global_path_callback(const nav_msgs::PathConstPtr &amp;msg)</div><div class="ttdoc">A callback to handle buffering edge on global path messages.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00150">dwa_planner.cpp:150</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_aae53f07597841281fe61f4448c12c6dc"><div class="ttname"><a href="classDWAPlanner.html#aae53f07597841281fe61f4448c12c6dc">DWAPlanner::normalize_costs</a></div><div class="ttdeci">void normalize_costs(std::vector&lt; Cost &gt; &amp;costs)</div><div class="ttdoc">Normalize the costs.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00261">dwa_planner.cpp:261</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_1_1Window_html_a6fc166d61dc10063b7c2bab93f263a8a"><div class="ttname"><a href="classDWAPlanner_1_1Window.html#a6fc166d61dc10063b7c2bab93f263a8a">DWAPlanner::Window::min_velocity_</a></div><div class="ttdeci">double min_velocity_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00094">dwa_planner.h:94</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_1_1Cost_html_afa0078eb743592e0218455cafe5686f9"><div class="ttname"><a href="classDWAPlanner_1_1Cost.html#afa0078eb743592e0218455cafe5686f9">DWAPlanner::Cost::to_goal_cost_</a></div><div class="ttdeci">float to_goal_cost_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00137">dwa_planner.h:137</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a7bc416f6ce1395235566cfd60d7b1770"><div class="ttname"><a href="classDWAPlanner.html#a7bc416f6ce1395235566cfd60d7b1770">DWAPlanner::scan_updated_</a></div><div class="ttdeci">bool scan_updated_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00442">dwa_planner.h:442</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a3b0f356e84760a5f9dcb90e19b6efa69"><div class="ttname"><a href="classDWAPlanner.html#a3b0f356e84760a5f9dcb90e19b6efa69">DWAPlanner::sim_time_samples_</a></div><div class="ttdeci">int sim_time_samples_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00446">dwa_planner.h:446</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a8d03036507e7ab8b5187e9a8f0038316"><div class="ttname"><a href="classDWAPlanner.html#a8d03036507e7ab8b5187e9a8f0038316">DWAPlanner::visualize_footprints</a></div><div class="ttdeci">void visualize_footprints(const std::vector&lt; State &gt; &amp;trajectory, const ros::Publisher &amp;pub)</div><div class="ttdoc">Publish predicted footprints.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00840">dwa_planner.cpp:840</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a7bc416f6ce1395235566cfd60d7b1770"><div class="ttname"><a href="classDWAPlanner.html#a7bc416f6ce1395235566cfd60d7b1770">DWAPlanner::scan_updated_</a></div><div class="ttdeci">bool scan_updated_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00441">dwa_planner.h:441</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a3b0f356e84760a5f9dcb90e19b6efa69"><div class="ttname"><a href="classDWAPlanner.html#a3b0f356e84760a5f9dcb90e19b6efa69">DWAPlanner::sim_time_samples_</a></div><div class="ttdeci">int sim_time_samples_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00445">dwa_planner.h:445</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a8d03036507e7ab8b5187e9a8f0038316"><div class="ttname"><a href="classDWAPlanner.html#a8d03036507e7ab8b5187e9a8f0038316">DWAPlanner::visualize_footprints</a></div><div class="ttdeci">void visualize_footprints(const std::vector&lt; State &gt; &amp;trajectory, const ros::Publisher &amp;pub)</div><div class="ttdoc">Publish predicted footprints.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00834">dwa_planner.cpp:834</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ae8808a39a056f2b8aea650283e0e6139"><div class="ttname"><a href="classDWAPlanner.html#ae8808a39a056f2b8aea650283e0e6139">DWAPlanner::goal_msg_</a></div><div class="ttdeci">std::optional&lt; geometry_msgs::PoseStamped &gt; goal_msg_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00468">dwa_planner.h:468</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_1_1Cost_html_a764332378cf66639480771a9eb7713ac"><div class="ttname"><a href="classDWAPlanner_1_1Cost.html#a764332378cf66639480771a9eb7713ac">DWAPlanner::Cost::path_cost_</a></div><div class="ttdeci">float path_cost_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00139">dwa_planner.h:139</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_1_1State_html_a5f58913a665cdf6d3bcbcab9d3535a88"><div class="ttname"><a href="classDWAPlanner_1_1State.html#a5f58913a665cdf6d3bcbcab9d3535a88">DWAPlanner::State::velocity_</a></div><div class="ttdeci">double velocity_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00071">dwa_planner.h:71</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a2639f54e669e23a5022be9441fee3bf3"><div class="ttname"><a href="classDWAPlanner.html#a2639f54e669e23a5022be9441fee3bf3">DWAPlanner::calc_intersection</a></div><div class="ttdeci">geometry_msgs::Point calc_intersection(const geometry_msgs::Point &amp;obstacle, const State &amp;state, geometry_msgs::PolygonStamped footprint)</div><div class="ttdoc">Calculate the intersection point of the line and the circle.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00572">dwa_planner.cpp:572</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a2639f54e669e23a5022be9441fee3bf3"><div class="ttname"><a href="classDWAPlanner.html#a2639f54e669e23a5022be9441fee3bf3">DWAPlanner::calc_intersection</a></div><div class="ttdeci">geometry_msgs::Point calc_intersection(const geometry_msgs::Point &amp;obstacle, const State &amp;state, geometry_msgs::PolygonStamped footprint)</div><div class="ttdoc">Calculate the intersection point of the line and the circle.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00566">dwa_planner.cpp:566</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_1_1Cost_html"><div class="ttname"><a href="classDWAPlanner_1_1Cost.html">DWAPlanner::Cost</a></div><div class="ttdoc">A data class for cost.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00106">dwa_planner.h:106</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a07bcd1c208c69b7c2e421f52199c1939"><div class="ttname"><a href="classDWAPlanner.html#a07bcd1c208c69b7c2e421f52199c1939">DWAPlanner::min_in_place_yawrate_</a></div><div class="ttdeci">double min_in_place_yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00412">dwa_planner.h:412</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a07bcd1c208c69b7c2e421f52199c1939"><div class="ttname"><a href="classDWAPlanner.html#a07bcd1c208c69b7c2e421f52199c1939">DWAPlanner::min_in_place_yawrate_</a></div><div class="ttdeci">double min_in_place_yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00414">dwa_planner.h:414</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_1_1State_html"><div class="ttname"><a href="classDWAPlanner_1_1State.html">DWAPlanner::State</a></div><div class="ttdoc">A data class for state of robot.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00050">dwa_planner.h:50</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_1_1Window_html"><div class="ttname"><a href="classDWAPlanner_1_1Window.html">DWAPlanner::Window</a></div><div class="ttdoc">A data class for dynamic window.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00081">dwa_planner.h:81</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_1_1Cost_html_aa3108f4915914a4b41c2b6cc4b8fcc98"><div class="ttname"><a href="classDWAPlanner_1_1Cost.html#aa3108f4915914a4b41c2b6cc4b8fcc98">DWAPlanner::Cost::obs_cost_</a></div><div class="ttdeci">float obs_cost_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00136">dwa_planner.h:136</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ab601045c87c8925652ec423dd5c46062"><div class="ttname"><a href="classDWAPlanner.html#ab601045c87c8925652ec423dd5c46062">DWAPlanner::calc_cmd_vel</a></div><div class="ttdeci">geometry_msgs::Twist calc_cmd_vel(void)</div><div class="ttdoc">Calculate the command velocity.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00364">dwa_planner.cpp:364</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a489f2afb286a975b1416e0c356cc3d92"><div class="ttname"><a href="classDWAPlanner.html#a489f2afb286a975b1416e0c356cc3d92">DWAPlanner::max_yawrate_</a></div><div class="ttdeci">double max_yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00409">dwa_planner.h:409</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ad481084566fe0bb82f732a8a8dbffe93"><div class="ttname"><a href="classDWAPlanner.html#ad481084566fe0bb82f732a8a8dbffe93">DWAPlanner::can_move</a></div><div class="ttdeci">bool can_move(void)</div><div class="ttdoc">Check if the robot can move.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00334">dwa_planner.cpp:334</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_1_1Cost_html_adc309115613ed2fea5d5f5f5d9e1f2fe"><div class="ttname"><a href="classDWAPlanner_1_1Cost.html#adc309115613ed2fea5d5f5f5d9e1f2fe">DWAPlanner::Cost::show</a></div><div class="ttdeci">void show(void)</div><div class="ttdoc">Show the cost.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00080">dwa_planner.cpp:80</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a51b0f44c576d7d75b64a66733bf0e959"><div class="ttname"><a href="classDWAPlanner.html#a51b0f44c576d7d75b64a66733bf0e959">DWAPlanner::calc_obs_cost</a></div><div class="ttdeci">float calc_obs_cost(const std::vector&lt; State &gt; &amp;traj)</div><div class="ttdoc">Calculate obstacle cost.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00485">dwa_planner.cpp:485</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a0a6a9e24ea11d7a02203a9f2d57a6c2a"><div class="ttname"><a href="classDWAPlanner.html#a0a6a9e24ea11d7a02203a9f2d57a6c2a">DWAPlanner::use_footprint_</a></div><div class="ttdeci">bool use_footprint_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00433">dwa_planner.h:433</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a05cec7ce1a8d75286d3c2a757bb7fd40"><div class="ttname"><a href="classDWAPlanner.html#a05cec7ce1a8d75286d3c2a757bb7fd40">DWAPlanner::candidate_trajectories_pub_</a></div><div class="ttdeci">ros::Publisher candidate_trajectories_pub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00455">dwa_planner.h:455</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_adb545e94c1525c67c70e6fe3a33575e5"><div class="ttname"><a href="classDWAPlanner.html#adb545e94c1525c67c70e6fe3a33575e5">DWAPlanner::scan_to_obs</a></div><div class="ttdeci">void scan_to_obs(const sensor_msgs::LaserScan &amp;scan)</div><div class="ttdoc">Get obstacle list from laser scan.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00721">dwa_planner.cpp:721</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a6f4ad39dc3067623588dc8f58088e497"><div class="ttname"><a href="classDWAPlanner.html#a6f4ad39dc3067623588dc8f58088e497">DWAPlanner::path_cost_gain_</a></div><div class="ttdeci">double path_cost_gain_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00423">dwa_planner.h:423</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ae05204eadd96f3ce82863ce35173c54d"><div class="ttname"><a href="classDWAPlanner.html#ae05204eadd96f3ce82863ce35173c54d">DWAPlanner::listener_</a></div><div class="ttdeci">tf::TransformListener listener_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00476">dwa_planner.h:476</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a320e7e8181cad788c41ce82b5fbd96ce"><div class="ttname"><a href="classDWAPlanner.html#a320e7e8181cad788c41ce82b5fbd96ce">DWAPlanner::motion</a></div><div class="ttdeci">void motion(State &amp;state, const double velocity, const double yawrate)</div><div class="ttdoc">Simulate the robot motion.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00711">dwa_planner.cpp:711</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a9f69931d0d6bded376f1fd09b6a5bd80"><div class="ttname"><a href="classDWAPlanner.html#a9f69931d0d6bded376f1fd09b6a5bd80">DWAPlanner::local_map_sub_</a></div><div class="ttdeci">ros::Subscriber local_map_sub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00463">dwa_planner.h:463</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a6b737a7173a88d329229c4f6c032b469"><div class="ttname"><a href="classDWAPlanner.html#a6b737a7173a88d329229c4f6c032b469">DWAPlanner::hz_</a></div><div class="ttdeci">double hz_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00405">dwa_planner.h:405</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a90a0f83317eb1b24bb50ee20fa90f251"><div class="ttname"><a href="classDWAPlanner.html#a90a0f83317eb1b24bb50ee20fa90f251">DWAPlanner::odom_callback</a></div><div class="ttdeci">void odom_callback(const nav_msgs::OdometryConstPtr &amp;msg)</div><div class="ttdoc">A callback to hanldle buffering odometry messages.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00124">dwa_planner.cpp:124</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a42d1a6b3f75845349a463d3331e636f9"><div class="ttname"><a href="classDWAPlanner.html#a42d1a6b3f75845349a463d3331e636f9">DWAPlanner::footprint_</a></div><div class="ttdeci">geometry_msgs::PolygonStamped footprint_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00471">dwa_planner.h:471</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a8d103793791af71de914b43e7b8a5134"><div class="ttname"><a href="classDWAPlanner.html#a8d103793791af71de914b43e7b8a5134">DWAPlanner::visualize_trajectory</a></div><div class="ttdeci">void visualize_trajectory(const std::vector&lt; State &gt; &amp;trajectory, const ros::Publisher &amp;pub)</div><div class="ttdoc">Publish selected trajectory.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00810">dwa_planner.cpp:810</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_1_1Cost_html_ab0a513399b6aad6c585e8706d1ba5b71"><div class="ttname"><a href="classDWAPlanner_1_1Cost.html#ab0a513399b6aad6c585e8706d1ba5b71">DWAPlanner::Cost::calc_total_cost</a></div><div class="ttdeci">void calc_total_cost(void)</div><div class="ttdoc">Calculate the total cost.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00089">dwa_planner.cpp:89</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a260998589030cf3ec16e817e23026f0a"><div class="ttname"><a href="classDWAPlanner.html#a260998589030cf3ec16e817e23026f0a">DWAPlanner::local_map_callback</a></div><div class="ttdeci">void local_map_callback(const nav_msgs::OccupancyGridConstPtr &amp;msg)</div><div class="ttdoc">A callback to hanldle buffering local map messages.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00116">dwa_planner.cpp:116</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a153ce2ec57ab3365fd9f17d7f5395853"><div class="ttname"><a href="classDWAPlanner.html#a153ce2ec57ab3365fd9f17d7f5395853">DWAPlanner::sim_direction_</a></div><div class="ttdeci">double sim_direction_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00427">dwa_planner.h:427</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ac9a0ab8e147e8d8aaa752071d410d2dc"><div class="ttname"><a href="classDWAPlanner.html#ac9a0ab8e147e8d8aaa752071d410d2dc">DWAPlanner::calc_speed_cost</a></div><div class="ttdeci">float calc_speed_cost(const std::vector&lt; State &gt; &amp;traj)</div><div class="ttdoc">Calculate the speed cost.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00506">dwa_planner.cpp:506</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_af2e7c61dc465e5fdc78d2f5e30bf3257"><div class="ttname"><a href="classDWAPlanner.html#af2e7c61dc465e5fdc78d2f5e30bf3257">DWAPlanner::goal_sub_</a></div><div class="ttdeci">ros::Subscriber goal_sub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00462">dwa_planner.h:462</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ae44b49bc033ac28871f35634ced91e82"><div class="ttname"><a href="classDWAPlanner.html#ae44b49bc033ac28871f35634ced91e82">DWAPlanner::max_acceleration_</a></div><div class="ttdeci">double max_acceleration_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00413">dwa_planner.h:413</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a46626d8077945c25fb09eb3118cc1726"><div class="ttname"><a href="classDWAPlanner.html#a46626d8077945c25fb09eb3118cc1726">DWAPlanner::goal_subscribed_</a></div><div class="ttdeci">bool goal_subscribed_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00438">dwa_planner.h:438</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_aaa592c3dbe4ad17abdf59f09b47a2242"><div class="ttname"><a href="classDWAPlanner.html#aaa592c3dbe4ad17abdf59f09b47a2242">DWAPlanner::dist_to_goal_th_callback</a></div><div class="ttdeci">void dist_to_goal_th_callback(const std_msgs::Float64ConstPtr &amp;msg)</div><div class="ttdoc">A callback to handle buffering distance to goal threshold messages.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00148">dwa_planner.cpp:148</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_aae6d46481efb31274002c20048ebec3f"><div class="ttname"><a href="classDWAPlanner.html#aae6d46481efb31274002c20048ebec3f">DWAPlanner::current_cmd_vel_</a></div><div class="ttdeci">geometry_msgs::Twist current_cmd_vel_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00468">dwa_planner.h:468</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a40a68af9d1aa523e8b0a9064245ed40c"><div class="ttname"><a href="classDWAPlanner.html#a40a68af9d1aa523e8b0a9064245ed40c">DWAPlanner::obs_list_</a></div><div class="ttdeci">geometry_msgs::PoseArray obs_list_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00470">dwa_planner.h:470</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ac6b9c096dbcb9a93b035e8126f560aee"><div class="ttname"><a href="classDWAPlanner.html#ac6b9c096dbcb9a93b035e8126f560aee">DWAPlanner::yawrate_samples_</a></div><div class="ttdeci">int yawrate_samples_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00445">dwa_planner.h:445</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a671005ef52b7acde226ef9b4c2c3cb3b"><div class="ttname"><a href="classDWAPlanner.html#a671005ef52b7acde226ef9b4c2c3cb3b">DWAPlanner::target_velocity_callback</a></div><div class="ttdeci">void target_velocity_callback(const geometry_msgs::TwistConstPtr &amp;msg)</div><div class="ttdoc">A callback to hanldle buffering target velocity messages.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00131">dwa_planner.cpp:131</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a50de685d9878e76a3c5143fbda4c66a1"><div class="ttname"><a href="classDWAPlanner.html#a50de685d9878e76a3c5143fbda4c66a1">DWAPlanner::angle_to_goal_th_</a></div><div class="ttdeci">double angle_to_goal_th_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00426">dwa_planner.h:426</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ab601045c87c8925652ec423dd5c46062"><div class="ttname"><a href="classDWAPlanner.html#ab601045c87c8925652ec423dd5c46062">DWAPlanner::calc_cmd_vel</a></div><div class="ttdeci">geometry_msgs::Twist calc_cmd_vel(void)</div><div class="ttdoc">Calculate the command velocity.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00358">dwa_planner.cpp:358</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a489f2afb286a975b1416e0c356cc3d92"><div class="ttname"><a href="classDWAPlanner.html#a489f2afb286a975b1416e0c356cc3d92">DWAPlanner::max_yawrate_</a></div><div class="ttdeci">double max_yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00411">dwa_planner.h:411</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ad481084566fe0bb82f732a8a8dbffe93"><div class="ttname"><a href="classDWAPlanner.html#ad481084566fe0bb82f732a8a8dbffe93">DWAPlanner::can_move</a></div><div class="ttdeci">bool can_move(void)</div><div class="ttdoc">Check if the robot can move.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00328">dwa_planner.cpp:328</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_1_1Cost_html_adc309115613ed2fea5d5f5f5d9e1f2fe"><div class="ttname"><a href="classDWAPlanner_1_1Cost.html#adc309115613ed2fea5d5f5f5d9e1f2fe">DWAPlanner::Cost::show</a></div><div class="ttdeci">void show(void)</div><div class="ttdoc">Show the cost.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00077">dwa_planner.cpp:77</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a51b0f44c576d7d75b64a66733bf0e959"><div class="ttname"><a href="classDWAPlanner.html#a51b0f44c576d7d75b64a66733bf0e959">DWAPlanner::calc_obs_cost</a></div><div class="ttdeci">float calc_obs_cost(const std::vector&lt; State &gt; &amp;traj)</div><div class="ttdoc">Calculate obstacle cost.