Here is a list of all files with brief descriptions:
  main.cpp | Nodelet that use Navigability_Map class to generate a Accessibility Map. This nodelet subscribes sensor_msgs::PointCloud2 and filters the PointCloud, then it generates a Grid with each node containing data from the PointCloud |
| navigability_map.cpp | Library functions for Navigability_Map. This library provides a stack of function for a Accessibility Map |
| navigability_map.h | Header file with class declaration to creat a two-dimensional grid. The two-dimensional grid has cells that contain several properties of a pointcloud |
| representation_rviz.cpp | Visualization on rviz related functions |
 representation_rviz.h | Declarion functions and class to handle the visualization markers of the Class Navigability_Map |