<?xml version='1.0' encoding='ISO-8859-1' standalone='yes' ?>
<tagfile>
  <compound kind="page">
    <name>index</name>
    <title></title>
    <filename>index</filename>
    <docanchor file="index">summary</docanchor>
    <docanchor file="index">usage</docanchor>
  </compound>
  <compound kind="file">
    <name>__init__.py</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-navigation/doc_stacks/2013-03-01_16-05-50.368377/navigation/base_local_planner/src/base_local_planner/</path>
    <filename>____init_____8py</filename>
    <namespace>base_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>msg/__init__.py</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-navigation/doc_stacks/2013-03-01_16-05-50.368377/navigation/base_local_planner/src/base_local_planner/msg/</path>
    <filename>msg_2____init_____8py</filename>
    <namespace>base_local_planner::msg</namespace>
  </compound>
  <compound kind="file">
    <name>_Position2DInt.py</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-navigation/doc_stacks/2013-03-01_16-05-50.368377/navigation/base_local_planner/src/base_local_planner/msg/</path>
    <filename>__Position2DInt_8py</filename>
    <class kind="class">base_local_planner::msg::_Position2DInt::Position2DInt</class>
    <namespace>base_local_planner::msg::_Position2DInt</namespace>
    <member kind="variable">
      <type>tuple</type>
      <name>_struct_2q</name>
      <anchorfile>namespacebase__local__planner_1_1msg_1_1__Position2DInt.html</anchorfile>
      <anchor>ae8fec6881ee182805120bf8ba1d8d71f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>_struct_I</name>
      <anchorfile>namespacebase__local__planner_1_1msg_1_1__Position2DInt.html</anchorfile>
      <anchor>afce50c32490f0eccf9d5227af9e30832</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>costmap_model.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-navigation/doc_stacks/2013-03-01_16-05-50.368377/navigation/base_local_planner/src/</path>
    <filename>costmap__model_8cpp</filename>
    <includes id="costmap__model_8h" name="costmap_model.h" local="no" imported="no">base_local_planner/costmap_model.h</includes>
    <namespace>base_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>costmap_model.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-navigation/doc_stacks/2013-03-01_16-05-50.368377/navigation/base_local_planner/include/base_local_planner/</path>
    <filename>costmap__model_8h</filename>
    <includes id="world__model_8h" name="world_model.h" local="no" imported="no">base_local_planner/world_model.h</includes>
    <class kind="class">base_local_planner::CostmapModel</class>
    <namespace>base_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>goal_functions.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-navigation/doc_stacks/2013-03-01_16-05-50.368377/navigation/base_local_planner/src/</path>
    <filename>goal__functions_8cpp</filename>
    <includes id="goal__functions_8h" name="goal_functions.h" local="no" imported="no">base_local_planner/goal_functions.h</includes>
    <namespace>base_local_planner</namespace>
    <member kind="function">
      <type>double</type>
      <name>distance</name>
      <anchorfile>namespacebase__local__planner.html</anchorfile>
      <anchor>a1ae3ca56bdb2179aa4f12d9f16b47ce8</anchor>
      <arglist>(double x1, double y1, double x2, double y2)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>goalOrientationReached</name>
      <anchorfile>namespacebase__local__planner.html</anchorfile>
      <anchor>a0fb7fcac4dc56d9ac5e769070ee012bc</anchor>
      <arglist>(const tf::Stamped&lt; tf::Pose &gt; &amp;global_pose, double goal_th, double yaw_goal_tolerance)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>goalPositionReached</name>
      <anchorfile>namespacebase__local__planner.html</anchorfile>
      <anchor>a16729f733f1473406f68ad005ec03070</anchor>
      <arglist>(const tf::Stamped&lt; tf::Pose &gt; &amp;global_pose, double goal_x, double goal_y, double xy_goal_tolerance)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isGoalReached</name>
      <anchorfile>namespacebase__local__planner.html</anchorfile>
      <anchor>ab2016de8b9072c6d0e061c283f8cb54e</anchor>
      <arglist>(const tf::TransformListener &amp;tf, const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;global_plan, const costmap_2d::Costmap2DROS &amp;costmap_ros, const std::string &amp;global_frame, const nav_msgs::Odometry &amp;base_odom, double rot_stopped_vel, double trans_stopped_vel, double xy_goal_tolerance, double yaw_goal_tolerance)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>prunePlan</name>
      <anchorfile>namespacebase__local__planner.html</anchorfile>
      <anchor>abfcb938c8a408993b8164d77db39ecb7</anchor>
      <arglist>(const tf::Stamped&lt; tf::Pose &gt; &amp;global_pose, std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;plan, std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;global_plan)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>publishPlan</name>
      <anchorfile>namespacebase__local__planner.html</anchorfile>
      <anchor>a90975122d651cfee8d14ca48b72b9a27</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;path, const ros::Publisher &amp;pub, double r, double g, double b, double a)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>stopped</name>
      <anchorfile>namespacebase__local__planner.html</anchorfile>
      <anchor>a80ea2934aded9d99c3e082dd934ae89c</anchor>
      <arglist>(const nav_msgs::Odometry &amp;base_odom, const double &amp;rot_stopped_velocity, const double &amp;trans_stopped_velocity)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>transformGlobalPlan</name>
      <anchorfile>namespacebase__local__planner.html</anchorfile>
      <anchor>a424c814f5d3496660b7347cd237f4bd7</anchor>
      <arglist>(const tf::TransformListener &amp;tf, const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;global_plan, const costmap_2d::Costmap2DROS &amp;costmap, const std::string &amp;global_frame, std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;transformed_plan)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>goal_functions.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-navigation/doc_stacks/2013-03-01_16-05-50.368377/navigation/base_local_planner/include/base_local_planner/</path>
    <filename>goal__functions_8h</filename>
    <namespace>base_local_planner</namespace>
    <member kind="function">
      <type>double</type>
      <name>distance</name>
      <anchorfile>namespacebase__local__planner.html</anchorfile>
      <anchor>a1ae3ca56bdb2179aa4f12d9f16b47ce8</anchor>
      <arglist>(double x1, double y1, double x2, double y2)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>goalOrientationReached</name>
      <anchorfile>namespacebase__local__planner.html</anchorfile>
      <anchor>a0fb7fcac4dc56d9ac5e769070ee012bc</anchor>
      <arglist>(const tf::Stamped&lt; tf::Pose &gt; &amp;global_pose, double goal_th, double yaw_goal_tolerance)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>goalPositionReached</name>
      <anchorfile>namespacebase__local__planner.html</anchorfile>
      <anchor>a16729f733f1473406f68ad005ec03070</anchor>
      <arglist>(const tf::Stamped&lt; tf::Pose &gt; &amp;global_pose, double goal_x, double goal_y, double xy_goal_tolerance)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isGoalReached</name>
      <anchorfile>namespacebase__local__planner.html</anchorfile>
      <anchor>ab2016de8b9072c6d0e061c283f8cb54e</anchor>