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00479">dwa_planner.cpp:479</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a0a6a9e24ea11d7a02203a9f2d57a6c2a"><div class="ttname"><a href="classDWAPlanner.html#a0a6a9e24ea11d7a02203a9f2d57a6c2a">DWAPlanner::use_footprint_</a></div><div class="ttdeci">bool use_footprint_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00435">dwa_planner.h:435</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a05cec7ce1a8d75286d3c2a757bb7fd40"><div class="ttname"><a href="classDWAPlanner.html#a05cec7ce1a8d75286d3c2a757bb7fd40">DWAPlanner::candidate_trajectories_pub_</a></div><div class="ttdeci">ros::Publisher candidate_trajectories_pub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00454">dwa_planner.h:454</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a6f4ad39dc3067623588dc8f58088e497"><div class="ttname"><a href="classDWAPlanner.html#a6f4ad39dc3067623588dc8f58088e497">DWAPlanner::path_cost_gain_</a></div><div class="ttdeci">double path_cost_gain_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00425">dwa_planner.h:425</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ae05204eadd96f3ce82863ce35173c54d"><div class="ttname"><a href="classDWAPlanner.html#ae05204eadd96f3ce82863ce35173c54d">DWAPlanner::listener_</a></div><div class="ttdeci">tf::TransformListener listener_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00475">dwa_planner.h:475</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a320e7e8181cad788c41ce82b5fbd96ce"><div class="ttname"><a href="classDWAPlanner.html#a320e7e8181cad788c41ce82b5fbd96ce">DWAPlanner::motion</a></div><div class="ttdeci">void motion(State &amp;state, const double velocity, const double yawrate)</div><div class="ttdoc">Simulate the robot motion.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00705">dwa_planner.cpp:705</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a9f69931d0d6bded376f1fd09b6a5bd80"><div class="ttname"><a href="classDWAPlanner.html#a9f69931d0d6bded376f1fd09b6a5bd80">DWAPlanner::local_map_sub_</a></div><div class="ttdeci">ros::Subscriber local_map_sub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00462">dwa_planner.h:462</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a6b737a7173a88d329229c4f6c032b469"><div class="ttname"><a href="classDWAPlanner.html#a6b737a7173a88d329229c4f6c032b469">DWAPlanner::hz_</a></div><div class="ttdeci">double hz_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00407">dwa_planner.h:407</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a90a0f83317eb1b24bb50ee20fa90f251"><div class="ttname"><a href="classDWAPlanner.html#a90a0f83317eb1b24bb50ee20fa90f251">DWAPlanner::odom_callback</a></div><div class="ttdeci">void odom_callback(const nav_msgs::OdometryConstPtr &amp;msg)</div><div class="ttdoc">A callback to hanldle buffering odometry messages.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00121">dwa_planner.cpp:121</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a8d103793791af71de914b43e7b8a5134"><div class="ttname"><a href="classDWAPlanner.html#a8d103793791af71de914b43e7b8a5134">DWAPlanner::visualize_trajectory</a></div><div class="ttdeci">void visualize_trajectory(const std::vector&lt; State &gt; &amp;trajectory, const ros::Publisher &amp;pub)</div><div class="ttdoc">Publish selected trajectory.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00804">dwa_planner.cpp:804</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_1_1Cost_html_ab0a513399b6aad6c585e8706d1ba5b71"><div class="ttname"><a href="classDWAPlanner_1_1Cost.html#ab0a513399b6aad6c585e8706d1ba5b71">DWAPlanner::Cost::calc_total_cost</a></div><div class="ttdeci">void calc_total_cost(void)</div><div class="ttdoc">Calculate the total cost.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00086">dwa_planner.cpp:86</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a260998589030cf3ec16e817e23026f0a"><div class="ttname"><a href="classDWAPlanner.html#a260998589030cf3ec16e817e23026f0a">DWAPlanner::local_map_callback</a></div><div class="ttdeci">void local_map_callback(const nav_msgs::OccupancyGridConstPtr &amp;msg)</div><div class="ttdoc">A callback to hanldle buffering local map messages.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00113">dwa_planner.cpp:113</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a153ce2ec57ab3365fd9f17d7f5395853"><div class="ttname"><a href="classDWAPlanner.html#a153ce2ec57ab3365fd9f17d7f5395853">DWAPlanner::sim_direction_</a></div><div class="ttdeci">double sim_direction_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00429">dwa_planner.h:429</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ac9a0ab8e147e8d8aaa752071d410d2dc"><div class="ttname"><a href="classDWAPlanner.html#ac9a0ab8e147e8d8aaa752071d410d2dc">DWAPlanner::calc_speed_cost</a></div><div class="ttdeci">float calc_speed_cost(const std::vector&lt; State &gt; &amp;traj)</div><div class="ttdoc">Calculate the speed cost.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00500">dwa_planner.cpp:500</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_af2e7c61dc465e5fdc78d2f5e30bf3257"><div class="ttname"><a href="classDWAPlanner.html#af2e7c61dc465e5fdc78d2f5e30bf3257">DWAPlanner::goal_sub_</a></div><div class="ttdeci">ros::Subscriber goal_sub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00461">dwa_planner.h:461</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ae44b49bc033ac28871f35634ced91e82"><div class="ttname"><a href="classDWAPlanner.html#ae44b49bc033ac28871f35634ced91e82">DWAPlanner::max_acceleration_</a></div><div class="ttdeci">double max_acceleration_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00415">dwa_planner.h:415</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_aaa592c3dbe4ad17abdf59f09b47a2242"><div class="ttname"><a href="classDWAPlanner.html#aaa592c3dbe4ad17abdf59f09b47a2242">DWAPlanner::dist_to_goal_th_callback</a></div><div class="ttdeci">void dist_to_goal_th_callback(const std_msgs::Float64ConstPtr &amp;msg)</div><div class="ttdoc">A callback to handle buffering distance to goal threshold messages.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00144">dwa_planner.cpp:144</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ab9c2ee71d5221afa423ce9c1d4c31362"><div class="ttname"><a href="classDWAPlanner.html#ab9c2ee71d5221afa423ce9c1d4c31362">DWAPlanner::edge_points_on_path_</a></div><div class="ttdeci">std::optional&lt; nav_msgs::Path &gt; edge_points_on_path_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00471">dwa_planner.h:471</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_aae6d46481efb31274002c20048ebec3f"><div class="ttname"><a href="classDWAPlanner.html#aae6d46481efb31274002c20048ebec3f">DWAPlanner::current_cmd_vel_</a></div><div class="ttdeci">geometry_msgs::Twist current_cmd_vel_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00467">dwa_planner.h:467</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a40a68af9d1aa523e8b0a9064245ed40c"><div class="ttname"><a href="classDWAPlanner.html#a40a68af9d1aa523e8b0a9064245ed40c">DWAPlanner::obs_list_</a></div><div class="ttdeci">geometry_msgs::PoseArray obs_list_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00469">dwa_planner.h:469</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ac6b9c096dbcb9a93b035e8126f560aee"><div class="ttname"><a href="classDWAPlanner.html#ac6b9c096dbcb9a93b035e8126f560aee">DWAPlanner::yawrate_samples_</a></div><div class="ttdeci">int yawrate_samples_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00444">dwa_planner.h:444</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a671005ef52b7acde226ef9b4c2c3cb3b"><div class="ttname"><a href="classDWAPlanner.html#a671005ef52b7acde226ef9b4c2c3cb3b">DWAPlanner::target_velocity_callback</a></div><div class="ttdeci">void target_velocity_callback(const geometry_msgs::TwistConstPtr &amp;msg)</div><div class="ttdoc">A callback to hanldle buffering target velocity messages.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00128">dwa_planner.cpp:128</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a50de685d9878e76a3c5143fbda4c66a1"><div class="ttname"><a href="classDWAPlanner.html#a50de685d9878e76a3c5143fbda4c66a1">DWAPlanner::angle_to_goal_th_</a></div><div class="ttdeci">double angle_to_goal_th_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00428">dwa_planner.h:428</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_1_1Window_html_ac6ba1f416961bc4d90d9afc2346d7457"><div class="ttname"><a href="classDWAPlanner_1_1Window.html#ac6ba1f416961bc4d90d9afc2346d7457">DWAPlanner::Window::max_velocity_</a></div><div class="ttdeci">double max_velocity_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00095">dwa_planner.h:95</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_af398e6211e5543357af9b72ea84f40a8"><div class="ttname"><a href="classDWAPlanner.html#af398e6211e5543357af9b72ea84f40a8">DWAPlanner::visualize_trajectories</a></div><div class="ttdeci">void visualize_trajectories(const std::vector&lt; std::pair&lt; std::vector&lt; State &gt;, bool &gt;&gt; &amp;trajectories, const ros::Publisher &amp;pub)</div><div class="ttdoc">Publish candidate trajectories.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00818">dwa_planner.cpp:818</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_1_1Cost_html_a4c5dc99385cf7d4217c3a51d6cba910e"><div class="ttname"><a href="classDWAPlanner_1_1Cost.html#a4c5dc99385cf7d4217c3a51d6cba910e">DWAPlanner::Cost::Cost</a></div><div class="ttdeci">Cost(void)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00068">dwa_planner.cpp:68</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a0673ca747da2b9d898408bf3f6b1ef35"><div class="ttname"><a href="classDWAPlanner.html#a0673ca747da2b9d898408bf3f6b1ef35">DWAPlanner::sleep_time_after_finish_</a></div><div class="ttdeci">double sleep_time_after_finish_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00419">dwa_planner.h:419</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_af398e6211e5543357af9b72ea84f40a8"><div class="ttname"><a href="classDWAPlanner.html#af398e6211e5543357af9b72ea84f40a8">DWAPlanner::visualize_trajectories</a></div><div class="ttdeci">void visualize_trajectories(const std::vector&lt; std::pair&lt; std::vector&lt; State &gt;, bool &gt;&gt; &amp;trajectories, const ros::Publisher &amp;pub)</div><div class="ttdoc">Publish candidate trajectories.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00812">dwa_planner.cpp:812</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_1_1Cost_html_a4c5dc99385cf7d4217c3a51d6cba910e"><div class="ttname"><a href="classDWAPlanner_1_1Cost.html#a4c5dc99385cf7d4217c3a51d6cba910e">DWAPlanner::Cost::Cost</a></div><div class="ttdeci">Cost(void)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00065">dwa_planner.cpp:65</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a0673ca747da2b9d898408bf3f6b1ef35"><div class="ttname"><a href="classDWAPlanner.html#a0673ca747da2b9d898408bf3f6b1ef35">DWAPlanner::sleep_time_after_finish_</a></div><div class="ttdeci">double sleep_time_after_finish_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00421">dwa_planner.h:421</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_1_1State_html_a73164c3b83e2e4e51b17b85a7c22a322"><div class="ttname"><a href="classDWAPlanner_1_1State.html#a73164c3b83e2e4e51b17b85a7c22a322">DWAPlanner::State::x_</a></div><div class="ttdeci">double x_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00068">dwa_planner.h:68</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_aacd71717ea2fa4a6c2d8a9eec186e189"><div class="ttname"><a href="classDWAPlanner.html#aacd71717ea2fa4a6c2d8a9eec186e189">DWAPlanner::is_inside_of_triangle</a></div><div class="ttdeci">bool is_inside_of_triangle(const geometry_msgs::Point &amp;target_point, const geometry_msgs::Polygon &amp;triangle)</div><div class="ttdoc">Check if the target point is inside of triangle.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00680">dwa_planner.cpp:680</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a8de4fbc9efa1a16b62e2771c195042b8"><div class="ttname"><a href="classDWAPlanner.html#a8de4fbc9efa1a16b62e2771c195042b8">DWAPlanner::sim_period_</a></div><div class="ttdeci">double sim_period_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00416">dwa_planner.h:416</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a1a8deecdb6e6d4bcb0a953bbfb6cf436"><div class="ttname"><a href="classDWAPlanner.html#a1a8deecdb6e6d4bcb0a953bbfb6cf436">DWAPlanner::dist_to_goal_th_</a></div><div class="ttdeci">double dist_to_goal_th_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00424">dwa_planner.h:424</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_abfa3ac6593ebdea54223da288841b1ca"><div class="ttname"><a href="classDWAPlanner.html#abfa3ac6593ebdea54223da288841b1ca">DWAPlanner::obs_range_</a></div><div class="ttdeci">double obs_range_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00429">dwa_planner.h:429</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_aacd71717ea2fa4a6c2d8a9eec186e189"><div class="ttname"><a href="classDWAPlanner.html#aacd71717ea2fa4a6c2d8a9eec186e189">DWAPlanner::is_inside_of_triangle</a></div><div class="ttdeci">bool is_inside_of_triangle(const geometry_msgs::Point &amp;target_point, const geometry_msgs::Polygon &amp;triangle)</div><div class="ttdoc">Check if the target point is inside of triangle.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00674">dwa_planner.cpp:674</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a8de4fbc9efa1a16b62e2771c195042b8"><div class="ttname"><a href="classDWAPlanner.html#a8de4fbc9efa1a16b62e2771c195042b8">DWAPlanner::sim_period_</a></div><div class="ttdeci">double sim_period_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00418">dwa_planner.h:418</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a1a8deecdb6e6d4bcb0a953bbfb6cf436"><div class="ttname"><a href="classDWAPlanner.html#a1a8deecdb6e6d4bcb0a953bbfb6cf436">DWAPlanner::dist_to_goal_th_</a></div><div class="ttdeci">double dist_to_goal_th_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00426">dwa_planner.h:426</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_abfa3ac6593ebdea54223da288841b1ca"><div class="ttname"><a href="classDWAPlanner.html#abfa3ac6593ebdea54223da288841b1ca">DWAPlanner::obs_range_</a></div><div class="ttdeci">double obs_range_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00431">dwa_planner.h:431</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_1_1Cost_html_a8216a1c20408c93b363ec189b56f5962"><div class="ttname"><a href="classDWAPlanner_1_1Cost.html#a8216a1c20408c93b363ec189b56f5962">DWAPlanner::Cost::speed_cost_</a></div><div class="ttdeci">float speed_cost_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00138">dwa_planner.h:138</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_1_1Window_html_ad308cdb162caaf7e8a749424ee8a81a5"><div class="ttname"><a href="classDWAPlanner_1_1Window.html#ad308cdb162caaf7e8a749424ee8a81a5">DWAPlanner::Window::Window</a></div><div class="ttdeci">Window(void)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00055">dwa_planner.cpp:55</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_1_1Window_html_ad308cdb162caaf7e8a749424ee8a81a5"><div class="ttname"><a href="classDWAPlanner_1_1Window.html#ad308cdb162caaf7e8a749424ee8a81a5">DWAPlanner::Window::Window</a></div><div class="ttdeci">Window(void)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00052">dwa_planner.cpp:52</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_1_1Cost_html_a88ad9123fd6a216dda6f6620d2eb6f18"><div class="ttname"><a href="classDWAPlanner_1_1Cost.html#a88ad9123fd6a216dda6f6620d2eb6f18">DWAPlanner::Cost::total_cost_</a></div><div class="ttdeci">float total_cost_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00140">dwa_planner.h:140</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_adbc44965f21a9f550aad4b39effc705e"><div class="ttname"><a href="classDWAPlanner.html#adbc44965f21a9f550aad4b39effc705e">DWAPlanner::scan_sub_</a></div><div class="ttdeci">ros::Subscriber scan_sub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00465">dwa_planner.h:465</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a406d905277ba0475cec9fd9e9ea581d9"><div class="ttname"><a href="classDWAPlanner.html#a406d905277ba0475cec9fd9e9ea581d9">DWAPlanner::edge_on_global_path_subscribed_</a></div><div class="ttdeci">bool edge_on_global_path_subscribed_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00439">dwa_planner.h:439</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_1_1Window_html_ab3957b83074f94c8dfa3fb3a3c59851c"><div class="ttname"><a href="classDWAPlanner_1_1Window.html#ab3957b83074f94c8dfa3fb3a3c59851c">DWAPlanner::Window::show</a></div><div class="ttdeci">void show(void)</div><div class="ttdoc">Show the dynamic window information.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00057">dwa_planner.cpp:57</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a7980adb5c585031a27aed3f953f4c674"><div class="ttname"><a href="classDWAPlanner.html#a7980adb5c585031a27aed3f953f4c674">DWAPlanner::v_path_width_</a></div><div class="ttdeci">double v_path_width_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00432">dwa_planner.h:432</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_abff251f2fbf87c65af5da3937ec475bb"><div class="ttname"><a href="classDWAPlanner.html#abff251f2fbf87c65af5da3937ec475bb">DWAPlanner::max_deceleration_</a></div><div class="ttdeci">double max_deceleration_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00414">dwa_planner.h:414</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_adbc44965f21a9f550aad4b39effc705e"><div class="ttname"><a href="classDWAPlanner.html#adbc44965f21a9f550aad4b39effc705e">DWAPlanner::scan_sub_</a></div><div class="ttdeci">ros::Subscriber scan_sub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00464">dwa_planner.h:464</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_1_1Window_html_ab3957b83074f94c8dfa3fb3a3c59851c"><div class="ttname"><a href="classDWAPlanner_1_1Window.html#ab3957b83074f94c8dfa3fb3a3c59851c">DWAPlanner::Window::show</a></div><div class="ttdeci">void show(void)</div><div class="ttdoc">Show the dynamic window information.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00054">dwa_planner.cpp:54</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a7980adb5c585031a27aed3f953f4c674"><div class="ttname"><a href="classDWAPlanner.html#a7980adb5c585031a27aed3f953f4c674">DWAPlanner::v_path_width_</a></div><div class="ttdeci">double v_path_width_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00434">dwa_planner.h:434</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_abff251f2fbf87c65af5da3937ec475bb"><div class="ttname"><a href="classDWAPlanner.html#abff251f2fbf87c65af5da3937ec475bb">DWAPlanner::max_deceleration_</a></div><div class="ttdeci">double max_deceleration_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00416">dwa_planner.h:416</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_1_1State_html_a170e74beb0d29fd38902f2815589f508"><div class="ttname"><a href="classDWAPlanner_1_1State.html#a170e74beb0d29fd38902f2815589f508">DWAPlanner::State::y_</a></div><div class="ttdeci">double y_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00069">dwa_planner.h:69</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ae079e837dcdd7897fae18a09614bc863"><div class="ttname"><a href="classDWAPlanner.html#ae079e837dcdd7897fae18a09614bc863">DWAPlanner::use_speed_cost_</a></div><div class="ttdeci">bool use_speed_cost_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00436">dwa_planner.h:436</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a9c3faf43ce5629b5468141c47f637461"><div class="ttname"><a href="classDWAPlanner.html#a9c3faf43ce5629b5468141c47f637461">DWAPlanner::has_reached_</a></div><div class="ttdeci">bool has_reached_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00443">dwa_planner.h:443</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ae079e837dcdd7897fae18a09614bc863"><div class="ttname"><a href="classDWAPlanner.html#ae079e837dcdd7897fae18a09614bc863">DWAPlanner::use_speed_cost_</a></div><div class="ttdeci">bool use_speed_cost_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00438">dwa_planner.h:438</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a9c3faf43ce5629b5468141c47f637461"><div class="ttname"><a href="classDWAPlanner.html#a9c3faf43ce5629b5468141c47f637461">DWAPlanner::has_reached_</a></div><div class="ttdeci">bool has_reached_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00442">dwa_planner.h:442</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_html_accb330377e1503287d4228d334b61287"><div class="ttname"><a href="classDWAPlanner.html#accb330377e1503287d4228d334b61287">DWAPlanner::print_params</a></div><div class="ttdeci">void print_params(void)</div><div class="ttdoc">Print parameters.</div><div class="ttdef"><b>Definition:</b> <a href="parameters_8cpp_source.html#l00064">parameters.cpp:64</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a5508317f853be8074ec762e9204526e4"><div class="ttname"><a href="classDWAPlanner.html#a5508317f853be8074ec762e9204526e4">DWAPlanner::local_nh_</a></div><div class="ttdeci">ros::NodeHandle local_nh_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00453">dwa_planner.h:453</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a5508317f853be8074ec762e9204526e4"><div class="ttname"><a href="classDWAPlanner.html#a5508317f853be8074ec762e9204526e4">DWAPlanner::local_nh_</a></div><div class="ttdeci">ros::NodeHandle local_nh_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00452">dwa_planner.h:452</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_html_a7ff50924e740d16a990e607ec5a043cd"><div class="ttname"><a href="classDWAPlanner.html#a7ff50924e740d16a990e607ec5a043cd">DWAPlanner::load_params</a></div><div class="ttdeci">void load_params(void)</div><div class="ttdoc">Load parameters.