29 #ifndef SEGMENT_TO_GRAPH_NODE_H
30 #define SEGMENT_TO_GRAPH_NODE_H
34 #include <tuw_multi_robot_msgs/Vertex.h>
35 #include <tuw_multi_robot_msgs/Graph.h>
36 #include <geometry_msgs/Point.h>
38 #include <eigen3/Eigen/Dense>
57 std::unique_ptr<ros::Rate>
rate_;
71 std::vector<int32_t>
findNeighbors(std::vector<PathSeg> &_graph, Eigen::Vector2d _point, uint32_t _segment);
74 #endif // PLANNER_NODE_H