How to develop a node which implements the HRVO model

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Hi, Can anyone help me with how to start developing a node that implements the HRVO model?

To be precise, I have a ped simulator(link text, where I have to implement the robot(TIAGo) with the HRVO model. I am working on HRVO(hybrid reciprocal velocity obstacle) - link text library to implement smooth collision avoidance in a socially aware environment for the robot(Tiago). On top of that, initially, I have to develop a node that implements the HRVO model and uses the(HRVO) velocity to control the robot.

Would anyone of you help me, who´s proficient with this? Please let me know if something is not clear. Thank You!