      <arglist>(const tf::TransformListener &amp;tf, const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;global_plan, const costmap_2d::Costmap2DROS &amp;costmap_ros, const std::string &amp;global_frame, const nav_msgs::Odometry &amp;base_odom, double rot_stopped_vel, double trans_stopped_vel, double xy_goal_tolerance, double yaw_goal_tolerance)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>prunePlan</name>
      <anchorfile>namespacebase__local__planner.html</anchorfile>
      <anchor>abfcb938c8a408993b8164d77db39ecb7</anchor>
      <arglist>(const tf::Stamped&lt; tf::Pose &gt; &amp;global_pose, std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;plan, std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;global_plan)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>publishPlan</name>
      <anchorfile>namespacebase__local__planner.html</anchorfile>
      <anchor>a90975122d651cfee8d14ca48b72b9a27</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;path, const ros::Publisher &amp;pub, double r, double g, double b, double a)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>stopped</name>
      <anchorfile>namespacebase__local__planner.html</anchorfile>
      <anchor>a80ea2934aded9d99c3e082dd934ae89c</anchor>
      <arglist>(const nav_msgs::Odometry &amp;base_odom, const double &amp;rot_stopped_velocity, const double &amp;trans_stopped_velocity)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>transformGlobalPlan</name>
      <anchorfile>namespacebase__local__planner.html</anchorfile>
      <anchor>a424c814f5d3496660b7347cd237f4bd7</anchor>
      <arglist>(const tf::TransformListener &amp;tf, const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;global_plan, const costmap_2d::Costmap2DROS &amp;costmap, const std::string &amp;global_frame, std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;transformed_plan)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>mainpage.dox</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-navigation/doc_stacks/2013-03-01_16-05-50.368377/navigation/base_local_planner/</path>
    <filename>mainpage_8dox</filename>
  </compound>
  <compound kind="file">
    <name>map_cell.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-navigation/doc_stacks/2013-03-01_16-05-50.368377/navigation/base_local_planner/src/</path>
    <filename>map__cell_8cpp</filename>
    <includes id="map__cell_8h" name="map_cell.h" local="no" imported="no">base_local_planner/map_cell.h</includes>
    <namespace>base_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>map_cell.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-navigation/doc_stacks/2013-03-01_16-05-50.368377/navigation/base_local_planner/include/base_local_planner/</path>
    <filename>map__cell_8h</filename>
    <includes id="trajectory__inc_8h" name="trajectory_inc.h" local="no" imported="no">base_local_planner/trajectory_inc.h</includes>
    <class kind="class">base_local_planner::MapCell</class>
    <namespace>base_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>map_grid.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-navigation/doc_stacks/2013-03-01_16-05-50.368377/navigation/base_local_planner/src/</path>
    <filename>map__grid_8cpp</filename>
    <includes id="map__grid_8h" name="map_grid.h" local="no" imported="no">base_local_planner/map_grid.h</includes>
    <namespace>base_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>map_grid.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-navigation/doc_stacks/2013-03-01_16-05-50.368377/navigation/base_local_planner/include/base_local_planner/</path>
    <filename>map__grid_8h</filename>
    <includes id="trajectory__inc_8h" name="trajectory_inc.h" local="no" imported="no">base_local_planner/trajectory_inc.h</includes>
    <includes id="map__cell_8h" name="map_cell.h" local="no" imported="no">base_local_planner/map_cell.h</includes>
    <class kind="class">base_local_planner::MapGrid</class>
    <namespace>base_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>map_grid_cost_point.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-navigation/doc_stacks/2013-03-01_16-05-50.368377/navigation/base_local_planner/include/base_local_planner/</path>
    <filename>map__grid__cost__point_8h</filename>
    <class kind="struct">base_local_planner::MapGridCostPoint</class>
    <namespace>base_local_planner</namespace>
    <member kind="function">
      <type></type>
      <name>POINT_CLOUD_REGISTER_POINT_STRUCT</name>
      <anchorfile>map__grid__cost__point_8h.html</anchorfile>
      <anchor>a31b21da9c33fb1a0f417da4f8c5240cc</anchor>
      <arglist>(base_local_planner::MapGridCostPoint,(float, x, x)(float, y, y)(float, z, z)(float, path_cost, path_cost)(float, goal_cost, goal_cost)(float, occ_cost, occ_cost)(float, total_cost, total_cost))</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>map_grid_visualizer.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-navigation/doc_stacks/2013-03-01_16-05-50.368377/navigation/base_local_planner/src/</path>
    <filename>map__grid__visualizer_8cpp</filename>
    <includes id="map__grid__visualizer_8h" name="map_grid_visualizer.h" local="no" imported="no">base_local_planner/map_grid_visualizer.h</includes>
    <includes id="map__cell_8h" name="map_cell.h" local="no" imported="no">base_local_planner/map_cell.h</includes>
    <namespace>base_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>map_grid_visualizer.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-navigation/doc_stacks/2013-03-01_16-05-50.368377/navigation/base_local_planner/include/base_local_planner/</path>
    <filename>map__grid__visualizer_8h</filename>
    <includes id="map__grid_8h" name="map_grid.h" local="no" imported="no">base_local_planner/map_grid.h</includes>
    <includes id="map__grid__cost__point_8h" name="map_grid_cost_point.h" local="no" imported="no">base_local_planner/map_grid_cost_point.h</includes>
    <class kind="class">base_local_planner::MapGridVisualizer</class>
    <namespace>base_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>planar_laser_scan.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-navigation/doc_stacks/2013-03-01_16-05-50.368377/navigation/base_local_planner/include/base_local_planner/</path>
    <filename>planar__laser__scan_8h</filename>
    <class kind="class">base_local_planner::PlanarLaserScan</class>
    <namespace>base_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>point_grid.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-navigation/doc_stacks/2013-03-01_16-05-50.368377/navigation/base_local_planner/src/</path>
    <filename>point__grid_8cpp</filename>
    <includes id="point__grid_8h" name="point_grid.h" local="no" imported="no">base_local_planner/point_grid.h</includes>
    <namespace>base_local_planner</namespace>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>point__grid_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>printPoint</name>
      <anchorfile>point__grid_8cpp.html</anchorfile>
      <anchor>a80ac6030d788494b8a2c4fc78579622c</anchor>
      <arglist>(pcl::PointXYZ pt)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>printPolygonPS</name>
      <anchorfile>point__grid_8cpp.html</anchorfile>
      <anchor>a2619109b7ac647d6f494cba25158c90a</anchor>
      <arglist>(const vector&lt; geometry_msgs::Point &gt; &amp;poly, double line_width)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>printPSFooter</name>
      <anchorfile>point__grid_8cpp.html</anchorfile>
      <anchor>adf610c05fd957ba8e8c427f46726c2ae</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>printPSHeader</name>
      <anchorfile>point__grid_8cpp.html</anchorfile>
      <anchor>a05c3d95c815b1443c5b7d7bf4fa4def3</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>point_grid.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-navigation/doc_stacks/2013-03-01_16-05-50.368377/navigation/base_local_planner/include/base_local_planner/</path>
