- a -

• arc_1 : dubinsCurve
• arc_2 : dubinsCurve
• arc_3 : dubinsCurve

- b -

• border_radius : config_Params_planPath
• bot_follow_dubin : RRTSTAR
• bot_radius : RRTSTAR

- c -

• children : Node
• config_folder : config_Params_planPath , config_Params_ProcessMap
• cost : Node

- d -

• debug_victim_id : config_Params_ProcessMap
• dist_bet_points : config_Params_planPath

- e -

• endPos : RRTSTAR

- f -

• find_gate_debug_plot : config_Params_ProcessMap
• find_obstacles_debug_plot : config_Params_ProcessMap
• find_victims_debug_plot : config_Params_ProcessMap

- g -

• global_path_file : config_Params_planPath
• goalBias : RRTSTAR

- k -

• k : dubinsArc
• kappa : Pose
• kmax : config_Params_planPath

- l -

• L : dubinsCurve
• lastNode : RRTSTAR
• local_path_file : config_Params_planPath

- m -

• max_iter : RRTSTAR
• mission : config_Params_planPath
• mission2_threshold_distance : config_Params_planPath

- n -

• nodes : RRTSTAR
• npts : config_Params_planPath

- o -

• obstacles : RRTObstacles , RRTSTAR , ValidityChecker
• offset_radius : config_Params_planPath
• orientation : Node

- p -

• parent : Node
• path : RRTSTAR
• points : Path
• position : Node

- r -

• root : RRTSTAR
• rrt_star_neighbour_factor : RRTSTAR
• rrts_goal_bias : config_Params_planPath
• rrts_max_iter : config_Params_planPath
• rrts_neighbour_factor : config_Params_planPath
• rrts_scaling_factor : config_Params_planPath
• rrts_step_size : config_Params_planPath
• rrts_turn_radius : config_Params_planPath
• rrtsompl_max_solve_time : config_Params_planPath
• rrtsompl_planner_type : config_Params_planPath

- s -

• s : dubinsArc , Pose
• save_global_path : config_Params_planPath
• save_local_path : config_Params_planPath
• save_path_location : config_Params_planPath
• start_orient : RRTSTAR
• startPos : RRTSTAR
• step_size : RRTSTAR

- t -

• th0 : dubinsArc
• theta : Pose
• thf : dubinsArc
• turn_radius : RRTSTAR

- u -

• use_clothoids : config_Params_planPath
• use_flip : config_Params_ProcessMap
• use_ocr : config_Params_ProcessMap
• use_rrt : config_Params_planPath
• use_rrt_star : config_Params_planPath
• use_rrt_star_ompl : config_Params_planPath

- w -

• world_height : RRTSTAR
• world_width : RRTSTAR

- x -

• x : Point , Pose
• x0 : dubinsArc
• xf : dubinsArc

- y -

• y : Point , Pose
• y0 : dubinsArc
• yf : dubinsArc