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      <arglist>(const PlanningState &amp;from, const PlanningState &amp;to) const </arglist>
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      <arglist>()</arglist>
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    <member kind="function">
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      <name>EuclStepCostHeuristic</name>
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      <arglist>(double cell_size, int num_angle_bins, double step_cost, double diff_angle_cost, double max_step_width)</arglist>
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    <member kind="function" virtualness="virtual">
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      <arglist>(const PlanningState &amp;from, const PlanningState &amp;to) const </arglist>
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      <name>~EuclStepCostHeuristic</name>
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      <arglist>()</arglist>
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      <type>const double</type>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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    <filename>classfootstep__planner_1_1Footstep.html</filename>
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      <name>Footstep</name>
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      <arglist>(double x, double y, double theta, double cell_size, int num_angle_bins, int max_hash_size)</arglist>
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      <arglist>(const PlanningState &amp;current) const </arglist>
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      <arglist>(const PlanningState &amp;current) const </arglist>
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      <arglist>()</arglist>
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      <arglist></arglist>
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      <arglist>(Leg leg, int global_theta, int *footstep_x, int *footstep_y) const </arglist>
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      <arglist>()</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <anchorfile>classfootstep__planner_1_1Footstep.html</anchorfile>
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      <arglist></arglist>
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    <filename>classfootstep__planner_1_1FootstepNavigation.html</filename>
    <member kind="function">
      <type></type>
      <name>FootstepNavigation</name>
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      <arglist>()</arglist>
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      <arglist>(const geometry_msgs::PoseStampedConstPtr &amp;goal_pose)</arglist>
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      <arglist>(const nav_msgs::OccupancyGridConstPtr &amp;occupancy_map)</arglist>
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      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
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      <arglist>(float x, float y, float theta)</arglist>
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      <type>bool</type>
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      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
      <anchor>a490cbe570a1a6a274337a28d9e9c58ef</anchor>
      <arglist>(const geometry_msgs::PoseStampedConstPtr &amp;goal_pose)</arglist>
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      <type>virtual</type>
      <name>~FootstepNavigation</name>
      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
      <anchor>a2f7b8e05dae5c108e434e846deb46de7</anchor>
      <arglist>()</arglist>
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      <type>void</type>
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      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
      <anchor>a2400bd9cf5a20ca8cbae84077ab8cfd8</anchor>
      <arglist>()</arglist>
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      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
      <anchor>ace5a62c4a1166538b0376ec24bdb837e</anchor>
      <arglist>(const actionlib::SimpleClientGoalState &amp;state, const humanoid_nav_msgs::ExecFootstepsResultConstPtr &amp;result)</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
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      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
      <anchor>a8bd0c5faa5f397f13f9a3b653b278b46</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
      <name>executeFootstepsFast</name>
      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
      <anchor>a92254e9c923549745e03e54b48082031</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
      <name>feedbackCallback</name>
      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
      <anchor>aa36d14bec115677e25eeae952b4a9936</anchor>
      <arglist>(const humanoid_nav_msgs::ExecFootstepsFeedbackConstPtr &amp;fb)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>getFootstep</name>
      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
      <anchor>a96966ff1d9ed3639b58b9ac0f288e257</anchor>
      <arglist>(const tf::Pose &amp;from, const State &amp;from_planned, const State &amp;to, humanoid_nav_msgs::StepTarget &amp;footstep)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>getFootstepsFromPath</name>
      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
      <anchor>aeba1b8c2e9e97c7dce754800b6756012</anchor>
      <arglist>(const State &amp;current_support_leg, int starting_step_num, std::vector&lt; humanoid_nav_msgs::StepTarget &gt; &amp;footsteps)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>getFootTransform</name>
      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
      <anchor>a02321281f8af4827e0559847af840ae5</anchor>
      <arglist>(const std::string &amp;foot_id, const std::string &amp;world_frame_id, const ros::Time &amp;time, const ros::Duration &amp;waiting_time, tf::Transform &amp;foot)</arglist>
    </member>
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      <type>bool</type>
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      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
      <anchor>a3aadbb0368edae01cb9516e3df36cc4b</anchor>
      <arglist>(float step_x, float step_y)</arglist>
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      <type>bool</type>