    <filename>point__grid_8h</filename>
    <includes id="world__model_8h" name="world_model.h" local="no" imported="no">base_local_planner/world_model.h</includes>
    <class kind="class">base_local_planner::PointGrid</class>
    <namespace>base_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>Position2DInt.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-navigation/doc_stacks/2013-03-01_16-05-50.368377/navigation/base_local_planner/msg_gen/cpp/include/base_local_planner/</path>
    <filename>Position2DInt_8h</filename>
    <class kind="struct">ros::message_traits::DataType&lt; ::base_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &gt;</class>
    <class kind="struct">ros::message_traits::Definition&lt; ::base_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &gt;</class>
    <class kind="struct">ros::message_traits::IsFixedSize&lt; ::base_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &gt;</class>
    <class kind="struct">ros::message_traits::IsMessage&lt; ::base_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &gt;</class>
    <class kind="struct">ros::message_traits::IsMessage&lt; ::base_local_planner::Position2DInt_&lt; ContainerAllocator &gt;const  &gt;</class>
    <class kind="struct">ros::message_traits::MD5Sum&lt; ::base_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &gt;</class>
    <class kind="struct">base_local_planner::Position2DInt_</class>
    <class kind="struct">ros::message_operations::Printer&lt; ::base_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &gt;</class>
    <class kind="struct">ros::serialization::Serializer&lt; ::base_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &gt;</class>
    <namespace>base_local_planner</namespace>
    <member kind="typedef">
      <type>::base_local_planner::Position2DInt_&lt; std::allocator&lt; void &gt; &gt;</type>
      <name>Position2DInt</name>
      <anchorfile>namespacebase__local__planner.html</anchorfile>
      <anchor>a74dc4310c3223e166021e69f2a0b7b36</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; ::base_local_planner::Position2DInt const  &gt;</type>
      <name>Position2DIntConstPtr</name>
      <anchorfile>namespacebase__local__planner.html</anchorfile>
      <anchor>ab944d06c739474359b40b8e1ee9c9f6f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; ::base_local_planner::Position2DInt &gt;</type>
      <name>Position2DIntPtr</name>
      <anchorfile>namespacebase__local__planner.html</anchorfile>
      <anchor>a02eca20296fbf84ee0284c2868441aaf</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>namespacebase__local__planner.html</anchorfile>
      <anchor>a138cefbbd32e03cf1a2fe08fcd39b465</anchor>
      <arglist>(std::ostream &amp;s, const ::base_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &amp;v)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>trajectory.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-navigation/doc_stacks/2013-03-01_16-05-50.368377/navigation/base_local_planner/src/</path>
    <filename>trajectory_8cpp</filename>
    <includes id="trajectory_8h" name="trajectory.h" local="no" imported="no">base_local_planner/trajectory.h</includes>
    <namespace>base_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>trajectory.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-navigation/doc_stacks/2013-03-01_16-05-50.368377/navigation/base_local_planner/include/base_local_planner/</path>
    <filename>trajectory_8h</filename>
    <class kind="class">base_local_planner::Trajectory</class>
    <namespace>base_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>trajectory_inc.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-navigation/doc_stacks/2013-03-01_16-05-50.368377/navigation/base_local_planner/include/base_local_planner/</path>
    <filename>trajectory__inc_8h</filename>
    <member kind="define">
      <type>#define</type>
      <name>DBL_MIN</name>
      <anchorfile>trajectory__inc_8h.html</anchorfile>
      <anchor>ab5f2d2630bc132bca0a4c9733164e91a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>trajectory_planner.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-navigation/doc_stacks/2013-03-01_16-05-50.368377/navigation/base_local_planner/src/</path>
    <filename>trajectory__planner_8cpp</filename>
    <includes id="trajectory__planner_8h" name="trajectory_planner.h" local="no" imported="no">base_local_planner/trajectory_planner.h</includes>
    <namespace>base_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>trajectory_planner.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-navigation/doc_stacks/2013-03-01_16-05-50.368377/navigation/base_local_planner/include/base_local_planner/</path>
    <filename>trajectory__planner_8h</filename>
    <includes id="map__cell_8h" name="map_cell.h" local="no" imported="no">base_local_planner/map_cell.h</includes>
    <includes id="map__grid_8h" name="map_grid.h" local="no" imported="no">base_local_planner/map_grid.h</includes>
    <includes id="world__model_8h" name="world_model.h" local="no" imported="no">base_local_planner/world_model.h</includes>
    <includes id="trajectory_8h" name="trajectory.h" local="no" imported="no">base_local_planner/trajectory.h</includes>
    <includes id="Position2DInt_8h" name="Position2DInt.h" local="no" imported="no">base_local_planner/Position2DInt.h</includes>
    <class kind="class">base_local_planner::TrajectoryPlanner</class>
    <namespace>base_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>trajectory_planner_ros.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-navigation/doc_stacks/2013-03-01_16-05-50.368377/navigation/base_local_planner/src/</path>
    <filename>trajectory__planner__ros_8cpp</filename>
    <includes id="trajectory__planner__ros_8h" name="trajectory_planner_ros.h" local="no" imported="no">base_local_planner/trajectory_planner_ros.h</includes>
    <includes id="goal__functions_8h" name="goal_functions.h" local="yes" imported="no">base_local_planner/goal_functions.h</includes>
    <namespace>base_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>trajectory_planner_ros.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-navigation/doc_stacks/2013-03-01_16-05-50.368377/navigation/base_local_planner/include/base_local_planner/</path>
    <filename>trajectory__planner__ros_8h</filename>
    <includes id="world__model_8h" name="world_model.h" local="no" imported="no">base_local_planner/world_model.h</includes>
    <includes id="point__grid_8h" name="point_grid.h" local="no" imported="no">base_local_planner/point_grid.h</includes>
    <includes id="costmap__model_8h" name="costmap_model.h" local="no" imported="no">base_local_planner/costmap_model.h</includes>
    <includes id="voxel__grid__model_8h" name="voxel_grid_model.h" local="no" imported="no">base_local_planner/voxel_grid_model.h</includes>
    <includes id="trajectory__planner_8h" name="trajectory_planner.h" local="no" imported="no">base_local_planner/trajectory_planner.h</includes>
    <includes id="map__grid__visualizer_8h" name="map_grid_visualizer.h" local="no" imported="no">base_local_planner/map_grid_visualizer.h</includes>
    <includes id="planar__laser__scan_8h" name="planar_laser_scan.h" local="no" imported="no">base_local_planner/planar_laser_scan.h</includes>
    <class kind="class">base_local_planner::TrajectoryPlannerROS</class>
    <namespace>base_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>utest.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-navigation/doc_stacks/2013-03-01_16-05-50.368377/navigation/base_local_planner/test/</path>
    <filename>utest_8cpp</filename>
    <includes id="map__cell_8h" name="map_cell.h" local="no" imported="no">base_local_planner/map_cell.h</includes>
