| Component | Class component |
| MagnetStruct | Data structure for a Magnet |
| Path | Class to manage the waypoints and magnets of the current path |
| purepursuit_planner.path_marker_1.PointPath | Class to manage the creation of a Waypoint base on InteractiveMarker |
| purepursuit_planner.path_marker_2.PointPath | Class to manage the creation of a Waypoint base on InteractiveMarker |
| purepursuit_planner.path_marker_1.PointPathManager | Manages the creation of waypoints and how to send them to Purepursuit |
| purepursuit_planner.path_marker_2.PointPathManager | Manages the creation of waypoints and how to send them to Purepursuit |
| purepursuit_planner_node | |
| purepursuit_planner.path_marker_2.PurepursuitClient | |
| purepursuit_planner.path_marker_1.PurepursuitClient | |
| thread_data | Struct to store main data for a thread |
| thread_param | Struct used for real time thread |
| Waypoint | Data structure for a Waypoint |