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      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
      <anchor>afa1dc28e94a721019cd64553e8d3caf9</anchor>
      <arglist>(const humanoid_nav_msgs::StepTarget &amp;footstep)</arglist>
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      <type>bool</type>
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      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
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      <arglist>(float a_x, float a_y, float a_theta, float b_x, float b_y, float b_theta)</arglist>
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      <type>bool</type>
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      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
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      <arglist>(const State &amp;planned, const State &amp;executed)</arglist>
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      <type>bool</type>
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      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
      <anchor>a525a0ecc1016bc71f67153b892438802</anchor>
      <arglist>(const humanoid_nav_msgs::ClipFootstep &amp;footstep)</arglist>
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      <type>bool</type>
      <name>plan</name>
      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
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      <arglist>()</arglist>
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      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
      <anchor>aeef9567d984a1e3a7e4756873e0c15a3</anchor>
      <arglist>()</arglist>
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      <type>void</type>
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      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
      <anchor>a3775e74b19939e0fa8b9b6d05e4d1fbf</anchor>
      <arglist>()</arglist>
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      <type>bool</type>
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      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
      <name>ivAccuracyTheta</name>
      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
      <anchor>a972a57d735cbcebaa951004d5c18d51d</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
      <anchor>a09d58af98d9052b3e70571b481363c0f</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
      <anchor>a11b6bcd3fee2294631fda5a6f0d76ed5</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>ivBla</name>
      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
      <name>ivCellSize</name>
      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
      <anchor>ad6d1699cd29a88550ec8d9666623e113</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ros::ServiceClient</type>
      <name>ivClipFootstepSrv</name>
      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
      <anchor>a7854be742eb275cd85d7b79fa2de86aa</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>int</type>
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      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
      <anchor>a5860170c7664bfadc9dc03ea5e02bd74</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>bool</type>
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      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
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      <arglist></arglist>
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      <type>boost::mutex</type>
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      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
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      <arglist></arglist>
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      <type>const int</type>
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      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>actionlib::SimpleActionClient&lt; humanoid_nav_msgs::ExecFootstepsAction &gt;</type>
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      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
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      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
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      <arglist></arglist>
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      <type>FootstepPlanner</type>
      <name>ivPlanner</name>
      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>int</type>
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      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
      <anchor>ae25caf22d0f144218747672d85c10101</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ros::Subscriber</type>
      <name>ivRobotPoseSub</name>
      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
      <anchor>af0dac7110e760c3efa9305f87624bd21</anchor>
      <arglist></arglist>
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      <type>bool</type>
      <name>ivSafeExecution</name>
      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
      <anchor>a3cde15f99ccce23825ff8e3bc1acf82f</anchor>
      <arglist></arglist>
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      <type>std::vector&lt; std::pair&lt; float, float &gt; &gt;</type>
      <name>ivStepRange</name>
      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
      <anchor>a3c8595b4e4eba3743e4e4f7bb6cbee67</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>tf::TransformListener</type>
      <name>ivTransformListener</name>
      <anchorfile>classfootstep__planner_1_1FootstepNavigation.html</anchorfile>
      <anchor>adaa5b8c9a25e3d832aceab25d34439c3</anchor>
      <arglist></arglist>
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  <compound kind="class">
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    <member kind="function">
      <type>void</type>
      <name>clearFootstepPathVis</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a78cdfc4fad9f30264ed6266105f06b06</anchor>
      <arglist>(unsigned num_footsteps=0)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>FootstepPlanner</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>ab667605c2e29384bef4fb3a0b7e13f18</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>size_t</type>
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      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a71f4eef49095469dd97e2ede3f5f03aa</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>size_t</type>