    <includes id="map__grid_8h" name="map_grid.h" local="no" imported="no">base_local_planner/map_grid.h</includes>
    <includes id="trajectory_8h" name="trajectory.h" local="no" imported="no">base_local_planner/trajectory.h</includes>
    <includes id="trajectory__planner_8h" name="trajectory_planner.h" local="no" imported="no">base_local_planner/trajectory_planner.h</includes>
    <includes id="costmap__model_8h" name="costmap_model.h" local="no" imported="no">base_local_planner/costmap_model.h</includes>
    <includes id="Position2DInt_8h" name="Position2DInt.h" local="no" imported="no">base_local_planner/Position2DInt.h</includes>
    <class kind="class">base_local_planner::TrajectoryPlannerTest</class>
    <class kind="class">base_local_planner::WavefrontMapAccessor</class>
    <namespace>base_local_planner</namespace>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>utest_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>utest_8cpp.html</anchorfile>
      <anchor>ae677b53b6dc9f0f93a6187fd00b54514</anchor>
      <arglist>(TrajectoryPlannerTest, checkPathDistance)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>utest_8cpp.html</anchorfile>
      <anchor>ac00695627f25de53c3608aa10227e6df</anchor>
      <arglist>(TrajectoryPlannerTest, checkGoalDistance)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>utest_8cpp.html</anchorfile>
      <anchor>a782e8bc9445f2aa6cf5590d09cbe82cf</anchor>
      <arglist>(TrajectoryPlannerTest, footprintObstacles)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>utest_8cpp.html</anchorfile>
      <anchor>ae0eeca6969a0384f0230ca965085c8ca</anchor>
      <arglist>(TrajectoryPlannerTest, correctFootprint)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>utest_8cpp.html</anchorfile>
      <anchor>a6860548ef94f13c6910b21d394951be6</anchor>
      <arglist>(MapGrid, properGridConstruction)</arglist>
    </member>
    <member kind="variable">
      <type>TrajectoryPlannerTest *</type>
      <name>tct</name>
      <anchorfile>utest_8cpp.html</anchorfile>
      <anchor>aec4d5d1fd3bbe36cbda8d86542a1d259</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>voxel_grid_model.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-navigation/doc_stacks/2013-03-01_16-05-50.368377/navigation/base_local_planner/src/</path>
    <filename>voxel__grid__model_8cpp</filename>
    <includes id="voxel__grid__model_8h" name="voxel_grid_model.h" local="no" imported="no">base_local_planner/voxel_grid_model.h</includes>
    <namespace>base_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>voxel_grid_model.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-navigation/doc_stacks/2013-03-01_16-05-50.368377/navigation/base_local_planner/include/base_local_planner/</path>
    <filename>voxel__grid__model_8h</filename>
    <includes id="world__model_8h" name="world_model.h" local="no" imported="no">base_local_planner/world_model.h</includes>
    <class kind="class">base_local_planner::VoxelGridModel</class>
    <namespace>base_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>world_model.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-electric-navigation/doc_stacks/2013-03-01_16-05-50.368377/navigation/base_local_planner/include/base_local_planner/</path>
    <filename>world__model_8h</filename>
    <includes id="planar__laser__scan_8h" name="planar_laser_scan.h" local="no" imported="no">base_local_planner/planar_laser_scan.h</includes>
    <class kind="class">base_local_planner::WorldModel</class>
    <namespace>base_local_planner</namespace>
  </compound>
  <compound kind="namespace">
    <name>base_local_planner</name>
    <filename>namespacebase__local__planner.html</filename>
    <namespace>base_local_planner::msg</namespace>
    <class kind="class">base_local_planner::CostmapModel</class>
    <class kind="class">base_local_planner::MapCell</class>
    <class kind="class">base_local_planner::MapGrid</class>
    <class kind="struct">base_local_planner::MapGridCostPoint</class>
    <class kind="class">base_local_planner::MapGridVisualizer</class>
    <class kind="class">base_local_planner::PlanarLaserScan</class>
    <class kind="class">base_local_planner::PointGrid</class>
    <class kind="struct">base_local_planner::Position2DInt_</class>
    <class kind="class">base_local_planner::Trajectory</class>
    <class kind="class">base_local_planner::TrajectoryPlanner</class>
    <class kind="class">base_local_planner::TrajectoryPlannerROS</class>
    <class kind="class">base_local_planner::TrajectoryPlannerTest</class>
    <class kind="class">base_local_planner::VoxelGridModel</class>
    <class kind="class">base_local_planner::WavefrontMapAccessor</class>
    <class kind="class">base_local_planner::WorldModel</class>
    <member kind="typedef">
      <type>::base_local_planner::Position2DInt_&lt; std::allocator&lt; void &gt; &gt;</type>
      <name>Position2DInt</name>
      <anchorfile>namespacebase__local__planner.html</anchorfile>
      <anchor>a74dc4310c3223e166021e69f2a0b7b36</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; ::base_local_planner::Position2DInt const  &gt;</type>
      <name>Position2DIntConstPtr</name>
      <anchorfile>namespacebase__local__planner.html</anchorfile>
      <anchor>ab944d06c739474359b40b8e1ee9c9f6f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; ::base_local_planner::Position2DInt &gt;</type>
      <name>Position2DIntPtr</name>
      <anchorfile>namespacebase__local__planner.html</anchorfile>
      <anchor>a02eca20296fbf84ee0284c2868441aaf</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>distance</name>
      <anchorfile>namespacebase__local__planner.html</anchorfile>
      <anchor>a1ae3ca56bdb2179aa4f12d9f16b47ce8</anchor>
      <arglist>(double x1, double y1, double x2, double y2)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>goalOrientationReached</name>
      <anchorfile>namespacebase__local__planner.html</anchorfile>
      <anchor>a0fb7fcac4dc56d9ac5e769070ee012bc</anchor>
      <arglist>(const tf::Stamped&lt; tf::Pose &gt; &amp;global_pose, double goal_th, double yaw_goal_tolerance)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>goalPositionReached</name>
      <anchorfile>namespacebase__local__planner.html</anchorfile>
      <anchor>a16729f733f1473406f68ad005ec03070</anchor>
      <arglist>(const tf::Stamped&lt; tf::Pose &gt; &amp;global_pose, double goal_x, double goal_y, double xy_goal_tolerance)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isGoalReached</name>
      <anchorfile>namespacebase__local__planner.html</anchorfile>
      <anchor>ab2016de8b9072c6d0e061c283f8cb54e</anchor>
      <arglist>(const tf::TransformListener &amp;tf, const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;global_plan, const costmap_2d::Costmap2DROS &amp;costmap_ros, const std::string &amp;global_frame, const nav_msgs::Odometry &amp;base_odom, double rot_stopped_vel, double trans_stopped_vel, double xy_goal_tolerance, double yaw_goal_tolerance)</arglist>
    </member>
    <member kind="function">
      <type>std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>namespacebase__local__planner.html</anchorfile>
      <anchor>a138cefbbd32e03cf1a2fe08fcd39b465</anchor>
      <arglist>(std::ostream &amp;s, const ::base_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>prunePlan</name>
      <anchorfile>namespacebase__local__planner.html</anchorfile>
      <anchor>abfcb938c8a408993b8164d77db39ecb7</anchor>
      <arglist>(const tf::Stamped&lt; tf::Pose &gt; &amp;global_pose, std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;plan, std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;global_plan)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>publishPlan</name>
