C++ API

Class Hierarchy

- Namespace dwb_core
  - Class DWBLocalPlanner
  - Class DWBPublisher
  - Class IllegalTrajectoryException
  - Class IllegalTrajectoryTracker
  - Class NoLegalTrajectoriesException
  - Class TrajectoryCritic
  - Class TrajectoryGenerator

File Hierarchy

- Directory include
  - Directory dwb_core
    - File dwb_local_planner.hpp
    - File exceptions.hpp
    - File illegal_trajectory_tracker.hpp
    - File publisher.hpp
    - File trajectory_critic.hpp
    - File trajectory_generator.hpp
    - File trajectory_utils.hpp