</div><div class="ttdef"><b>Definition:</b> <a href="parameters_8cpp_source.html#l00008">parameters.cpp:8</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_adb0934bf6918c7af1a6b846a1d6cfd8a"><div class="ttname"><a href="classDWAPlanner.html#adb0934bf6918c7af1a6b846a1d6cfd8a">DWAPlanner::evaluate_trajectory</a></div><div class="ttdeci">Cost evaluate_trajectory(const std::vector&lt; State &gt; &amp;trajectory, const Eigen::Vector3d &amp;goal)</div><div class="ttdoc">Evaluate trajectory.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00561">dwa_planner.cpp:561</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_adb0934bf6918c7af1a6b846a1d6cfd8a"><div class="ttname"><a href="classDWAPlanner.html#adb0934bf6918c7af1a6b846a1d6cfd8a">DWAPlanner::evaluate_trajectory</a></div><div class="ttdeci">Cost evaluate_trajectory(const std::vector&lt; State &gt; &amp;trajectory, const Eigen::Vector3d &amp;goal)</div><div class="ttdoc">Evaluate trajectory.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00555">dwa_planner.cpp:555</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_1_1Window_html_a3aeb6f0ec9378876527d1dd9b4bff57b"><div class="ttname"><a href="classDWAPlanner_1_1Window.html#a3aeb6f0ec9378876527d1dd9b4bff57b">DWAPlanner::Window::max_yawrate_</a></div><div class="ttdeci">double max_yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00097">dwa_planner.h:97</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a12cabee5b51e8efaded6796d0b4ba84b"><div class="ttname"><a href="classDWAPlanner.html#a12cabee5b51e8efaded6796d0b4ba84b">DWAPlanner::can_adjust_robot_direction</a></div><div class="ttdeci">bool can_adjust_robot_direction(const Eigen::Vector3d &amp;goal)</div><div class="ttdoc">Check if the robot can adjust the direction.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00436">dwa_planner.cpp:436</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a86c80590b91e97104cfe300ffbd1383c"><div class="ttname"><a href="classDWAPlanner.html#a86c80590b91e97104cfe300ffbd1383c">DWAPlanner::local_map_updated_</a></div><div class="ttdeci">bool local_map_updated_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00441">dwa_planner.h:441</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a69508170a18753d06dec87f99c59eb6e"><div class="ttname"><a href="classDWAPlanner.html#a69508170a18753d06dec87f99c59eb6e">DWAPlanner::slow_velocity_th_</a></div><div class="ttdeci">double slow_velocity_th_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00428">dwa_planner.h:428</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a60b3fffeaa811afd6dea2104760ab824"><div class="ttname"><a href="classDWAPlanner.html#a60b3fffeaa811afd6dea2104760ab824">DWAPlanner::create_marker_msg</a></div><div class="ttdeci">visualization_msgs::Marker create_marker_msg(const int id, const double scale, const std_msgs::ColorRGBA color, const std::vector&lt; State &gt; &amp;trajectory, const geometry_msgs::PolygonStamped &amp;footprint=geometry_msgs::PolygonStamped())</div><div class="ttdoc">Create a marker message.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00768">dwa_planner.cpp:768</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_aba89ca88e42c4401e1391db53b4d2b8a"><div class="ttname"><a href="classDWAPlanner.html#aba89ca88e42c4401e1391db53b4d2b8a">DWAPlanner::robot_frame_</a></div><div class="ttdeci">std::string robot_frame_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00404">dwa_planner.h:404</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a966a8178627cee9001f042a07d934aec"><div class="ttname"><a href="classDWAPlanner.html#a966a8178627cee9001f042a07d934aec">DWAPlanner::predict_footprints_pub_</a></div><div class="ttdeci">ros::Publisher predict_footprints_pub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00457">dwa_planner.h:457</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ac63a462c7660f12c9c6ac79b6717e7c4"><div class="ttname"><a href="classDWAPlanner.html#ac63a462c7660f12c9c6ac79b6717e7c4">DWAPlanner::process</a></div><div class="ttdeci">void process(void)</div><div class="ttdoc">Execute local path planning.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00309">dwa_planner.cpp:309</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_1_1State_html_aa89c6d37950cc88646e2d1c915f343ee"><div class="ttname"><a href="classDWAPlanner_1_1State.html#aa89c6d37950cc88646e2d1c915f343ee">DWAPlanner::State::State</a></div><div class="ttdeci">State(void)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00048">dwa_planner.cpp:48</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a2174dc1fa664acb76368808bdb2fe179"><div class="ttname"><a href="classDWAPlanner.html#a2174dc1fa664acb76368808bdb2fe179">DWAPlanner::dwa_planning</a></div><div class="ttdeci">std::vector&lt; State &gt; dwa_planning(const Eigen::Vector3d &amp;goal, std::vector&lt; std::pair&lt; std::vector&lt; State &gt;, bool &gt;&gt; &amp;trajectories)</div><div class="ttdoc">Execute dwa planning.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00173">dwa_planner.cpp:173</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a6f33c3917f8984609afae530828612e2"><div class="ttname"><a href="classDWAPlanner.html#a6f33c3917f8984609afae530828612e2">DWAPlanner::subscribe_count_th_</a></div><div class="ttdeci">int subscribe_count_th_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00447">dwa_planner.h:447</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ac0032d860e85f03c309168f6e557e39f"><div class="ttname"><a href="classDWAPlanner.html#ac0032d860e85f03c309168f6e557e39f">DWAPlanner::selected_trajectory_pub_</a></div><div class="ttdeci">ros::Publisher selected_trajectory_pub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00456">dwa_planner.h:456</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a5d162a39c979fe8024aaa4a2babd3f17"><div class="ttname"><a href="classDWAPlanner.html#a5d162a39c979fe8024aaa4a2babd3f17">DWAPlanner::target_velocity_sub_</a></div><div class="ttdeci">ros::Subscriber target_velocity_sub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00466">dwa_planner.h:466</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a11369ac49bea10466ca789168ea6c71e"><div class="ttname"><a href="classDWAPlanner.html#a11369ac49bea10466ca789168ea6c71e">DWAPlanner::odom_sub_</a></div><div class="ttdeci">ros::Subscriber odom_sub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00464">dwa_planner.h:464</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a12cabee5b51e8efaded6796d0b4ba84b"><div class="ttname"><a href="classDWAPlanner.html#a12cabee5b51e8efaded6796d0b4ba84b">DWAPlanner::can_adjust_robot_direction</a></div><div class="ttdeci">bool can_adjust_robot_direction(const Eigen::Vector3d &amp;goal)</div><div class="ttdoc">Check if the robot can adjust the direction.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00430">dwa_planner.cpp:430</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_afd7eeefae6b6c03b987c7a7bef0b1030"><div class="ttname"><a href="classDWAPlanner.html#afd7eeefae6b6c03b987c7a7bef0b1030">DWAPlanner::footprint_</a></div><div class="ttdeci">std::optional&lt; geometry_msgs::PolygonStamped &gt; footprint_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00470">dwa_planner.h:470</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a86c80590b91e97104cfe300ffbd1383c"><div class="ttname"><a href="classDWAPlanner.html#a86c80590b91e97104cfe300ffbd1383c">DWAPlanner::local_map_updated_</a></div><div class="ttdeci">bool local_map_updated_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00440">dwa_planner.h:440</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a69508170a18753d06dec87f99c59eb6e"><div class="ttname"><a href="classDWAPlanner.html#a69508170a18753d06dec87f99c59eb6e">DWAPlanner::slow_velocity_th_</a></div><div class="ttdeci">double slow_velocity_th_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00430">dwa_planner.h:430</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a60b3fffeaa811afd6dea2104760ab824"><div class="ttname"><a href="classDWAPlanner.html#a60b3fffeaa811afd6dea2104760ab824">DWAPlanner::create_marker_msg</a></div><div class="ttdeci">visualization_msgs::Marker create_marker_msg(const int id, const double scale, const std_msgs::ColorRGBA color, const std::vector&lt; State &gt; &amp;trajectory, const geometry_msgs::PolygonStamped &amp;footprint=geometry_msgs::PolygonStamped())</div><div class="ttdoc">Create a marker message.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00762">dwa_planner.cpp:762</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_aba89ca88e42c4401e1391db53b4d2b8a"><div class="ttname"><a href="classDWAPlanner.html#aba89ca88e42c4401e1391db53b4d2b8a">DWAPlanner::robot_frame_</a></div><div class="ttdeci">std::string robot_frame_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00406">dwa_planner.h:406</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a966a8178627cee9001f042a07d934aec"><div class="ttname"><a href="classDWAPlanner.html#a966a8178627cee9001f042a07d934aec">DWAPlanner::predict_footprints_pub_</a></div><div class="ttdeci">ros::Publisher predict_footprints_pub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00456">dwa_planner.h:456</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ac63a462c7660f12c9c6ac79b6717e7c4"><div class="ttname"><a href="classDWAPlanner.html#ac63a462c7660f12c9c6ac79b6717e7c4">DWAPlanner::process</a></div><div class="ttdeci">void process(void)</div><div class="ttdoc">Execute local path planning.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00303">dwa_planner.cpp:303</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_1_1State_html_aa89c6d37950cc88646e2d1c915f343ee"><div class="ttname"><a href="classDWAPlanner_1_1State.html#aa89c6d37950cc88646e2d1c915f343ee">DWAPlanner::State::State</a></div><div class="ttdeci">State(void)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00045">dwa_planner.cpp:45</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a2174dc1fa664acb76368808bdb2fe179"><div class="ttname"><a href="classDWAPlanner.html#a2174dc1fa664acb76368808bdb2fe179">DWAPlanner::dwa_planning</a></div><div class="ttdeci">std::vector&lt; State &gt; dwa_planning(const Eigen::Vector3d &amp;goal, std::vector&lt; std::pair&lt; std::vector&lt; State &gt;, bool &gt;&gt; &amp;trajectories)</div><div class="ttdoc">Execute dwa planning.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00167">dwa_planner.cpp:167</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a6f33c3917f8984609afae530828612e2"><div class="ttname"><a href="classDWAPlanner.html#a6f33c3917f8984609afae530828612e2">DWAPlanner::subscribe_count_th_</a></div><div class="ttdeci">int subscribe_count_th_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00446">dwa_planner.h:446</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ac0032d860e85f03c309168f6e557e39f"><div class="ttname"><a href="classDWAPlanner.html#ac0032d860e85f03c309168f6e557e39f">DWAPlanner::selected_trajectory_pub_</a></div><div class="ttdeci">ros::Publisher selected_trajectory_pub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00455">dwa_planner.h:455</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a5d162a39c979fe8024aaa4a2babd3f17"><div class="ttname"><a href="classDWAPlanner.html#a5d162a39c979fe8024aaa4a2babd3f17">DWAPlanner::target_velocity_sub_</a></div><div class="ttdeci">ros::Subscriber target_velocity_sub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00465">dwa_planner.h:465</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a11369ac49bea10466ca789168ea6c71e"><div class="ttname"><a href="classDWAPlanner.html#a11369ac49bea10466ca789168ea6c71e">DWAPlanner::odom_sub_</a></div><div class="ttdeci">ros::Subscriber odom_sub_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00463">dwa_planner.h:463</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_html"><div class="ttname"><a href="classDWAPlanner.html">DWAPlanner</a></div><div class="ttdoc">A class implementing a local planner using the Dynamic Window Approach.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00038">dwa_planner.h:38</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a5f5a93a9a3e3534ace921095d813e6d9"><div class="ttname"><a href="classDWAPlanner.html#a5f5a93a9a3e3534ace921095d813e6d9">DWAPlanner::is_inside_of_robot</a></div><div class="ttdeci">bool is_inside_of_robot(const geometry_msgs::Point &amp;obstacle, const geometry_msgs::PolygonStamped &amp;footprint, const State &amp;state)</div><div class="ttdoc">Check if the obstacle is inside of robot footprint.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00655">dwa_planner.cpp:655</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a3c3b2296c51126e0d12557566ace0453"><div class="ttname"><a href="classDWAPlanner.html#a3c3b2296c51126e0d12557566ace0453">DWAPlanner::turn_direction_th_</a></div><div class="ttdeci">double turn_direction_th_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00425">dwa_planner.h:425</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a2151c7a05e2111ec1cf0c501b265a493"><div class="ttname"><a href="classDWAPlanner.html#a2151c7a05e2111ec1cf0c501b265a493">DWAPlanner::speed_cost_gain_</a></div><div class="ttdeci">double speed_cost_gain_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00422">dwa_planner.h:422</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ab42a379ef62d72d9b23ff1de6c9416bd"><div class="ttname"><a href="classDWAPlanner.html#ab42a379ef62d72d9b23ff1de6c9416bd">DWAPlanner::robot_radius_</a></div><div class="ttdeci">double robot_radius_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00430">dwa_planner.h:430</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_abc0f00d95e9643456d4be61322c7ed30"><div class="ttname"><a href="classDWAPlanner.html#abc0f00d95e9643456d4be61322c7ed30">DWAPlanner::max_d_yawrate_</a></div><div class="ttdeci">double max_d_yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00415">dwa_planner.h:415</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a5f5a93a9a3e3534ace921095d813e6d9"><div class="ttname"><a href="classDWAPlanner.html#a5f5a93a9a3e3534ace921095d813e6d9">DWAPlanner::is_inside_of_robot</a></div><div class="ttdeci">bool is_inside_of_robot(const geometry_msgs::Point &amp;obstacle, const geometry_msgs::PolygonStamped &amp;footprint, const State &amp;state)</div><div class="ttdoc">Check if the obstacle is inside of robot footprint.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00649">dwa_planner.cpp:649</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a3c3b2296c51126e0d12557566ace0453"><div class="ttname"><a href="classDWAPlanner.html#a3c3b2296c51126e0d12557566ace0453">DWAPlanner::turn_direction_th_</a></div><div class="ttdeci">double turn_direction_th_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00427">dwa_planner.h:427</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a2151c7a05e2111ec1cf0c501b265a493"><div class="ttname"><a href="classDWAPlanner.html#a2151c7a05e2111ec1cf0c501b265a493">DWAPlanner::speed_cost_gain_</a></div><div class="ttdeci">double speed_cost_gain_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00424">dwa_planner.h:424</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ab42a379ef62d72d9b23ff1de6c9416bd"><div class="ttname"><a href="classDWAPlanner.html#ab42a379ef62d72d9b23ff1de6c9416bd">DWAPlanner::robot_radius_</a></div><div class="ttdeci">double robot_radius_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00432">dwa_planner.h:432</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_abc0f00d95e9643456d4be61322c7ed30"><div class="ttname"><a href="classDWAPlanner.html#abc0f00d95e9643456d4be61322c7ed30">DWAPlanner::max_d_yawrate_</a></div><div class="ttdeci">double max_d_yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00417">dwa_planner.h:417</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_1_1Window_html_ad9d72c1a09fac5f634709f98f2df61b8"><div class="ttname"><a href="classDWAPlanner_1_1Window.html#ad9d72c1a09fac5f634709f98f2df61b8">DWAPlanner::Window::min_yawrate_</a></div><div class="ttdeci">double min_yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00096">dwa_planner.h:96</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a93309a99fd864dafa45f6b7390d781c3"><div class="ttname"><a href="classDWAPlanner.html#a93309a99fd864dafa45f6b7390d781c3">DWAPlanner::calc_to_goal_cost</a></div><div class="ttdeci">float calc_to_goal_cost(const std::vector&lt; State &gt; &amp;traj, const Eigen::Vector3d &amp;goal)</div><div class="ttdoc">Calculate the distance of current pose to goal pose.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00479">dwa_planner.cpp:479</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_aa138c408a334a2e07955e405cc9042d7"><div class="ttname"><a href="classDWAPlanner.html#aa138c408a334a2e07955e405cc9042d7">DWAPlanner::target_velocity_</a></div><div class="ttdeci">double target_velocity_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00406">dwa_planner.h:406</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_acc27d2dfefaa7903b413e8d37f36dab0"><div class="ttname"><a href="classDWAPlanner.html#acc27d2dfefaa7903b413e8d37f36dab0">DWAPlanner::footprint_padding_</a></div><div class="ttdeci">double footprint_padding_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00431">dwa_planner.h:431</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ac2cd905a4ff32631d4f498a7a914fe0e"><div class="ttname"><a href="classDWAPlanner.html#ac2cd905a4ff32631d4f498a7a914fe0e">DWAPlanner::max_in_place_yawrate_</a></div><div class="ttdeci">double max_in_place_yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00411">dwa_planner.h:411</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a533327c9fae4aceb07a959958b24dd75"><div class="ttname"><a href="classDWAPlanner.html#a533327c9fae4aceb07a959958b24dd75">DWAPlanner::odom_updated_</a></div><div class="ttdeci">bool odom_updated_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00440">dwa_planner.h:440</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_afe2097eedd8de9ce635105c4b34c356e"><div class="ttname"><a href="classDWAPlanner.html#afe2097eedd8de9ce635105c4b34c356e">DWAPlanner::global_frame_</a></div><div class="ttdeci">std::string global_frame_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00403">dwa_planner.h:403</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a9498b7b4e03f58e8286475a0c0f6d2ce"><div class="ttname"><a href="classDWAPlanner.html#a9498b7b4e03f58e8286475a0c0f6d2ce">DWAPlanner::min_velocity_</a></div><div class="ttdeci">double min_velocity_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00408">dwa_planner.h:408</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a93309a99fd864dafa45f6b7390d781c3"><div class="ttname"><a href="classDWAPlanner.html#a93309a99fd864dafa45f6b7390d781c3">DWAPlanner::calc_to_goal_cost</a></div><div class="ttdeci">float calc_to_goal_cost(const std::vector&lt; State &gt; &amp;traj, const Eigen::Vector3d &amp;goal)</div><div class="ttdoc">Calculate the distance of current pose to goal pose.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00473">dwa_planner.cpp:473</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_aa138c408a334a2e07955e405cc9042d7"><div class="ttname"><a href="classDWAPlanner.html#aa138c408a334a2e07955e405cc9042d7">DWAPlanner::target_velocity_</a></div><div class="ttdeci">double target_velocity_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00408">dwa_planner.h:408</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_acc27d2dfefaa7903b413e8d37f36dab0"><div class="ttname"><a href="classDWAPlanner.html#acc27d2dfefaa7903b413e8d37f36dab0">DWAPlanner::footprint_padding_</a></div><div class="ttdeci">double footprint_padding_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00433">dwa_planner.h:433</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ac2cd905a4ff32631d4f498a7a914fe0e"><div class="ttname"><a href="classDWAPlanner.html#ac2cd905a4ff32631d4f498a7a914fe0e">DWAPlanner::max_in_place_yawrate_</a></div><div class="ttdeci">double max_in_place_yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00413">dwa_planner.h:413</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a533327c9fae4aceb07a959958b24dd75"><div class="ttname"><a href="classDWAPlanner.html#a533327c9fae4aceb07a959958b24dd75">DWAPlanner::odom_updated_</a></div><div class="ttdeci">bool odom_updated_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00439">dwa_planner.h:439</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_afe2097eedd8de9ce635105c4b34c356e"><div class="ttname"><a href="classDWAPlanner.html#afe2097eedd8de9ce635105c4b34c356e">DWAPlanner::global_frame_</a></div><div class="ttdeci">std::string global_frame_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00405">dwa_planner.h:405</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a9498b7b4e03f58e8286475a0c0f6d2ce"><div class="ttname"><a href="classDWAPlanner.html#a9498b7b4e03f58e8286475a0c0f6d2ce">DWAPlanner::min_velocity_</a></div><div class="ttdeci">double min_velocity_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00410">dwa_planner.h:410</a></div></div>
 