      <anchorfile>namespacebase__local__planner.html</anchorfile>
      <anchor>a90975122d651cfee8d14ca48b72b9a27</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;path, const ros::Publisher &amp;pub, double r, double g, double b, double a)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>stopped</name>
      <anchorfile>namespacebase__local__planner.html</anchorfile>
      <anchor>a80ea2934aded9d99c3e082dd934ae89c</anchor>
      <arglist>(const nav_msgs::Odometry &amp;base_odom, const double &amp;rot_stopped_velocity, const double &amp;trans_stopped_velocity)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>transformGlobalPlan</name>
      <anchorfile>namespacebase__local__planner.html</anchorfile>
      <anchor>a424c814f5d3496660b7347cd237f4bd7</anchor>
      <arglist>(const tf::TransformListener &amp;tf, const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;global_plan, const costmap_2d::Costmap2DROS &amp;costmap, const std::string &amp;global_frame, std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;transformed_plan)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>base_local_planner::CostmapModel</name>
    <filename>classbase__local__planner_1_1CostmapModel.html</filename>
    <base>base_local_planner::WorldModel</base>
    <member kind="function">
      <type></type>
      <name>CostmapModel</name>
      <anchorfile>classbase__local__planner_1_1CostmapModel.html</anchorfile>
      <anchor>a7f785fd68a7d341c41a5c2397e7b8a06</anchor>
      <arglist>(const costmap_2d::Costmap2D &amp;costmap)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>footprintCost</name>
      <anchorfile>classbase__local__planner_1_1CostmapModel.html</anchorfile>
      <anchor>a8a6c30a640dc5046a483bc109f0d99b1</anchor>
      <arglist>(const geometry_msgs::Point &amp;position, const std::vector&lt; geometry_msgs::Point &gt; &amp;footprint, double inscribed_radius, double circumscribed_radius)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~CostmapModel</name>
      <anchorfile>classbase__local__planner_1_1CostmapModel.html</anchorfile>
      <anchor>a0ec575505589c1816559a563b34cd682</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>lineCost</name>
      <anchorfile>classbase__local__planner_1_1CostmapModel.html</anchorfile>
      <anchor>a2c574a84d5d930663f37e8e8c873a3b5</anchor>
      <arglist>(int x0, int x1, int y0, int y1)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>pointCost</name>
      <anchorfile>classbase__local__planner_1_1CostmapModel.html</anchorfile>
      <anchor>a37f32b9f351a2e457a7153030db2ed0b</anchor>
      <arglist>(int x, int y)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const costmap_2d::Costmap2D &amp;</type>
      <name>costmap_</name>
      <anchorfile>classbase__local__planner_1_1CostmapModel.html</anchorfile>
      <anchor>aed9c90777aa55143075132648dee3b03</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>base_local_planner::MapCell</name>
    <filename>classbase__local__planner_1_1MapCell.html</filename>
    <member kind="function">
      <type></type>
      <name>MapCell</name>
      <anchorfile>classbase__local__planner_1_1MapCell.html</anchorfile>
      <anchor>a1d929fa3b4ae25ed966b7f35b3239a3a</anchor>
      <arglist>(const MapCell &amp;mc)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MapCell</name>
      <anchorfile>classbase__local__planner_1_1MapCell.html</anchorfile>
      <anchor>ada59458e3cdc2553803bf35584595f46</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>unsigned int</type>
      <name>cx</name>
      <anchorfile>classbase__local__planner_1_1MapCell.html</anchorfile>
      <anchor>a125980ac0566ea4b5417948ba90a5c87</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>unsigned int</type>
      <name>cy</name>
      <anchorfile>classbase__local__planner_1_1MapCell.html</anchorfile>
      <anchor>aed4f9439e3feb2233a9fa754e3cf9cad</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>goal_dist</name>
      <anchorfile>classbase__local__planner_1_1MapCell.html</anchorfile>
      <anchor>a1c2e8b357fcbeecb31bf9f6c2f0dc025</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>goal_mark</name>
      <anchorfile>classbase__local__planner_1_1MapCell.html</anchorfile>
      <anchor>a47f2979315c96064180c6cf32df7e8ed</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>occ_dist</name>
      <anchorfile>classbase__local__planner_1_1MapCell.html</anchorfile>
      <anchor>a69dc47e63ad3316746d381f151840cbe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>occ_state</name>
      <anchorfile>classbase__local__planner_1_1MapCell.html</anchorfile>
      <anchor>a491b778eaacd7f9a6c4beb3035976407</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>path_dist</name>
      <anchorfile>classbase__local__planner_1_1MapCell.html</anchorfile>
      <anchor>a447ba5731b9a7191ffefce4870e2e88b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>path_mark</name>
      <anchorfile>classbase__local__planner_1_1MapCell.html</anchorfile>
      <anchor>a5ed556919fb2f80c2bfc721b196ebb89</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>within_robot</name>
      <anchorfile>classbase__local__planner_1_1MapCell.html</anchorfile>
      <anchor>a341c7e17d945f03f5b02def775b7aa88</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>base_local_planner::MapGrid</name>
    <filename>classbase__local__planner_1_1MapGrid.html</filename>
    <member kind="function">
      <type>void</type>
      <name>commonInit</name>
      <anchorfile>classbase__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>a68495bea908d9bf692ef8520ca4fb432</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeGoalDistance</name>
      <anchorfile>classbase__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>a35b47e664abc157ef47e8a1ed5d0d357</anchor>
      <arglist>(std::queue&lt; MapCell * &gt; &amp;dist_queue, const costmap_2d::Costmap2D &amp;costmap)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computePathDistance</name>
      <anchorfile>classbase__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>a80df66a6a6283c1b98e70e7c97969324</anchor>
      <arglist>(std::queue&lt; MapCell * &gt; &amp;dist_queue, const costmap_2d::Costmap2D &amp;costmap)</arglist>
    </member>
    <member kind="function">
      <type>MapCell &amp;</type>
      <name>getCell</name>
      <anchorfile>classbase__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>acbeadc4a517c19334f36831931019ec1</anchor>
      <arglist>(unsigned int x, unsigned int y)</arglist>
    </member>
    <member kind="function">
      <type>size_t</type>
      <name>getIndex</name>
      <anchorfile>classbase__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>a3fd22c28f3c45c9336ec7f1ecb33d423</anchor>
      <arglist>(int x, int y)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MapGrid</name>
      <anchorfile>classbase__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>a374361ae0ac1a7e046ff0013af4285b6</anchor>
      <arglist>(const MapGrid &amp;mg)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MapGrid</name>
      <anchorfile>classbase__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>a802f0e9f6b4a45529734498616c66d5a</anchor>
      <arglist>(unsigned int size_x, unsigned int size_y, double scale, double x, double y)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MapGrid</name>
      <anchorfile>classbase__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>a55e83a26cdb3c6614d9ca4635da5dc92</anchor>
      <arglist>(unsigned int size_x, unsigned int size_y)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MapGrid</name>
