modified:   cfg/TebLocalPlannerReconfigure.cfg
	modified:   include/teb_local_planner/g2o_types/edge_via_point.h
	modified:   include/teb_local_planner/optimal_planner.h
	modified:   include/teb_local_planner/teb_config.h
	modified:   src/homotopy_class_planner.cpp
	modified:   src/optimal_planner.cpp
	modified:   src/teb_config.cpp
	modified:   src/test_optim_node.cpp
	modified:   src/visualization.cpp

	modified:   src/optimal_planner.cpp
	modified:   src/teb_local_planner_ros.cpp

	modified:   CMakeLists.txt

	new file:   src/test_optim_node.cpp

	modified:   src/test_optim_node.cpp