 <br clear="all" />
 <hr size="1"><div style="align: right;">
 <a href="http://wiki.ros.org/dwa_planner">dwa_planner</a><br />
 Author(s): </br />
-<small>autogenerated on Sun Apr 28 2024 18:44:24</small>
+<small>autogenerated on Thu May 9 2024 01:28:03</small>
 </div>
 </body>
 </html>
diff --git a/docs/dwa__planner__node_8cpp.html b/docs/dwa__planner__node_8cpp.html
index fee2f98..7e3c600 100644
--- a/docs/dwa__planner__node_8cpp.html
+++ b/docs/dwa__planner__node_8cpp.html
@@ -102,7 +102,7 @@ <h2 class="memtitle"><span class="permalink"><a href="#a3c04138a5bfe5d72780bb7e8
 <hr size="1"><div style="align: right;">
 <a href="http://wiki.ros.org/dwa_planner">dwa_planner</a><br />
 Author(s): </br />
-<small>autogenerated on Sun Apr 28 2024 18:44:24</small>
+<small>autogenerated on Thu May 9 2024 01:28:03</small>
 </div>
 </body>
 </html>
diff --git a/docs/dwa__planner__node_8cpp_source.html b/docs/dwa__planner__node_8cpp_source.html
index 34b87b2..5bbe5f5 100644
--- a/docs/dwa__planner__node_8cpp_source.html
+++ b/docs/dwa__planner__node_8cpp_source.html
@@ -39,14 +39,14 @@
 </div><!-- fragment --></div><!-- contents -->
 <div class="ttc" id="adwa__planner_8h_html"><div class="ttname"><a href="dwa__planner_8h.html">dwa_planner.h</a></div></div>
 <div class="ttc" id="adwa__planner__node_8cpp_html_a3c04138a5bfe5d72780bb7e82a18e627"><div class="ttname"><a href="dwa__planner__node_8cpp.html#a3c04138a5bfe5d72780bb7e82a18e627">main</a></div><div class="ttdeci">int main(int argc, char **argv)</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner__node_8cpp_source.html#l00005">dwa_planner_node.cpp:5</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ac63a462c7660f12c9c6ac79b6717e7c4"><div class="ttname"><a href="classDWAPlanner.html#ac63a462c7660f12c9c6ac79b6717e7c4">DWAPlanner::process</a></div><div class="ttdeci">void process(void)</div><div class="ttdoc">Execute local path planning.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00309">dwa_planner.cpp:309</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ac63a462c7660f12c9c6ac79b6717e7c4"><div class="ttname"><a href="classDWAPlanner.html#ac63a462c7660f12c9c6ac79b6717e7c4">DWAPlanner::process</a></div><div class="ttdeci">void process(void)</div><div class="ttdoc">Execute local path planning.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8cpp_source.html#l00303">dwa_planner.cpp:303</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_html"><div class="ttname"><a href="classDWAPlanner.html">DWAPlanner</a></div><div class="ttdoc">A class implementing a local planner using the Dynamic Window Approach.</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00038">dwa_planner.h:38</a></div></div>
 
