• dispPot() : navtest.cpp
• get_ms() : navtest.cpp
• main() : navfn_node.cpp , navtest.cpp , path_calc_test.cpp
• make_willow_nav() : path_calc_test.cpp
• print_neighborhood_of_last_path_entry() : path_calc_test.cpp
• readPGM() : read_pgm_costmap.h , read_pgm_costmap.cpp , navtest.cpp
• setcostobs() : navtest.cpp , read_pgm_costmap.cpp
• setcostunk() : navtest.cpp , read_pgm_costmap.cpp
• TEST() : path_calc_test.cpp