• compareLeaf() : collision_map.cpp , collision_map_buffer.cpp
• main() : collision_map.cpp , collision_map_ground_plane_test.cpp , collision_map_self_occ.cpp , collision_map_buffer.cpp
• spinThread() : collision_map_self_occ.cpp , collision_map_ground_plane_test.cpp
• TEST() : collision_map_ground_plane_test.cpp