 <br clear="all" />
 <hr size="1"><div style="align: right;">
 <a href="http://wiki.ros.org/dwa_planner">dwa_planner</a><br />
 Author(s): </br />
-<small>autogenerated on Sun Apr 28 2024 18:44:24</small>
+<small>autogenerated on Thu May 9 2024 01:28:03</small>
 </div>
 </body>
 </html>
diff --git a/docs/files.html b/docs/files.html
index b06517e..9012c5d 100644
--- a/docs/files.html
+++ b/docs/files.html
@@ -35,7 +35,7 @@
 <hr size="1"><div style="align: right;">
 <a href="http://wiki.ros.org/dwa_planner">dwa_planner</a><br />
 Author(s): </br />
-<small>autogenerated on Sun Apr 28 2024 18:44:24</small>
+<small>autogenerated on Thu May 9 2024 01:28:03</small>
 </div>
 </body>
 </html>
diff --git a/docs/functions.html b/docs/functions.html
index c37f820..66f045c 100644
--- a/docs/functions.html
+++ b/docs/functions.html
@@ -73,11 +73,14 @@ <h3><a id="index_c"></a>- c -</h3><ul>
 : <a class="el" href="classDWAPlanner.html#a2821527877be42becc37cc9a867d3528">DWAPlanner</a>
 </li>
 <li>Cost()
-: <a class="el" href="classDWAPlanner_1_1Cost.html#a4c5dc99385cf7d4217c3a51d6cba910e">DWAPlanner::Cost</a>
+: <a class="el" href="classDWAPlanner_1_1Cost.html#a6d8f24e8b66f4b9b1cded0d5a8fbdab3">DWAPlanner::Cost</a>
 </li>
 <li>create_marker_msg()
 : <a class="el" href="classDWAPlanner.html#a60b3fffeaa811afd6dea2104760ab824">DWAPlanner</a>
 </li>
+<li>create_obs_list()
+: <a class="el" href="classDWAPlanner.html#a80ff5a1ae9bee7f160e1f39749bda262">DWAPlanner</a>
+</li>
 <li>current_cmd_vel_
 : <a class="el" href="classDWAPlanner.html#aae6d46481efb31274002c20048ebec3f">DWAPlanner</a>
 </li>
@@ -110,11 +113,8 @@ <h3><a id="index_e"></a>- e -</h3><ul>
 <li>edge_on_global_path_sub_
 : <a class="el" href="classDWAPlanner.html#a350b64cf0de51fbe656a09dd579de4f9">DWAPlanner</a>
 </li>
-<li>edge_on_global_path_subscribed_
-: <a class="el" href="classDWAPlanner.html#a406d905277ba0475cec9fd9e9ea581d9">DWAPlanner</a>
-</li>
 <li>edge_points_on_path_
-: <a class="el" href="classDWAPlanner.html#a1baf4f87f2e0c29818fa36004994ed4d">DWAPlanner</a>
+: <a class="el" href="classDWAPlanner.html#ab9c2ee71d5221afa423ce9c1d4c31362">DWAPlanner</a>
 </li>
 <li>evaluate_trajectory()
 : <a class="el" href="classDWAPlanner.html#adb0934bf6918c7af1a6b846a1d6cfd8a">DWAPlanner</a>
@@ -127,7 +127,7 @@ <h3><a id="index_f"></a>- f -</h3><ul>
 : <a class="el" href="classDWAPlanner.html#a655d7e12cbe359f26dfcf5b52e7a6b33">DWAPlanner</a>
 </li>
 <li>footprint_
-: <a class="el" href="classDWAPlanner.html#a42d1a6b3f75845349a463d3331e636f9">DWAPlanner</a>
+: <a class="el" href="classDWAPlanner.html#afd7eeefae6b6c03b987c7a7bef0b1030">DWAPlanner</a>
 </li>
 <li>footprint_callback()
 : <a class="el" href="classDWAPlanner.html#a987b2b726a8c1a1a7963802de728e54e">DWAPlanner</a>
@@ -138,9 +138,6 @@ <h3><a id="index_f"></a>- f -</h3><ul>
 <li>footprint_sub_
 : <a class="el" href="classDWAPlanner.html#a8483eacf800d05461dc065480e06727e">DWAPlanner</a>
 </li>
-<li>footprint_subscribed_
-: <a class="el" href="classDWAPlanner.html#ac99b6cb22926c93029868661c4208304">DWAPlanner</a>
-</li>
 </ul>
 
