78 int min_x, min_y, max_x, max_y;
82 double origin_x, origin_y;
88 double des_min_radius, abs_min_radius;
97 double hysteresis_factor;
104 int dist_kernel_width;
105 float dist_kernel_3x3[9];
111 int path_count, path_size;
115 int lpath_count, lpath_size;
119 int waypoint_count, waypoint_size;
120 plan_cell_t **waypoints;