      <name>getNumFootPoses</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>ac28a4f9adc5f6f62dbe42d9bde2561ed</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
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      <name>getPathBegin</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
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      <arglist>() const </arglist>
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    <member kind="function">
      <type>double</type>
      <name>getPathCosts</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a64bfae706e7d01c16b246b59d1d637cf</anchor>
      <arglist>() const </arglist>
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      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a614c3feead437e3750823a0cfc69380f</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>int</type>
      <name>getPathSize</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a02e6c89bb257389ce21d9aa7392db7f5</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>State</type>
      <name>getStartFootLeft</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>ac550eceec7dcd04001c99e02c8639654</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>State</type>
      <name>getStartFootRight</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>af1e29d7bf6636cf08a07f240c2b9172d</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>goalPoseCallback</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a8119db6f413042a28da5efccd5f783f4</anchor>
      <arglist>(const geometry_msgs::PoseStampedConstPtr &amp;goal_pose)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>mapCallback</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a2fb3e46dbbca9d564dcb026e927247cf</anchor>
      <arglist>(const nav_msgs::OccupancyGridConstPtr &amp;occupancy_map)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>pathExists</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a0a7038afd7e08af8bdb0c84d3976bbc2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>plan</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a6359c8ece9a52785b43f4f3bf0eac207</anchor>
      <arglist>(float start_x, float start_y, float start_theta, float goal_x, float goal_y, float goal_theta)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>plan</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a925061533bcc1ca2ae454d77e01b6856</anchor>
      <arglist>(const geometry_msgs::PoseStampedConstPtr &amp;start, const geometry_msgs::PoseStampedConstPtr &amp;goal)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>plan</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>af6923c59c38c668abcd319efd2a9724a</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>planService</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>afe570fabb4688f1ed0f80b77708c8e38</anchor>
      <arglist>(humanoid_nav_msgs::PlanFootsteps::Request &amp;req, humanoid_nav_msgs::PlanFootsteps::Response &amp;resp)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>replan</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a9061f47a6cb53ab5d3f66dbe937ee91a</anchor>
      <arglist>()</arglist>
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      <type>void</type>
      <name>reset</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>af987c69ea80227369728de74727400e0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>resetTotally</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>ad6536076b411aa10c83d4459e20980da</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>setGoal</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a441050bf7396eaf4b41a67739916288e</anchor>
      <arglist>(float x, float y, float theta)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>setGoal</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a7e6abe65980b07a3e3a41489165a85f7</anchor>
      <arglist>(const geometry_msgs::PoseStampedConstPtr &amp;goal_pose)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setMarkerNamespace</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>aacfe00bd95b87c7111636d0df7da532c</anchor>
      <arglist>(const std::string &amp;ns)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setMaxSearchTime</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>ade53cd2f5bb97e94e549ea10207d01ec</anchor>
      <arglist>(int search_time)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>setStart</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>ae83d3f02fa8c7ef207fd9c954ee33e60</anchor>
      <arglist>(const State &amp;left_foot, const State &amp;right_foot)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>setStart</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a9037105978cd38f7a41d9e8aa844c0ad</anchor>
      <arglist>(float x, float y, float theta)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>setStart</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a551a000df6fdc2722c0a69c12124745b</anchor>
      <arglist>(const geometry_msgs::PoseStampedConstPtr &amp;start_pose)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>startPoseCallback</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>ae4ba0451292a86e55a399f90354c00d6</anchor>
      <arglist>(const geometry_msgs::PoseWithCovarianceStampedConstPtr &amp;start_pose)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>updateMap</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a9210dc9905a7c9daf9801e308d13384c</anchor>
      <arglist>(const gridmap_2d::GridMap2DPtr &amp;map)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~FootstepPlanner</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>aa5fc4cd404dff1b7583c624cd3934c3e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>broadcastExpandedNodesVis</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a059501cae0fa871b982300a9ca0636ba</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>broadcastFootstepPathVis</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a9663f6862b388fc308c7e8765c3c7874</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>broadcastHeuristicPathVis</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>ade33ebbb162cb3395dbbebb1b931659a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>broadcastPathVis</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>ade80f1ff66f4b21bfce1987428bcb4ee</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>broadcastRandomNodesVis</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a4d1684b8325adf61ff79f532d5954501</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>extractPath</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a7234b1c591499f9308a60dc55a032a6b</anchor>
