• cmd_vel_cb() : acc_finder
• genmprim_unicycle() : genmprim_unicycle_highcost_5cm
• get_pose() : plot_mprim
• get_value() : plot_mprim
• main() : acc_finder , min_max_finder
• matrix_size() : genmprim_unicycle_highcost_5cm
• odom_cb() : acc_finder , min_max_finder