 
@@ -155,14 +152,11 @@ <h3><a id="index_g"></a>- g -</h3><ul>
 : <a class="el" href="classDWAPlanner.html#a68b70a29964590639005a4bbded68778">DWAPlanner</a>
 </li>
 <li>goal_msg_
-: <a class="el" href="classDWAPlanner.html#ad29b1f49e5199913b71be5fa67df819c">DWAPlanner</a>
+: <a class="el" href="classDWAPlanner.html#ae8808a39a056f2b8aea650283e0e6139">DWAPlanner</a>
 </li>
 <li>goal_sub_
 : <a class="el" href="classDWAPlanner.html#af2e7c61dc465e5fdc78d2f5e30bf3257">DWAPlanner</a>
 </li>
-<li>goal_subscribed_
-: <a class="el" href="classDWAPlanner.html#a46626d8077945c25fb09eb3118cc1726">DWAPlanner</a>
-</li>
 </ul>
 
 
@@ -316,9 +310,6 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 
 
 <h3><a id="index_r"></a>- r -</h3><ul>
-<li>raycast()
-: <a class="el" href="classDWAPlanner.html#ad2634dc4592ca28fb24f490e93751dc7">DWAPlanner</a>
-</li>
 <li>robot_frame_
 : <a class="el" href="classDWAPlanner.html#aba89ca88e42c4401e1391db53b4d2b8a">DWAPlanner</a>
 </li>
@@ -338,9 +329,6 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 <li>scan_sub_
 : <a class="el" href="classDWAPlanner.html#adbc44965f21a9f550aad4b39effc705e">DWAPlanner</a>
 </li>
-<li>scan_to_obs()
-: <a class="el" href="classDWAPlanner.html#adb545e94c1525c67c70e6fe3a33575e5">DWAPlanner</a>
-</li>
 <li>scan_updated_
 : <a class="el" href="classDWAPlanner.html#a7bc416f6ce1395235566cfd60d7b1770">DWAPlanner</a>
 </li>
@@ -373,7 +361,7 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 : <a class="el" href="classDWAPlanner.html#a2151c7a05e2111ec1cf0c501b265a493">DWAPlanner</a>
 </li>
 <li>State()
-: <a class="el" href="classDWAPlanner_1_1State.html#aa89c6d37950cc88646e2d1c915f343ee">DWAPlanner::State</a>
+: <a class="el" href="classDWAPlanner_1_1State.html#a598507de1bb7b23fa1246af3a32e285f">DWAPlanner::State</a>
 </li>
 <li>subscribe_count_th_
 : <a class="el" href="classDWAPlanner.html#a6f33c3917f8984609afae530828612e2">DWAPlanner</a>
@@ -481,7 +469,7 @@ <h3><a id="index_y"></a>- y -</h3><ul>
 <hr size="1"><div style="align: right;">
 <a href="http://wiki.ros.org/dwa_planner">dwa_planner</a><br />
 Author(s): </br />
-<small>autogenerated on Sun Apr 28 2024 18:44:24</small>
+<small>autogenerated on Thu May 9 2024 01:28:03</small>
 </div>
 </body>
 </html>
diff --git a/docs/functions_func.html b/docs/functions_func.html
index 425987b..7e767a2 100644
--- a/docs/functions_func.html
+++ b/docs/functions_func.html
@@ -60,11 +60,14 @@ <h3><a id="index_c"></a>- c -</h3><ul>
 : <a class="el" href="classDWAPlanner.html#a2821527877be42becc37cc9a867d3528">DWAPlanner</a>
 </li>
 <li>Cost()
-: <a class="el" href="classDWAPlanner_1_1Cost.html#a4c5dc99385cf7d4217c3a51d6cba910e">DWAPlanner::Cost</a>
+: <a class="el" href="classDWAPlanner_1_1Cost.html#a6d8f24e8b66f4b9b1cded0d5a8fbdab3">DWAPlanner::Cost</a>
 </li>
 <li>create_marker_msg()
 : <a class="el" href="classDWAPlanner.html#a60b3fffeaa811afd6dea2104760ab824">DWAPlanner</a>
 </li>
+<li>create_obs_list()
+: <a class="el" href="classDWAPlanner.html#a80ff5a1ae9bee7f160e1f39749bda262">DWAPlanner</a>
+</li>
 </ul>
 