      <anchorfile>classbase__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>ad10445cf88357f857c8e03b47262b732</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>MapCell</type>
      <name>operator()</name>
      <anchorfile>classbase__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>ac5be4281fc27c18ae033e34f17caf17c</anchor>
      <arglist>(unsigned int x, unsigned int y) const </arglist>
    </member>
    <member kind="function">
      <type>MapCell &amp;</type>
      <name>operator()</name>
      <anchorfile>classbase__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>a4656eac311da1aad984f1e39e96f0bfa</anchor>
      <arglist>(unsigned int x, unsigned int y)</arglist>
    </member>
    <member kind="function">
      <type>MapGrid &amp;</type>
      <name>operator=</name>
      <anchorfile>classbase__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>a058863c16849dab1495f4206bed28321</anchor>
      <arglist>(const MapGrid &amp;mg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>resetPathDist</name>
      <anchorfile>classbase__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>aaede39518e77d4eb1f7fc7766da5cb11</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setPathCells</name>
      <anchorfile>classbase__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>ac08748be2016997645fd4b6d467ff7b2</anchor>
      <arglist>(const costmap_2d::Costmap2D &amp;costmap, const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;global_plan)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>sizeCheck</name>
      <anchorfile>classbase__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>a6e4372cb43d93d2584f262fca0199ccd</anchor>
      <arglist>(unsigned int size_x, unsigned int size_y, double o_x, double o_y)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>updateGoalCell</name>
      <anchorfile>classbase__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>ac4fd3eca3acb284505255dc4b97b54b5</anchor>
      <arglist>(MapCell *current_cell, MapCell *check_cell, std::queue&lt; MapCell * &gt; &amp;dist_queue, const costmap_2d::Costmap2D &amp;costmap)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>updatePathCell</name>
      <anchorfile>classbase__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>aa880941dd319c33434e3c3af91dcdebc</anchor>
      <arglist>(MapCell *current_cell, MapCell *check_cell, std::queue&lt; MapCell * &gt; &amp;dist_queue, const costmap_2d::Costmap2D &amp;costmap)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~MapGrid</name>
      <anchorfile>classbase__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>a8efc6461e975c937560ef8e68b471a78</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>goal_x_</name>
      <anchorfile>classbase__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>a6153b07220fff0cad38a82491d288510</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>goal_y_</name>
      <anchorfile>classbase__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>ab53586ea5096453439256dd47545559b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; MapCell &gt;</type>
      <name>map_</name>
      <anchorfile>classbase__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>a8e42b62548d1e12c82db5a7e843a0b0e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>origin_x</name>
      <anchorfile>classbase__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>aaf124a571e7ba6192e9cadea7230fc72</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>origin_y</name>
      <anchorfile>classbase__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>a1f42dba65865ed93653e6bf29d4ea4d6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>scale</name>
      <anchorfile>classbase__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>a26931a039b2283189ec32ca99cd19521</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>unsigned int</type>
      <name>size_x_</name>
      <anchorfile>classbase__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>a41702016ab4edc01a0b23fc05a9c64de</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>unsigned int</type>
      <name>size_y_</name>
      <anchorfile>classbase__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>afac1b094ef9469b56c59c3ab1008de47</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>base_local_planner::MapGridCostPoint</name>
    <filename>structbase__local__planner_1_1MapGridCostPoint.html</filename>
    <member kind="variable">
      <type>float</type>
      <name>goal_cost</name>
      <anchorfile>structbase__local__planner_1_1MapGridCostPoint.html</anchorfile>
      <anchor>a5f58d85d01e32045fb1a0e2ce3e5017f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>occ_cost</name>
      <anchorfile>structbase__local__planner_1_1MapGridCostPoint.html</anchorfile>
      <anchor>ad366df5201fd2df18b518492f287b864</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>path_cost</name>
      <anchorfile>structbase__local__planner_1_1MapGridCostPoint.html</anchorfile>
      <anchor>ace749d0f0c8384996aaa95a42b017584</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>total_cost</name>
      <anchorfile>structbase__local__planner_1_1MapGridCostPoint.html</anchorfile>
      <anchor>a25b596132677ddd713d4855d21fe6c9d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>x</name>
      <anchorfile>structbase__local__planner_1_1MapGridCostPoint.html</anchorfile>
      <anchor>a3384def04681c01f1b8f653b95719d6e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>y</name>
      <anchorfile>structbase__local__planner_1_1MapGridCostPoint.html</anchorfile>
      <anchor>a30cd2c927354dddb44c4edd07d14d294</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>z</name>
      <anchorfile>structbase__local__planner_1_1MapGridCostPoint.html</anchorfile>
      <anchor>ab099400974af7419d3d0563aca54830c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>base_local_planner::MapGridVisualizer</name>
    <filename>classbase__local__planner_1_1MapGridVisualizer.html</filename>
    <member kind="function">
      <type>void</type>
      <name>initialize</name>
      <anchorfile>classbase__local__planner_1_1MapGridVisualizer.html</anchorfile>
      <anchor>a509f94553954dd7566bdb409f7a69e8b</anchor>
      <arglist>(const std::string &amp;name, const costmap_2d::Costmap2D *costmap, boost::function&lt; bool(int cx, int cy, float &amp;path_cost, float &amp;goal_cost, float &amp;occ_cost, float &amp;total_cost)&gt; cost_function)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MapGridVisualizer</name>
      <anchorfile>classbase__local__planner_1_1MapGridVisualizer.html</anchorfile>
      <anchor>a420b3e168a5a208620f1dffe7845ae4e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>publishCostCloud</name>
      <anchorfile>classbase__local__planner_1_1MapGridVisualizer.html</anchorfile>
      <anchor>ad4698b33433d1627e63622663389f992</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~MapGridVisualizer</name>
      <anchorfile>classbase__local__planner_1_1MapGridVisualizer.html</anchorfile>
      <anchor>adc0fa30afc6870c6481104bd9d673fd5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>pcl::PointCloud&lt; MapGridCostPoint &gt;</type>
      <name>cost_cloud_</name>
      <anchorfile>classbase__local__planner_1_1MapGridVisualizer.html</anchorfile>
      <anchor>acaafe71d614e050862ae1a596ae81f89</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>boost::function&lt; bool(int cx, int cy, float &amp;path_cost, float &amp;goal_cost, float &amp;occ_cost, float &amp;total_cost)&gt;</type>
      <name>cost_function_</name>
      <anchorfile>classbase__local__planner_1_1MapGridVisualizer.html</anchorfile>
      <anchor>ac4b8d39eae362637bad41f242a6a3c29</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const costmap_2d::Costmap2D *</type>