      <arglist>(const std::vector&lt; int &gt; &amp;state_ids)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>footPoseToMarker</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>acde6310b2dc21d0f697bb4462a126cc9</anchor>
      <arglist>(const State &amp;footstep, visualization_msgs::Marker *marker)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>State</type>
      <name>getFootPose</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a6ee44d01d8343e4f2fb86f17ddff8687</anchor>
      <arglist>(const State &amp;robot, Leg side)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>pathIsNew</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a69f413bc5894d8ac74cbcdd0eda19f13</anchor>
      <arglist>(const std::vector&lt; int &gt; &amp;new_path)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>run</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a9c8896243ea7c2f5a523dcf2feeb8903</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>setPlanner</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a29390692de87434ffe98650ae2215308</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>updateEnvironment</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a190e7eaa288d67c14eee6af3e6298a93</anchor>
      <arglist>(const gridmap_2d::GridMap2DPtr &amp;old_map)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>ivChangedCellsLimit</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a734140a52dcd107edb752aa0715d8622</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>ivCollisionCheckAccuracy</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a3adfc5fb31aeb23e4556bd45cd105aa8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>environment_params</type>
      <name>ivEnvironmentParams</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a11f22fce6db681eebb5bf01be6096027</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>ivExpandedStatesVisPub</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a5e90023c25028c36a94864c8a0b1bb7f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>ivFootSeparation</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a98ef165ff3e9df317da6191396accb45</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>ivFootstepPathVisPub</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a15cf83a4e2ff6de063955a2c5c5f33c7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::ServiceServer</type>
      <name>ivFootstepPlanService</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>abc76e6637f7e4686532a4871dadb1e7f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>State</type>
      <name>ivGoalFootLeft</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>adf25ff4e0afc4169372f70a73dbacef0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>State</type>
      <name>ivGoalFootRight</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a03e41d36062d65582b0c8d7aee8c71bc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>ivGoalPoseSetUp</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a456237711f86907aea5efc389eed0b0c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Subscriber</type>
      <name>ivGridMapSub</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a83b177df88cd5b58a16f7e6c94f3798d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>ivHeuristicPathVisPub</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>ab23914245ab85c4bf84dc83b9a63d743</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>ivInitialEpsilon</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>aeb1e3da1fa25ef18ab7792c622e95577</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>ivLastMarkerMsgSize</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>ad9e090f1feaa4c776f6ddba3d280ee6a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>gridmap_2d::GridMap2DPtr</type>
      <name>ivMapPtr</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a6f2305ef3c8e934f8d584e0e970edb44</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>ivMarkerNamespace</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>aea7254f6ffc0047656c5f5f50bcb3870</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>ivMaxSearchTime</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>adca69402e486b1b34e7371bed16e87d6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>ivMaxStepWidth</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>ae8f0079d3a2b9ba908e9326cdcabbd07</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; State &gt;</type>
      <name>ivPath</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a3f54441aa09dfdfb5c93cfcda7ca0db2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>ivPathCost</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a47b6c571fc3fd1396124c8bf12b151cd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::shared_ptr&lt; const PathCostHeuristic &gt;</type>
      <name>ivPathCostHeuristicPtr</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>ab4838293088ae3b81a3bcdb1fc3da1af</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>ivPathExists</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a2d3a31331524859aea8925a9f2a84808</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>ivPathVisPub</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a2dba3e32b3b3fae4adbe0d846a5080f8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::shared_ptr&lt; FootstepPlannerEnvironment &gt;</type>
      <name>ivPlannerEnvironmentPtr</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a0b3d6c3a9ca2383c37f97f67a633d148</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::shared_ptr&lt; SBPLPlanner &gt;</type>
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      <arglist></arglist>
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      <type>std::string</type>
      <name>ivPlannerType</name>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::vector&lt; int &gt;</type>
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      <arglist></arglist>
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      <type>ros::Publisher</type>
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      <anchorfile>classfootstep__planner_1_1FootstepPlanner.html</anchorfile>
