• dispPot() : navtest.cpp
• get_ms() : navtest.cpp
• main() : navfn_node.cpp , navtest.cpp
• POINT_CLOUD_REGISTER_POINT_STRUCT() : potarr_point.h
• readPGM() : read_pgm_costmap.h , navtest.cpp , read_pgm_costmap.cpp
• setcostobs() : navtest.cpp , read_pgm_costmap.cpp
• setcostunk() : navtest.cpp , read_pgm_costmap.cpp