Motion primitives in Trajactory_planner_ros [closed]

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Hi, I am trying to use the global planner of navigation stack with my own local planner codes. It is the same as what move_base uses:

Navigation stack: https://github.com/ros-planning/navigation Global planner: http://www.ros.org/wiki/navfn

I have been trying to find the motion primitives to see how they are and the way they are working but till now I have not been that successful. I will appreciate to have some general guide on How can I find the primitives which are resulting for example as the outcome for trajectoryplannerROS global_planner topic in move_base node?

Thanks in advance.