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      <arglist></arglist>
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      <type>bool</type>
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      <arglist></arglist>
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      <type>State</type>
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      <arglist></arglist>
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      <type>State</type>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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  </compound>
  <compound kind="class">
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    <base>DiscreteSpaceInformation</base>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(int StateID1, int StateID2)</arglist>
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      <name>FootstepPlannerEnvironment</name>
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      <arglist>(const environment_params &amp;params)</arglist>
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      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>int</type>
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      <arglist>(int FromStateID, int ToStateID)</arglist>
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      <arglist>(int stateID)</arglist>
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    <member kind="function">
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      <arglist>()</arglist>
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      <arglist>(int TargetStateID, std::vector&lt; int &gt; *PredIDV, std::vector&lt; int &gt; *CostV)</arglist>
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      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
      <anchor>a4026cecc97c738102fb5d400dac288fa</anchor>
      <arglist>(const std::vector&lt; State &gt; &amp;changed_states, std::vector&lt; int &gt; *pred_ids)</arglist>
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      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
      <anchor>a94f9696a187ee1c45f209119ca0a20c3</anchor>
      <arglist>(int TargetStateID, std::vector&lt; int &gt; *PredIDV, std::vector&lt; int &gt; *CLowV)</arglist>
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    <member kind="function">
      <type>exp_states_iter_t</type>
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      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function">
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      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
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      <arglist>()</arglist>
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      <type>virtual void</type>
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      <arglist>(int SourceStateID, std::vector&lt; int &gt; *SuccIDV, std::vector&lt; int &gt; *CLowV)</arglist>
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      <type>int</type>
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      <arglist>(int stateID)</arglist>
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      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
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      <arglist>(unsigned int id, State *s)</arglist>
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      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
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      <arglist>(int SourceStateID, std::vector&lt; int &gt; *SuccIDV, std::vector&lt; int &gt; *CostV)</arglist>
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      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
      <anchor>ad30ff9ecf4286cf177b576d0155904db</anchor>
      <arglist>(const std::vector&lt; State &gt; &amp;changed_states, std::vector&lt; int &gt; *succ_ids)</arglist>
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      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
      <anchor>abf0aff4aef525b36d08a9b1bfcc549f6</anchor>
      <arglist>(int SourceStateID, int goalStateID, std::vector&lt; int &gt; *SuccIDV, std::vector&lt; int &gt; *CostV)</arglist>
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      <arglist>(const char *sEnvFile)</arglist>
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      <arglist>(MDPConfig *MDPCfg)</arglist>
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      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
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      <arglist>(const State &amp;s)</arglist>
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      <arglist>(FILE *fOut)</arglist>
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      <arglist>(int stateID, bool bVerbose, FILE *fOut)</arglist>
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      <name>reachable</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
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      <arglist>(const PlanningState &amp;from, const PlanningState &amp;to)</arglist>
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      <type>void</type>
      <name>reset</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
      <anchor>a081848dac7a93758deb4f58aaae8cc81</anchor>
      <arglist>(CMDPSTATE *state)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>SetAllPreds</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
      <anchor>aad8d81ea898d04c54c350f71596b71d8</anchor>
      <arglist>(CMDPSTATE *state)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>SizeofCreatedEnv</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
      <anchor>a8536bd1d2cce3e525eba1ba865c79236</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>updateGoal</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
      <anchor>a2d424a018e79839a83297753e60be849</anchor>
      <arglist>(const State &amp;foot_left, const State &amp;foot_right)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>updateHeuristicValues</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
      <anchor>ab14a590bd84544554a52ce6cc8bb4ab3</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>updateMap</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
      <anchor>adf6831d782c81463a9922b246f245af6</anchor>
      <arglist>(gridmap_2d::GridMap2DPtr map)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>updateStart</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
