Here are the classes, structs, unions and interfaces with brief descriptions:
| Ccompare_edge | A struct that provides the comparison of edge objects. It allows sorting of edges for priority queues. The sorting follows three rules: First, edges are sorted by ascending cost. Edges with the same cost are sorted preferring horizontal/vertical edges. Edges with same cost and orientation are sorted ascending by vertical/horizontal position |
| Cedge | A class for representing edges |
| Chash_edge | A struct that provides the hash function of edge objects |
| Cmst_path | An class to compute the coverage path based on a minimum-spanning-tree (MST) |
| Cspanning_tree | A class that generates a minimum-spanning-tree (MST) graph for a given grid map |