      <name>costmap_p_</name>
      <anchorfile>classbase__local__planner_1_1MapGridVisualizer.html</anchorfile>
      <anchor>aa8169e4184f196e3a82f7bac1bcac01c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>frame_id_</name>
      <anchorfile>classbase__local__planner_1_1MapGridVisualizer.html</anchorfile>
      <anchor>a9c994379fd31b6219a5515bea76972f8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>name_</name>
      <anchorfile>classbase__local__planner_1_1MapGridVisualizer.html</anchorfile>
      <anchor>a2aad521bd530b881880604871b698407</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::NodeHandle</type>
      <name>ns_nh_</name>
      <anchorfile>classbase__local__planner_1_1MapGridVisualizer.html</anchorfile>
      <anchor>a8118b16aef9c4fd8c4745bb95205e2ae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>pcl_ros::Publisher&lt; MapGridCostPoint &gt;</type>
      <name>pub_</name>
      <anchorfile>classbase__local__planner_1_1MapGridVisualizer.html</anchorfile>
      <anchor>a1f672a48cc50d72ad83c6853ec687bc4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>publish_cost_grid_pc_</name>
      <anchorfile>classbase__local__planner_1_1MapGridVisualizer.html</anchorfile>
      <anchor>a0ae0998be686826ddec2a49fb8f3fa7f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>base_local_planner::PlanarLaserScan</name>
    <filename>classbase__local__planner_1_1PlanarLaserScan.html</filename>
    <member kind="function">
      <type></type>
      <name>PlanarLaserScan</name>
      <anchorfile>classbase__local__planner_1_1PlanarLaserScan.html</anchorfile>
      <anchor>a87f29de40d0656ac69ae45bc8bdacdfa</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>angle_increment</name>
      <anchorfile>classbase__local__planner_1_1PlanarLaserScan.html</anchorfile>
      <anchor>a80995db924e221f254c60a0d5fb05c98</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>angle_max</name>
      <anchorfile>classbase__local__planner_1_1PlanarLaserScan.html</anchorfile>
      <anchor>abbbf0894a7df63fec0bcb887199ad6f3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>angle_min</name>
      <anchorfile>classbase__local__planner_1_1PlanarLaserScan.html</anchorfile>
      <anchor>a52f69fb966a09c01bbf5e72667ea1dc8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>sensor_msgs::PointCloud</type>
      <name>cloud</name>
      <anchorfile>classbase__local__planner_1_1PlanarLaserScan.html</anchorfile>
      <anchor>aa2ccb24be3682bc073ec36434c47c2e6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>geometry_msgs::Point32</type>
      <name>origin</name>
      <anchorfile>classbase__local__planner_1_1PlanarLaserScan.html</anchorfile>
      <anchor>a8a7c9dfb5c0975314fdadcdd6945c649</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>base_local_planner::PointGrid</name>
    <filename>classbase__local__planner_1_1PointGrid.html</filename>
    <base>base_local_planner::WorldModel</base>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>footprintCost</name>
      <anchorfile>classbase__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>ad1d2b34fc12c74b22c9693865b5f2d9e</anchor>
      <arglist>(const geometry_msgs::Point &amp;position, const std::vector&lt; geometry_msgs::Point &gt; &amp;footprint, double inscribed_radius, double circumscribed_radius)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getCellBounds</name>
      <anchorfile>classbase__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a6c67e8a57f91b93e98a2db6d1311fe81</anchor>
      <arglist>(unsigned int gx, unsigned int gy, geometry_msgs::Point &amp;lower_left, geometry_msgs::Point &amp;upper_right) const </arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getNearestInCell</name>
      <anchorfile>classbase__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a701757dbd179c3dad466c7b7e2114d6b</anchor>
      <arglist>(pcl::PointXYZ &amp;pt, unsigned int gx, unsigned int gy)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getPoints</name>
      <anchorfile>classbase__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>af217b647ec8da186411e6e188e1019b9</anchor>
      <arglist>(pcl::PointCloud&lt; pcl::PointXYZ &gt; &amp;cloud)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getPointsInRange</name>
      <anchorfile>classbase__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>ab844aee638783adfa214c30dc03db8e9</anchor>
      <arglist>(const geometry_msgs::Point &amp;lower_left, const geometry_msgs::Point &amp;upper_right, std::vector&lt; std::list&lt; pcl::PointXYZ &gt; * &gt; &amp;points)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>gridCoords</name>
      <anchorfile>classbase__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a99619710c83e939a57e574e28a4621c6</anchor>
      <arglist>(pcl::PointXYZ pt, unsigned int &amp;gx, unsigned int &amp;gy) const </arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>gridCoords</name>
      <anchorfile>classbase__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a35019bc578cada39cc823b17d5d1394d</anchor>
      <arglist>(geometry_msgs::Point pt, unsigned int &amp;gx, unsigned int &amp;gy) const </arglist>
    </member>
    <member kind="function">
      <type>unsigned int</type>
      <name>gridIndex</name>
      <anchorfile>classbase__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a96ba5645a0bc2045d5868fa91eceab5b</anchor>
      <arglist>(unsigned int gx, unsigned int gy) const </arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>insert</name>
      <anchorfile>classbase__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a28e4c85e879080776352bd86b64ccf12</anchor>
      <arglist>(pcl::PointXYZ pt)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>intersectionPoint</name>
      <anchorfile>classbase__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a42d9b62516e5e401669b618e790979ad</anchor>
      <arglist>(const geometry_msgs::Point &amp;v1, const geometry_msgs::Point &amp;v2, const geometry_msgs::Point &amp;u1, const geometry_msgs::Point &amp;u2, geometry_msgs::Point &amp;result)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>nearestNeighborDistance</name>
      <anchorfile>classbase__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>ab0d5b4b745f965826501b9fca2bf7aa7</anchor>
      <arglist>(pcl::PointXYZ &amp;pt)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>orient</name>
      <anchorfile>classbase__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a14e7cb1a4930174e9ab92b3ff0b06193</anchor>
      <arglist>(const pcl::PointXYZ &amp;a, const pcl::PointXYZ &amp;b, const pcl::PointXYZ &amp;c)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>orient</name>
      <anchorfile>classbase__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a4a659b8302ec51532118e1b59a4e4b6e</anchor>
      <arglist>(const geometry_msgs::Point &amp;a, const geometry_msgs::Point &amp;b, const geometry_msgs::Point &amp;c)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>orient</name>
      <anchorfile>classbase__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a11a49112a21ab84840f5931c6f480409</anchor>
      <arglist>(const geometry_msgs::Point32 &amp;a, const geometry_msgs::Point32 &amp;b, const pcl::PointXYZ &amp;c)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>orient</name>
      <anchorfile>classbase__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>aa41c865d15598b2982d2af8585f2ed3b</anchor>
      <arglist>(const geometry_msgs::Point &amp;a, const geometry_msgs::Point &amp;b, const pcl::PointXYZ &amp;c)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PointGrid</name>
      <anchorfile>classbase__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>adaccd0818cd5b3334f1410f6cfca93dc</anchor>