 
@@ -162,20 +165,10 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 </ul>
 
 
-<h3><a id="index_r"></a>- r -</h3><ul>
-<li>raycast()
-: <a class="el" href="classDWAPlanner.html#ad2634dc4592ca28fb24f490e93751dc7">DWAPlanner</a>
-</li>
-</ul>
-
-
 <h3><a id="index_s"></a>- s -</h3><ul>
 <li>scan_callback()
 : <a class="el" href="classDWAPlanner.html#af9dcc8b5d0e860ea2d50f753a34a7a36">DWAPlanner</a>
 </li>
-<li>scan_to_obs()
-: <a class="el" href="classDWAPlanner.html#adb545e94c1525c67c70e6fe3a33575e5">DWAPlanner</a>
-</li>
 <li>show()
 : <a class="el" href="classDWAPlanner_1_1Cost.html#adc309115613ed2fea5d5f5f5d9e1f2fe">DWAPlanner::Cost</a>
 , <a class="el" href="classDWAPlanner_1_1Window.html#ab3957b83074f94c8dfa3fb3a3c59851c">DWAPlanner::Window</a>
@@ -217,7 +210,7 @@ <h3><a id="index_w"></a>- w -</h3><ul>
 <hr size="1"><div style="align: right;">
 <a href="http://wiki.ros.org/dwa_planner">dwa_planner</a><br />
 Author(s): </br />
-<small>autogenerated on Sun Apr 28 2024 18:44:24</small>
+<small>autogenerated on Thu May 9 2024 01:28:03</small>
 </div>
 </body>
 </html>
diff --git a/docs/functions_vars.html b/docs/functions_vars.html
index 8b612ad..c7cee56 100644
--- a/docs/functions_vars.html
+++ b/docs/functions_vars.html
@@ -53,11 +53,8 @@ <h3><a id="index_e"></a>- e -</h3><ul>
 <li>edge_on_global_path_sub_
 : <a class="el" href="classDWAPlanner.html#a350b64cf0de51fbe656a09dd579de4f9">DWAPlanner</a>
 </li>
-<li>edge_on_global_path_subscribed_
-: <a class="el" href="classDWAPlanner.html#a406d905277ba0475cec9fd9e9ea581d9">DWAPlanner</a>
-</li>
 <li>edge_points_on_path_
-: <a class="el" href="classDWAPlanner.html#a1baf4f87f2e0c29818fa36004994ed4d">DWAPlanner</a>
+: <a class="el" href="classDWAPlanner.html#ab9c2ee71d5221afa423ce9c1d4c31362">DWAPlanner</a>
 </li>
 </ul>
 
@@ -67,7 +64,7 @@ <h3><a id="index_f"></a>- f -</h3><ul>
 : <a class="el" href="classDWAPlanner.html#a655d7e12cbe359f26dfcf5b52e7a6b33">DWAPlanner</a>
 </li>
 <li>footprint_
-: <a class="el" href="classDWAPlanner.html#a42d1a6b3f75845349a463d3331e636f9">DWAPlanner</a>
+: <a class="el" href="classDWAPlanner.html#afd7eeefae6b6c03b987c7a7bef0b1030">DWAPlanner</a>
 </li>
 <li>footprint_padding_
 : <a class="el" href="classDWAPlanner.html#acc27d2dfefaa7903b413e8d37f36dab0">DWAPlanner</a>
@@ -75,9 +72,6 @@ <h3><a id="index_f"></a>- f -</h3><ul>
 <li>footprint_sub_
 : <a class="el" href="classDWAPlanner.html#a8483eacf800d05461dc065480e06727e">DWAPlanner</a>
 </li>
-<li>footprint_subscribed_
-: <a class="el" href="classDWAPlanner.html#ac99b6cb22926c93029868661c4208304">DWAPlanner</a>
-</li>
 </ul>
 
 
@@ -86,14 +80,11 @@ <h3><a id="index_g"></a>- g -</h3><ul>
 : <a class="el" href="classDWAPlanner.html#afe2097eedd8de9ce635105c4b34c356e">DWAPlanner</a>
 </li>
 <li>goal_msg_
-: <a class="el" href="classDWAPlanner.html#ad29b1f49e5199913b71be5fa67df819c">DWAPlanner</a>
+: <a class="el" href="classDWAPlanner.html#ae8808a39a056f2b8aea650283e0e6139">DWAPlanner</a>
 </li>
 <li>goal_sub_
 : <a class="el" href="classDWAPlanner.html#af2e7c61dc465e5fdc78d2f5e30bf3257">DWAPlanner</a>
 </li>
-<li>goal_subscribed_
-: <a class="el" href="classDWAPlanner.html#a46626d8077945c25fb09eb3118cc1726">DWAPlanner</a>
-</li>
 </ul>
 
 
@@ -343,7 +334,7 @@ <h3><a id="index_y"></a>- y -</h3><ul>
 <hr size="1"><div style="align: right;">
 <a href="http://wiki.ros.org/dwa_planner">dwa_planner</a><br />
 Author(s): </br />
-<small>autogenerated on Sun Apr 28 2024 18:44:24</small>
+<small>autogenerated on Thu May 9 2024 01:28:03</small>
 </div>
 </body>
 </html>
diff --git a/docs/globals.html b/docs/globals.html
index 9b53159..bb9b41d 100644
--- a/docs/globals.html
+++ b/docs/globals.html
@@ -28,7 +28,7 @@
 <hr size="1"><div style="align: right;">
 <a href="http://wiki.ros.org/dwa_planner">dwa_planner</a><br />
 Author(s): </br />
-<small>autogenerated on Sun Apr 28 2024 18:44:24</small>
+<small>autogenerated on Thu May 9 2024 01:28:03</small>
 </div>
 </body>
 </html>
diff --git a/docs/globals_func.html b/docs/globals_func.html
index 1bc701c..1c9fd4f 100644
--- a/docs/globals_func.html
+++ b/docs/globals_func.html
@@ -28,7 +28,7 @@
 <hr size="1"><div style="align: right;">
 <a href="http://wiki.ros.org/dwa_planner">dwa_planner</a><br />
 Author(s): </br />
-<small>autogenerated on Sun Apr 28 2024 18:44:24</small>
+<small>autogenerated on Thu May 9 2024 01:28:03</small>
 </div>
 </body>
 </html>
diff --git a/docs/graph_legend.html b/docs/graph_legend.html
index 253a27e..013b17a 100644
--- a/docs/graph_legend.html
+++ b/docs/graph_legend.html
@@ -87,7 +87,7 @@
 <hr size="1"><div style="align: right;">
 <a href="http://wiki.ros.org/dwa_planner">dwa_planner</a><br />
 Author(s): </br />
-<small>autogenerated on Sun Apr 28 2024 18:44:24</small>
+<small>autogenerated on Thu May 9 2024 01:28:03</small>
 </div>
 </body>
 </html>
diff --git a/docs/index-msg.html b/docs/index-msg.html
index 6ec1112..1740dc3 100644
--- a/docs/index-msg.html
+++ b/docs/index-msg.html
@@ -25,7 +25,7 @@ <h1>dwa_planner Msg/Srv Documentation</h1>
 
 
 
-<p class="footer"><small><em>autogenerated on Sun, 28 Apr 2024 18:44:24</em></small></p>
+<p class="footer"><small><em>autogenerated on Thu, 09 May 2024 01:28:04</em></small></p>
 
