erence</div>  </div>
</div><!--header-->
<div class="contents">

<p>: Contains the Voronoi-based planner class  
<a href="#details">More...</a></p>
<div class="textblock"><code>#include &lt;vector&gt;</code><br />
<code>#include &quot;<a class="el" href="path__planner_8h_source.html">path_planner/path_planner.h</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="voronoi__layer_8h_source.html">voronoi_layer.h</a>&quot;</code><br />
</div><div class="textblock"><div id="dynsection-0" onclick="retu