• COST_FACTOR : navfn.h
• COST_NEUTRAL : navfn.h
• COST_OBS : navfn.h
• COST_OBS_ROS : navfn.h
• COST_UNKNOWN_ROS : navfn.h
• COSTTYPE : navfn.h
• INVSQRT2 : navfn.cpp
• POT_HIGH : navfn.h
• PRIORITYBUFSIZE : navfn.h
• push_cur : navfn.cpp
• push_next : navfn.cpp
• push_over : navfn.cpp
• unknown_gray : navtest.cpp , read_pgm_costmap.cpp