 </div>
 
diff --git a/docs/index.html b/docs/index.html
index 9699236..dca90b6 100644
--- a/docs/index.html
+++ b/docs/index.html
@@ -45,14 +45,22 @@ <h1><a class="anchor" id="autotoc_md25"></a>
 <div class="line"> </div>
 <div class="line"># build</div>
 <div class="line">cd /path/to/your/catkin_ws</div>
-<div class="line">rosdep install --from-paths src --ignore-src -y      # Install dependencies</div>
-<div class="line">catkin build dwa_planner -DCMAKE_BUILD_TYPE=Release  # Release build is recommended</div>
+<div class="line">rosdep install -riy --from-paths src --rosdistro noetic # Install dependencies</div>
+<div class="line">catkin build dwa_planner -DCMAKE_BUILD_TYPE=Release     # Release build is recommended</div>
 </div><!-- fragment --><h1><a class="anchor" id="autotoc_md26"></a>
 How to use</h1>
 <div class="fragment"><div class="line">roslaunch dwa_planner local_planner.launch</div>
 </div><!-- fragment --><h1><a class="anchor" id="autotoc_md27"></a>
-Running the demo</h1>
-<h2><a class="anchor" id="autotoc_md28"></a>
+Running the demo with docker</h1>
+<div class="fragment"><div class="line">git clone https://github.com/amslabtech/dwa_planner.git &amp;&amp; cd dwa_planner</div>
+<div class="line"> </div>
+<div class="line"># build an image, create a container and start demo (Ctrl-c: stop a container and exit)</div>
+<div class="line">docker compose up</div>
+<div class="line"># remove a container</div>
+<div class="line">docker compose down</div>
+</div><!-- fragment --><h1><a class="anchor" id="autotoc_md28"></a>
+Running the demo without docker</h1>
+<h2><a class="anchor" id="autotoc_md29"></a>
 Using simulator</h2>
 <div class="fragment"><div class="line"># clone repository</div>
 <div class="line">cd /path/to/your/catkin_ws/src</div>
@@ -62,37 +70,34 @@ <h2><a class="anchor" id="autotoc_md28"></a>
 <div class="line"> </div>
 <div class="line"># build</div>
 <div class="line">cd /path/to/your/catkin_ws</div>
-<div class="line">rosdep install --from-paths src --ignore-src -y # Install dependencies</div>
-<div class="line">catkin build -DCMAKE_BUILD_TYPE=Release         # Release build is recommended</div>
+<div class="line">rosdep install -riy --from-paths src --rosdistro noetic</div>
+<div class="line">catkin build -DCMAKE_BUILD_TYPE=Release</div>
 <div class="line"> </div>
 <div class="line"># run demo</div>
 <div class="line">export TURTLEBOT3_MODEL=burger</div>
-<div class="line">roslaunch turtlebot3_navigation turtlebot3_navigation.launch</div>
-<div class="line">export TURTLEBOT3_MODEL=burger</div>
-<div class="line">roslaunch turtlebot3_gazebo turtlebot3_world.launch</div>
-<div class="line">roslaunch dwa_planner local_planner.launch use_scan_as_input:=True v_path_width:=0.02</div>
+<div class="line">roslaunch dwa_planner demo.launch</div>
 </div><!-- fragment --><div class="image">
 <img src="dwa_planner_demo_2.gif" alt=""/>
 <div class="caption">
 demo 2</div></div>
-   <h1><a class="anchor" id="autotoc_md29"></a>
+   <h1><a class="anchor" id="autotoc_md30"></a>
 Node I/O</h1>
 <div class="image">
 <img src="dwa_planner_io.png" alt=""/>
 <div class="caption">
 Node I/O</div></div>
-   <h2><a class="anchor" id="autotoc_md30"></a>
+   <h2><a class="anchor" id="autotoc_md31"></a>
 Published/Subscribed Topics</h2>
 <p>Access <a class="el" href="md_docs_Topics.html">here</a></p>
-<h2><a class="anchor" id="autotoc_md31"></a>
+<h2><a class="anchor" id="autotoc_md32"></a>
 Runtime requirement</h2>
 <ul>
 <li>TF (from GLOBAL_FRAME to ROBOT_FRAME) is required</li>
 </ul>
-<h1><a class="anchor" id="autotoc_md32"></a>
+<h1><a class="anchor" id="autotoc_md33"></a>
 Parameters</h1>
 <p>Access <a class="el" href="md_docs_Parameters.html">here</a></p>
-<h1><a class="anchor" id="autotoc_md33"></a>
+<h1><a class="anchor" id="autotoc_md34"></a>
 References</h1>
 <ul>
 <li><a href="https://ieeexplore.ieee.org/abstract/document/580977">D. Fox, W. Burgard, and S.Thrun, "The dynamic window approach to collision avoidance", IEEE Robotics Automation Magazine, 1997.</a> </li>
@@ -104,7 +109,7 @@ <h1><a class="anchor" id="autotoc_md33"></a>
 <hr size="1"><div style="align: right;">
 <a href="http://wiki.ros.org/dwa_planner">dwa_planner</a><br />
 Author(s): </br />
-<small>autogenerated on Sun Apr 28 2024 18:44:24</small>
+<small>autogenerated on Thu May 9 2024 01:28:03</small>
 </div>
 </body>
 </html>
diff --git a/docs/md_docs_Parameters.html b/docs/md_docs_Parameters.html
index 8196a66..122758b 100644
--- a/docs/md_docs_Parameters.html
+++ b/docs/md_docs_Parameters.html
@@ -167,7 +167,7 @@ <h2><a class="anchor" id="autotoc_md17"></a>
 <hr size="1"><div style="align: right;">
 <a href="http://wiki.ros.org/dwa_planner">dwa_planner</a><br />
 Author(s): </br />
-<small>autogenerated on Sun Apr 28 2024 18:44:24</small>
+<small>autogenerated on Thu May 9 2024 01:28:03</small>
 </div>
 </body>
 </html>
diff --git a/docs/md_docs_Topics.html b/docs/md_docs_Topics.html
index b5b0bcf..7440451 100644
--- a/docs/md_docs_Topics.html
+++ b/docs/md_docs_Topics.html
@@ -107,7 +107,7 @@ <h2><a class="anchor" id="autotoc_md21"></a>
 <hr size="1"><div style="align: right;">
 <a href="http://wiki.ros.org/dwa_planner">dwa_planner</a><br />
 Author(s): </br />
-<small>autogenerated on Sun Apr 28 2024 18:44:24</small>
+<small>autogenerated on Thu May 9 2024 01:28:03</small>
 </div>
 </body>
 </html>
diff --git a/docs/menudata.js b/docs/menudata.js
index f70064f..004f435 100644
--- a/docs/menudata.js
+++ b/docs/menudata.js
@@ -60,7 +60,6 @@ var menudata={children:[
 {text:"n",url:"functions_func.html#index_n"},
 {text:"o",url:"functions_func.html#index_o"},
 {text:"p",url:"functions_func.html#index_p"},
-{text:"r",url:"functions_func.html#index_r"},
 {text:"s",url:"functions_func.html#index_s"},
 {text:"t",url:"functions_func.html#index_t"},
 {text:"v",url:"functions_func.html#index_v"},
diff --git a/docs/pages.html b/docs/pages.html
index d1f9c23..9a13034 100644
--- a/docs/pages.html
+++ b/docs/pages.html
@@ -33,7 +33,7 @@
 <hr size="1"><div style="align: right;">
 <a href="http://wiki.ros.org/dwa_planner">dwa_planner</a><br />
 Author(s): </br />
-<small>autogenerated on Sun Apr 28 2024 18:44:24</small>
+<small>autogenerated on Thu May 9 2024 01:28:03</small>
 </div>
 </body>
 </html>
diff --git a/docs/parameters_8cpp.html b/docs/parameters_8cpp.html
index b57c7db..fd42609 100644
--- a/docs/parameters_8cpp.html
+++ b/docs/parameters_8cpp.html
@@ -66,7 +66,7 @@
 <hr size="1"><div style="align: right;">
 <a href="http://wiki.ros.org/dwa_planner">dwa_planner</a><br />
 Author(s): </br />
-<small>autogenerated on Sun Apr 28 2024 18:44:24</small>
+<small>autogenerated on Thu May 9 2024 01:28:03</small>
 </div>
 </body>
 </html>
diff --git a/docs/parameters_8cpp_source.html b/docs/parameters_8cpp_source.html
index 3476344..b2e233d 100644
--- a/docs/parameters_8cpp_source.html
+++ b/docs/parameters_8cpp_source.html
@@ -142,53 +142,53 @@
 <div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  ROS_INFO_STREAM(<span class="stringliteral">&quot;YAWRATE_SAMPLES: &quot;</span> &lt;&lt; <a class="code" href="classDWAPlanner.html#ac6b9c096dbcb9a93b035e8126f560aee">yawrate_samples_</a>);</div>
 <div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;}</div>
 </div><!-- fragment --></div><!-- contents -->
-<div class="ttc" id="aclassDWAPlanner_html_adcda02de1857cdde039ed3dabe4d4106"><div class="ttname"><a href="classDWAPlanner.html#adcda02de1857cdde039ed3dabe4d4106">DWAPlanner::angle_resolution_</a></div><div class="ttdeci">double angle_resolution_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00417">dwa_planner.h:417</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a27f250fe24e2a4f222fa45e457ac87a9"><div class="ttname"><a href="classDWAPlanner.html#a27f250fe24e2a4f222fa45e457ac87a9">DWAPlanner::use_scan_as_input_</a></div><div class="ttdeci">bool use_scan_as_input_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00434">dwa_planner.h:434</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a6b0fc2a356d9c3c89863533b1e81091f"><div class="ttname"><a href="classDWAPlanner.html#a6b0fc2a356d9c3c89863533b1e81091f">DWAPlanner::obs_cost_gain_</a></div><div class="ttdeci">double obs_cost_gain_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00420">dwa_planner.h:420</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_aeb3c7355707de25f99cf71e6c7382625"><div class="ttname"><a href="classDWAPlanner.html#aeb3c7355707de25f99cf71e6c7382625">DWAPlanner::min_yawrate_</a></div><div class="ttdeci">double min_yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00410">dwa_planner.h:410</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_afb16cecacc328ba0dfa1a3741380f65b"><div class="ttname"><a href="classDWAPlanner.html#afb16cecacc328ba0dfa1a3741380f65b">DWAPlanner::predict_time_</a></div><div class="ttdeci">double predict_time_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00418">dwa_planner.h:418</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_aae7d1c62cfbe78b2d842775ed59947f6"><div class="ttname"><a href="classDWAPlanner.html#aae7d1c62cfbe78b2d842775ed59947f6">DWAPlanner::velocity_samples_</a></div><div class="ttdeci">int velocity_samples_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00444">dwa_planner.h:444</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a0a449583ecdfc796e38a3c9b9475da4c"><div class="ttname"><a href="classDWAPlanner.html#a0a449583ecdfc796e38a3c9b9475da4c">DWAPlanner::max_velocity_</a></div><div class="ttdeci">double max_velocity_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00407">dwa_planner.h:407</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a43f627b7c35d4e16e1ee80067daae75b"><div class="ttname"><a href="classDWAPlanner.html#a43f627b7c35d4e16e1ee80067daae75b">DWAPlanner::to_goal_cost_gain_</a></div><div class="ttdeci">double to_goal_cost_gain_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00421">dwa_planner.h:421</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ae2ee1947fa1e0e8350275e111889cdda"><div class="ttname"><a href="classDWAPlanner.html#ae2ee1947fa1e0e8350275e111889cdda">DWAPlanner::use_path_cost_</a></div><div class="ttdeci">bool use_path_cost_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00435">dwa_planner.h:435</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_adcda02de1857cdde039ed3dabe4d4106"><div class="ttname"><a href="classDWAPlanner.html#adcda02de1857cdde039ed3dabe4d4106">DWAPlanner::angle_resolution_</a></div><div class="ttdeci">double angle_resolution_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00419">dwa_planner.h:419</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a27f250fe24e2a4f222fa45e457ac87a9"><div class="ttname"><a href="classDWAPlanner.html#a27f250fe24e2a4f222fa45e457ac87a9">DWAPlanner::use_scan_as_input_</a></div><div class="ttdeci">bool use_scan_as_input_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00436">dwa_planner.h:436</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a6b0fc2a356d9c3c89863533b1e81091f"><div class="ttname"><a href="classDWAPlanner.html#a6b0fc2a356d9c3c89863533b1e81091f">DWAPlanner::obs_cost_gain_</a></div><div class="ttdeci">double obs_cost_gain_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00422">dwa_planner.h:422</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_aeb3c7355707de25f99cf71e6c7382625"><div class="ttname"><a href="classDWAPlanner.html#aeb3c7355707de25f99cf71e6c7382625">DWAPlanner::min_yawrate_</a></div><div class="ttdeci">double min_yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00412">dwa_planner.h:412</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_afb16cecacc328ba0dfa1a3741380f65b"><div class="ttname"><a href="classDWAPlanner.html#afb16cecacc328ba0dfa1a3741380f65b">DWAPlanner::predict_time_</a></div><div class="ttdeci">double predict_time_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00420">dwa_planner.h:420</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_aae7d1c62cfbe78b2d842775ed59947f6"><div class="ttname"><a href="classDWAPlanner.html#aae7d1c62cfbe78b2d842775ed59947f6">DWAPlanner::velocity_samples_</a></div><div class="ttdeci">int velocity_samples_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00443">dwa_planner.h:443</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a0a449583ecdfc796e38a3c9b9475da4c"><div class="ttname"><a href="classDWAPlanner.html#a0a449583ecdfc796e38a3c9b9475da4c">DWAPlanner::max_velocity_</a></div><div class="ttdeci">double max_velocity_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00409">dwa_planner.h:409</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a43f627b7c35d4e16e1ee80067daae75b"><div class="ttname"><a href="classDWAPlanner.html#a43f627b7c35d4e16e1ee80067daae75b">DWAPlanner::to_goal_cost_gain_</a></div><div class="ttdeci">double to_goal_cost_gain_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00423">dwa_planner.h:423</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ae2ee1947fa1e0e8350275e111889cdda"><div class="ttname"><a href="classDWAPlanner.html#ae2ee1947fa1e0e8350275e111889cdda">DWAPlanner::use_path_cost_</a></div><div class="ttdeci">bool use_path_cost_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00437">dwa_planner.h:437</a></div></div>
 <div class="ttc" id="adwa__planner_8h_html"><div class="ttname"><a href="dwa__planner_8h.html">dwa_planner.h</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a3b0f356e84760a5f9dcb90e19b6efa69"><div class="ttname"><a href="classDWAPlanner.html#a3b0f356e84760a5f9dcb90e19b6efa69">DWAPlanner::sim_time_samples_</a></div><div class="ttdeci">int sim_time_samples_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00446">dwa_planner.h:446</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a07bcd1c208c69b7c2e421f52199c1939"><div class="ttname"><a href="classDWAPlanner.html#a07bcd1c208c69b7c2e421f52199c1939">DWAPlanner::min_in_place_yawrate_</a></div><div class="ttdeci">double min_in_place_yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00412">dwa_planner.h:412</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a489f2afb286a975b1416e0c356cc3d92"><div class="ttname"><a href="classDWAPlanner.html#a489f2afb286a975b1416e0c356cc3d92">DWAPlanner::max_yawrate_</a></div><div class="ttdeci">double max_yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00409">dwa_planner.h:409</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a0a6a9e24ea11d7a02203a9f2d57a6c2a"><div class="ttname"><a href="classDWAPlanner.html#a0a6a9e24ea11d7a02203a9f2d57a6c2a">DWAPlanner::use_footprint_</a></div><div class="ttdeci">bool use_footprint_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00433">dwa_planner.h:433</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a6f4ad39dc3067623588dc8f58088e497"><div class="ttname"><a href="classDWAPlanner.html#a6f4ad39dc3067623588dc8f58088e497">DWAPlanner::path_cost_gain_</a></div><div class="ttdeci">double path_cost_gain_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00423">dwa_planner.h:423</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a6b737a7173a88d329229c4f6c032b469"><div class="ttname"><a href="classDWAPlanner.html#a6b737a7173a88d329229c4f6c032b469">DWAPlanner::hz_</a></div><div class="ttdeci">double hz_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00405">dwa_planner.h:405</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a153ce2ec57ab3365fd9f17d7f5395853"><div class="ttname"><a href="classDWAPlanner.html#a153ce2ec57ab3365fd9f17d7f5395853">DWAPlanner::sim_direction_</a></div><div class="ttdeci">double sim_direction_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00427">dwa_planner.h:427</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ae44b49bc033ac28871f35634ced91e82"><div class="ttname"><a href="classDWAPlanner.html#ae44b49bc033ac28871f35634ced91e82">DWAPlanner::max_acceleration_</a></div><div class="ttdeci">double max_acceleration_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00413">dwa_planner.h:413</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ac6b9c096dbcb9a93b035e8126f560aee"><div class="ttname"><a href="classDWAPlanner.html#ac6b9c096dbcb9a93b035e8126f560aee">DWAPlanner::yawrate_samples_</a></div><div class="ttdeci">int yawrate_samples_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00445">dwa_planner.h:445</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a50de685d9878e76a3c5143fbda4c66a1"><div class="ttname"><a href="classDWAPlanner.html#a50de685d9878e76a3c5143fbda4c66a1">DWAPlanner::angle_to_goal_th_</a></div><div class="ttdeci">double angle_to_goal_th_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00426">dwa_planner.h:426</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a0673ca747da2b9d898408bf3f6b1ef35"><div class="ttname"><a href="classDWAPlanner.html#a0673ca747da2b9d898408bf3f6b1ef35">DWAPlanner::sleep_time_after_finish_</a></div><div class="ttdeci">double sleep_time_after_finish_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00419">dwa_planner.h:419</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a8de4fbc9efa1a16b62e2771c195042b8"><div class="ttname"><a href="classDWAPlanner.html#a8de4fbc9efa1a16b62e2771c195042b8">DWAPlanner::sim_period_</a></div><div class="ttdeci">double sim_period_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00416">dwa_planner.h:416</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a1a8deecdb6e6d4bcb0a953bbfb6cf436"><div class="ttname"><a href="classDWAPlanner.html#a1a8deecdb6e6d4bcb0a953bbfb6cf436">DWAPlanner::dist_to_goal_th_</a></div><div class="ttdeci">double dist_to_goal_th_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00424">dwa_planner.h:424</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_abfa3ac6593ebdea54223da288841b1ca"><div class="ttname"><a href="classDWAPlanner.html#abfa3ac6593ebdea54223da288841b1ca">DWAPlanner::obs_range_</a></div><div class="ttdeci">double obs_range_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00429">dwa_planner.h:429</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a7980adb5c585031a27aed3f953f4c674"><div class="ttname"><a href="classDWAPlanner.html#a7980adb5c585031a27aed3f953f4c674">DWAPlanner::v_path_width_</a></div><div class="ttdeci">double v_path_width_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00432">dwa_planner.h:432</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_abff251f2fbf87c65af5da3937ec475bb"><div class="ttname"><a href="classDWAPlanner.html#abff251f2fbf87c65af5da3937ec475bb">DWAPlanner::max_deceleration_</a></div><div class="ttdeci">double max_deceleration_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00414">dwa_planner.h:414</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a3b0f356e84760a5f9dcb90e19b6efa69"><div class="ttname"><a href="classDWAPlanner.html#a3b0f356e84760a5f9dcb90e19b6efa69">DWAPlanner::sim_time_samples_</a></div><div class="ttdeci">int sim_time_samples_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00445">dwa_planner.h:445</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a07bcd1c208c69b7c2e421f52199c1939"><div class="ttname"><a href="classDWAPlanner.html#a07bcd1c208c69b7c2e421f52199c1939">DWAPlanner::min_in_place_yawrate_</a></div><div class="ttdeci">double min_in_place_yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00414">dwa_planner.h:414</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a489f2afb286a975b1416e0c356cc3d92"><div class="ttname"><a href="classDWAPlanner.html#a489f2afb286a975b1416e0c356cc3d92">DWAPlanner::max_yawrate_</a></div><div class="ttdeci">double max_yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00411">dwa_planner.h:411</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a0a6a9e24ea11d7a02203a9f2d57a6c2a"><div class="ttname"><a href="classDWAPlanner.html#a0a6a9e24ea11d7a02203a9f2d57a6c2a">DWAPlanner::use_footprint_</a></div><div class="ttdeci">bool use_footprint_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00435">dwa_planner.h:435</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a6f4ad39dc3067623588dc8f58088e497"><div class="ttname"><a href="classDWAPlanner.html#a6f4ad39dc3067623588dc8f58088e497">DWAPlanner::path_cost_gain_</a></div><div class="ttdeci">double path_cost_gain_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00425">dwa_planner.h:425</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a6b737a7173a88d329229c4f6c032b469"><div class="ttname"><a href="classDWAPlanner.html#a6b737a7173a88d329229c4f6c032b469">DWAPlanner::hz_</a></div><div class="ttdeci">double hz_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00407">dwa_planner.h:407</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a153ce2ec57ab3365fd9f17d7f5395853"><div class="ttname"><a href="classDWAPlanner.html#a153ce2ec57ab3365fd9f17d7f5395853">DWAPlanner::sim_direction_</a></div><div class="ttdeci">double sim_direction_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00429">dwa_planner.h:429</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ae44b49bc033ac28871f35634ced91e82"><div class="ttname"><a href="classDWAPlanner.html#ae44b49bc033ac28871f35634ced91e82">DWAPlanner::max_acceleration_</a></div><div class="ttdeci">double max_acceleration_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00415">dwa_planner.h:415</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ac6b9c096dbcb9a93b035e8126f560aee"><div class="ttname"><a href="classDWAPlanner.html#ac6b9c096dbcb9a93b035e8126f560aee">DWAPlanner::yawrate_samples_</a></div><div class="ttdeci">int yawrate_samples_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00444">dwa_planner.h:444</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a50de685d9878e76a3c5143fbda4c66a1"><div class="ttname"><a href="classDWAPlanner.html#a50de685d9878e76a3c5143fbda4c66a1">DWAPlanner::angle_to_goal_th_</a></div><div class="ttdeci">double angle_to_goal_th_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00428">dwa_planner.h:428</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a0673ca747da2b9d898408bf3f6b1ef35"><div class="ttname"><a href="classDWAPlanner.html#a0673ca747da2b9d898408bf3f6b1ef35">DWAPlanner::sleep_time_after_finish_</a></div><div class="ttdeci">double sleep_time_after_finish_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00421">dwa_planner.h:421</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a8de4fbc9efa1a16b62e2771c195042b8"><div class="ttname"><a href="classDWAPlanner.html#a8de4fbc9efa1a16b62e2771c195042b8">DWAPlanner::sim_period_</a></div><div class="ttdeci">double sim_period_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00418">dwa_planner.h:418</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a1a8deecdb6e6d4bcb0a953bbfb6cf436"><div class="ttname"><a href="classDWAPlanner.html#a1a8deecdb6e6d4bcb0a953bbfb6cf436">DWAPlanner::dist_to_goal_th_</a></div><div class="ttdeci">double dist_to_goal_th_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00426">dwa_planner.h:426</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_abfa3ac6593ebdea54223da288841b1ca"><div class="ttname"><a href="classDWAPlanner.html#abfa3ac6593ebdea54223da288841b1ca">DWAPlanner::obs_range_</a></div><div class="ttdeci">double obs_range_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00431">dwa_planner.h:431</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a7980adb5c585031a27aed3f953f4c674"><div class="ttname"><a href="classDWAPlanner.html#a7980adb5c585031a27aed3f953f4c674">DWAPlanner::v_path_width_</a></div><div class="ttdeci">double v_path_width_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00434">dwa_planner.h:434</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_abff251f2fbf87c65af5da3937ec475bb"><div class="ttname"><a href="classDWAPlanner.html#abff251f2fbf87c65af5da3937ec475bb">DWAPlanner::max_deceleration_</a></div><div class="ttdeci">double max_deceleration_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00416">dwa_planner.h:416</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_html_accb330377e1503287d4228d334b61287"><div class="ttname"><a href="classDWAPlanner.html#accb330377e1503287d4228d334b61287">DWAPlanner::print_params</a></div><div class="ttdeci">void print_params(void)</div><div class="ttdoc">Print parameters.</div><div class="ttdef"><b>Definition:</b> <a href="parameters_8cpp_source.html#l00064">parameters.cpp:64</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a5508317f853be8074ec762e9204526e4"><div class="ttname"><a href="classDWAPlanner.html#a5508317f853be8074ec762e9204526e4">DWAPlanner::local_nh_</a></div><div class="ttdeci">ros::NodeHandle local_nh_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00453">dwa_planner.h:453</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a5508317f853be8074ec762e9204526e4"><div class="ttname"><a href="classDWAPlanner.html#a5508317f853be8074ec762e9204526e4">DWAPlanner::local_nh_</a></div><div class="ttdeci">ros::NodeHandle local_nh_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00452">dwa_planner.h:452</a></div></div>
 <div class="ttc" id="aclassDWAPlanner_html_a7ff50924e740d16a990e607ec5a043cd"><div class="ttname"><a href="classDWAPlanner.html#a7ff50924e740d16a990e607ec5a043cd">DWAPlanner::load_params</a></div><div class="ttdeci">void load_params(void)</div><div class="ttdoc">Load parameters.</div><div class="ttdef"><b>Definition:</b> <a href="parameters_8cpp_source.html#l00008">parameters.cpp:8</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a69508170a18753d06dec87f99c59eb6e"><div class="ttname"><a href="classDWAPlanner.html#a69508170a18753d06dec87f99c59eb6e">DWAPlanner::slow_velocity_th_</a></div><div class="ttdeci">double slow_velocity_th_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00428">dwa_planner.h:428</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_aba89ca88e42c4401e1391db53b4d2b8a"><div class="ttname"><a href="classDWAPlanner.html#aba89ca88e42c4401e1391db53b4d2b8a">DWAPlanner::robot_frame_</a></div><div class="ttdeci">std::string robot_frame_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00404">dwa_planner.h:404</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a6f33c3917f8984609afae530828612e2"><div class="ttname"><a href="classDWAPlanner.html#a6f33c3917f8984609afae530828612e2">DWAPlanner::subscribe_count_th_</a></div><div class="ttdeci">int subscribe_count_th_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00447">dwa_planner.h:447</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a3c3b2296c51126e0d12557566ace0453"><div class="ttname"><a href="classDWAPlanner.html#a3c3b2296c51126e0d12557566ace0453">DWAPlanner::turn_direction_th_</a></div><div class="ttdeci">double turn_direction_th_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00425">dwa_planner.h:425</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a2151c7a05e2111ec1cf0c501b265a493"><div class="ttname"><a href="classDWAPlanner.html#a2151c7a05e2111ec1cf0c501b265a493">DWAPlanner::speed_cost_gain_</a></div><div class="ttdeci">double speed_cost_gain_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00422">dwa_planner.h:422</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ab42a379ef62d72d9b23ff1de6c9416bd"><div class="ttname"><a href="classDWAPlanner.html#ab42a379ef62d72d9b23ff1de6c9416bd">DWAPlanner::robot_radius_</a></div><div class="ttdeci">double robot_radius_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00430">dwa_planner.h:430</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_abc0f00d95e9643456d4be61322c7ed30"><div class="ttname"><a href="classDWAPlanner.html#abc0f00d95e9643456d4be61322c7ed30">DWAPlanner::max_d_yawrate_</a></div><div class="ttdeci">double max_d_yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00415">dwa_planner.h:415</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_aa138c408a334a2e07955e405cc9042d7"><div class="ttname"><a href="classDWAPlanner.html#aa138c408a334a2e07955e405cc9042d7">DWAPlanner::target_velocity_</a></div><div class="ttdeci">double target_velocity_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00406">dwa_planner.h:406</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_acc27d2dfefaa7903b413e8d37f36dab0"><div class="ttname"><a href="classDWAPlanner.html#acc27d2dfefaa7903b413e8d37f36dab0">DWAPlanner::footprint_padding_</a></div><div class="ttdeci">double footprint_padding_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00431">dwa_planner.h:431</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_ac2cd905a4ff32631d4f498a7a914fe0e"><div class="ttname"><a href="classDWAPlanner.html#ac2cd905a4ff32631d4f498a7a914fe0e">DWAPlanner::max_in_place_yawrate_</a></div><div class="ttdeci">double max_in_place_yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00411">dwa_planner.h:411</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_afe2097eedd8de9ce635105c4b34c356e"><div class="ttname"><a href="classDWAPlanner.html#afe2097eedd8de9ce635105c4b34c356e">DWAPlanner::global_frame_</a></div><div class="ttdeci">std::string global_frame_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00403">dwa_planner.h:403</a></div></div>
-<div class="ttc" id="aclassDWAPlanner_html_a9498b7b4e03f58e8286475a0c0f6d2ce"><div class="ttname"><a href="classDWAPlanner.html#a9498b7b4e03f58e8286475a0c0f6d2ce">DWAPlanner::min_velocity_</a></div><div class="ttdeci">double min_velocity_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00408">dwa_planner.h:408</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a69508170a18753d06dec87f99c59eb6e"><div class="ttname"><a href="classDWAPlanner.html#a69508170a18753d06dec87f99c59eb6e">DWAPlanner::slow_velocity_th_</a></div><div class="ttdeci">double slow_velocity_th_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00430">dwa_planner.h:430</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_aba89ca88e42c4401e1391db53b4d2b8a"><div class="ttname"><a href="classDWAPlanner.html#aba89ca88e42c4401e1391db53b4d2b8a">DWAPlanner::robot_frame_</a></div><div class="ttdeci">std::string robot_frame_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00406">dwa_planner.h:406</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a6f33c3917f8984609afae530828612e2"><div class="ttname"><a href="classDWAPlanner.html#a6f33c3917f8984609afae530828612e2">DWAPlanner::subscribe_count_th_</a></div><div class="ttdeci">int subscribe_count_th_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00446">dwa_planner.h:446</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a3c3b2296c51126e0d12557566ace0453"><div class="ttname"><a href="classDWAPlanner.html#a3c3b2296c51126e0d12557566ace0453">DWAPlanner::turn_direction_th_</a></div><div class="ttdeci">double turn_direction_th_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00427">dwa_planner.h:427</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a2151c7a05e2111ec1cf0c501b265a493"><div class="ttname"><a href="classDWAPlanner.html#a2151c7a05e2111ec1cf0c501b265a493">DWAPlanner::speed_cost_gain_</a></div><div class="ttdeci">double speed_cost_gain_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00424">dwa_planner.h:424</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ab42a379ef62d72d9b23ff1de6c9416bd"><div class="ttname"><a href="classDWAPlanner.html#ab42a379ef62d72d9b23ff1de6c9416bd">DWAPlanner::robot_radius_</a></div><div class="ttdeci">double robot_radius_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00432">dwa_planner.h:432</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_abc0f00d95e9643456d4be61322c7ed30"><div class="ttname"><a href="classDWAPlanner.html#abc0f00d95e9643456d4be61322c7ed30">DWAPlanner::max_d_yawrate_</a></div><div class="ttdeci">double max_d_yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00417">dwa_planner.h:417</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_aa138c408a334a2e07955e405cc9042d7"><div class="ttname"><a href="classDWAPlanner.html#aa138c408a334a2e07955e405cc9042d7">DWAPlanner::target_velocity_</a></div><div class="ttdeci">double target_velocity_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00408">dwa_planner.h:408</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_acc27d2dfefaa7903b413e8d37f36dab0"><div class="ttname"><a href="classDWAPlanner.html#acc27d2dfefaa7903b413e8d37f36dab0">DWAPlanner::footprint_padding_</a></div><div class="ttdeci">double footprint_padding_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00433">dwa_planner.h:433</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_ac2cd905a4ff32631d4f498a7a914fe0e"><div class="ttname"><a href="classDWAPlanner.html#ac2cd905a4ff32631d4f498a7a914fe0e">DWAPlanner::max_in_place_yawrate_</a></div><div class="ttdeci">double max_in_place_yawrate_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00413">dwa_planner.h:413</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_afe2097eedd8de9ce635105c4b34c356e"><div class="ttname"><a href="classDWAPlanner.html#afe2097eedd8de9ce635105c4b34c356e">DWAPlanner::global_frame_</a></div><div class="ttdeci">std::string global_frame_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00405">dwa_planner.h:405</a></div></div>
+<div class="ttc" id="aclassDWAPlanner_html_a9498b7b4e03f58e8286475a0c0f6d2ce"><div class="ttname"><a href="classDWAPlanner.html#a9498b7b4e03f58e8286475a0c0f6d2ce">DWAPlanner::min_velocity_</a></div><div class="ttdeci">double min_velocity_</div><div class="ttdef"><b>Definition:</b> <a href="dwa__planner_8h_source.html#l00410">dwa_planner.h:410</a></div></div>
 
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 <a href="http://wiki.ros.org/dwa_planner">dwa_planner</a><br />
 Author(s): </br />
-<small>autogenerated on Sun Apr 28 2024 18:44:24</small>
+<small>autogenerated on Thu May 9 2024 01:28:03</small>
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