      <anchor>ac7adc5be464e98e9ebc2f098c4f85310</anchor>
      <arglist>(const State &amp;foot_left, const State &amp;right_right)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~FootstepPlannerEnvironment</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
      <anchor>ae6b4eed09e80ba8a4ccba79982820b23</anchor>
      <arglist>()</arglist>
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    <member kind="variable" static="yes">
      <type>static const int</type>
      <name>cvMmScale</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
      <anchor>ace35e08b73b2ff9651edb23919d75318</anchor>
      <arglist></arglist>
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    <member kind="function" protection="protected">
      <type>bool</type>
      <name>closeToGoal</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
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      <arglist>(const PlanningState &amp;from)</arglist>
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    <member kind="function" protection="protected">
      <type>bool</type>
      <name>closeToStart</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
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      <arglist>(const PlanningState &amp;from)</arglist>
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    <member kind="function" protection="protected">
      <type>const PlanningState *</type>
      <name>createHashEntryIfNotExists</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
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      <arglist>(const PlanningState &amp;s)</arglist>
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    <member kind="function" protection="protected">
      <type>const PlanningState *</type>
      <name>createNewHashEntry</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
      <anchor>afd287086628c7abe5e2f63c6a8ae5b07</anchor>
      <arglist>(const PlanningState &amp;s)</arglist>
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    <member kind="function" protection="protected">
      <type>const PlanningState *</type>
      <name>createNewHashEntry</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
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      <arglist>(const State &amp;s)</arglist>
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    <member kind="function" protection="protected">
      <type>int</type>
      <name>GetFromToHeuristic</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
      <anchor>a2a36b45e1da5944027b35964a9ce497c</anchor>
      <arglist>(const PlanningState &amp;from, const PlanningState &amp;to)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>const PlanningState *</type>
      <name>getHashEntry</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
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      <arglist>(const PlanningState &amp;s)</arglist>
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    <member kind="function" protection="protected">
      <type>const PlanningState *</type>
      <name>getHashEntry</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
      <anchor>a4b52725cf78dd1aa15fb68af2d5bcee5</anchor>
      <arglist>(const State &amp;s)</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
      <name>GetRandomNeighs</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
      <anchor>a51222d855239a5180d8099deb99f0ea0</anchor>
      <arglist>(const PlanningState *currentState, std::vector&lt; int &gt; *NeighIDV, std::vector&lt; int &gt; *CLowV, int nNumofNeighs, int nDist_c, bool bSuccs)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>occupied</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
      <anchor>a1801e4763b5508bb8316989a0d768363</anchor>
      <arglist>(const PlanningState &amp;s)</arglist>
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    <member kind="function" protection="protected">
      <type>bool</type>
      <name>pointWithinPolygon</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
      <anchor>a8abf7955c14d35ecd397ba2c88b3ad34</anchor>
      <arglist>(const std::pair&lt; int, int &gt; &amp;point, const std::vector&lt; std::pair&lt; int, int &gt; &gt; &amp;edges)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>int</type>
      <name>stepCost</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
      <anchor>a82794e377627db60fdece657fae658fe</anchor>
      <arglist>(const PlanningState &amp;a, const PlanningState &amp;b)</arglist>
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    <member kind="variable" protection="protected">
      <type>const double</type>
      <name>ivCellSize</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>const int</type>
      <name>ivCollisionCheckAccuracy</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
      <anchor>a76d5e4e499f11b3e55f8afd3a7e316ac</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
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      <name>ivExpandedStates</name>
      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>const double</type>
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      <arglist></arglist>
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      <type>const double</type>
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      <anchor>a7f2efe918147b40ff66e564e4d975972</anchor>
      <arglist></arglist>
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      <anchorfile>classfootstep__planner_1_1FootstepPlannerEnvironment.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>const bool</type>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>const int</type>
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      <arglist></arglist>
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      <arglist>(const PlanningState &amp;from, const PlanningState &amp;to) const =0</arglist>
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      <arglist>(double cell_size, int num_angle_bins, HeuristicType type)</arglist>
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      <arglist>()</arglist>
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      <arglist></arglist>
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      <arglist>(double cell_size, int num_angle_bins) const </arglist>
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      <arglist>() const </arglist>
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