      <arglist>(double width, double height, double resolution, geometry_msgs::Point origin, double max_z, double obstacle_range, double min_separation)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>ptInPolygon</name>
      <anchorfile>classbase__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a76d376055cc9c8fc13a3d3c5fad1aa04</anchor>
      <arglist>(const pcl::PointXYZ &amp;pt, const std::vector&lt; geometry_msgs::Point &gt; &amp;poly)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>ptInScan</name>
      <anchorfile>classbase__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a517ae832ace7e530e9e86ae249e5d42d</anchor>
      <arglist>(const pcl::PointXYZ &amp;pt, const PlanarLaserScan &amp;laser_scan)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>removePointsInPolygon</name>
      <anchorfile>classbase__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>afb743eed27facd44c2ed0e59e9f04449</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::Point &gt; poly)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>removePointsInScanBoundry</name>
      <anchorfile>classbase__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a693cf4b2962ea0ffb4e74daf44a317a4</anchor>
      <arglist>(const PlanarLaserScan &amp;laser_scan)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>segIntersect</name>
      <anchorfile>classbase__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>ac2ef35c1ba187bc774ec0c2437ede23a</anchor>
      <arglist>(const pcl::PointXYZ &amp;v1, const pcl::PointXYZ &amp;v2, const pcl::PointXYZ &amp;u1, const pcl::PointXYZ &amp;u2)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>sq_distance</name>
      <anchorfile>classbase__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>af278e4297342dce5d1e3b0b8643dbe4e</anchor>
      <arglist>(pcl::PointXYZ &amp;pt1, pcl::PointXYZ &amp;pt2)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>updateWorld</name>
      <anchorfile>classbase__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>adb8a9a0665445fe274510a86dd0e8277</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::Point &gt; &amp;footprint, const std::vector&lt; costmap_2d::Observation &gt; &amp;observations, const std::vector&lt; PlanarLaserScan &gt; &amp;laser_scans)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~PointGrid</name>
      <anchorfile>classbase__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>adcf3cf7ebf7d52a909fb2744560bf1e4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; std::list&lt; pcl::PointXYZ &gt; &gt;</type>
      <name>cells_</name>
      <anchorfile>classbase__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>ae7e13f7495657bb04c9e7f934f0e2809</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>height_</name>
      <anchorfile>classbase__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a1c02ee4d4ef45459067a91f2288911a6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>max_z_</name>
      <anchorfile>classbase__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a2036620b9d1149e833273c43c5a727eb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>geometry_msgs::Point</type>
      <name>origin_</name>
      <anchorfile>classbase__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a49056e465b626fd351301147a697b6aa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; std::list&lt; pcl::PointXYZ &gt; * &gt;</type>
      <name>points_</name>
      <anchorfile>classbase__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>adfc42f4dd0946a8bbd9e0b8d6c828d4f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>resolution_</name>
      <anchorfile>classbase__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a2232220cabac42c77df3651ef8706c5b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>sq_min_separation_</name>
      <anchorfile>classbase__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a3688e671583e2ff4ff50308226477111</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>sq_obstacle_range_</name>
      <anchorfile>classbase__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a753727a1119075f27b7a840bc6f1be0a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>width_</name>
      <anchorfile>classbase__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>ae8cfcc3891fd32ab51f0a10bcc7edd62</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>base_local_planner::Position2DInt_</name>
    <filename>structbase__local__planner_1_1Position2DInt__.html</filename>
    <templarg></templarg>
    <member kind="typedef">
      <type>int64_t</type>
      <name>_x_type</name>
      <anchorfile>structbase__local__planner_1_1Position2DInt__.html</anchorfile>
      <anchor>a958909d646fdf49c4872aec029e67761</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>int64_t</type>
      <name>_y_type</name>
      <anchorfile>structbase__local__planner_1_1Position2DInt__.html</anchorfile>
      <anchor>a53fbf58dd97ed0d7c73b49e94442f623</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; ::base_local_planner::Position2DInt_&lt; ContainerAllocator &gt; const  &gt;</type>
      <name>ConstPtr</name>
      <anchorfile>structbase__local__planner_1_1Position2DInt__.html</anchorfile>
      <anchor>a99981c3f0c0ab68601ea2b1338deef88</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; ::base_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &gt;</type>
      <name>Ptr</name>
      <anchorfile>structbase__local__planner_1_1Position2DInt__.html</anchorfile>
      <anchor>ad1da3ae82c2cf8015c8c1d134c8f00c4</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Position2DInt_&lt; ContainerAllocator &gt;</type>
      <name>Type</name>
      <anchorfile>structbase__local__planner_1_1Position2DInt__.html</anchorfile>
      <anchor>ae67952c34780c8b7497a41610dcd3b22</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>ROS_DEPRECATED const std::string</type>
      <name>__getDataType</name>
      <anchorfile>structbase__local__planner_1_1Position2DInt__.html</anchorfile>
      <anchor>ad6d1c28a1ed474509350e82baba1298e</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>ROS_DEPRECATED const std::string</type>
      <name>__getMD5Sum</name>
      <anchorfile>structbase__local__planner_1_1Position2DInt__.html</anchorfile>
      <anchor>ada145f4b55e2491bb4c5dc462fd62fe9</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>ROS_DEPRECATED const std::string</type>
      <name>__getMessageDefinition</name>
      <anchorfile>structbase__local__planner_1_1Position2DInt__.html</anchorfile>
      <anchor>a5066b533bd5184fca641185b4e3a20d2</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ROS_DEPRECATED uint8_t *</type>
      <name>deserialize</name>
      <anchorfile>structbase__local__planner_1_1Position2DInt__.html</anchorfile>
      <anchor>aaf4a62fc769a66b403e7ed2f4e830b92</anchor>
      <arglist>(uint8_t *read_ptr)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Position2DInt_</name>
      <anchorfile>structbase__local__planner_1_1Position2DInt__.html</anchorfile>
      <anchor>a58406b98f147c4614791a8adc9eb78cf</anchor>
      <arglist>(const ContainerAllocator &amp;_alloc)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Position2DInt_</name>
      <anchorfile>structbase__local__planner_1_1Position2DInt__.html</anchorfile>
      <anchor>a37a4e6254b1b829bc27292dd3245e042</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ROS_DEPRECATED uint32_t</type>
      <name>serializationLength</name>
      <anchorfile>structbase__local__planner_1_1Position2DInt__.html</anchorfile>
      <anchor>a2a185a4d95efd244e12741f13a6b5f3a</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ROS_DEPRECATED uint8_t *</type>
      <name>serialize</name>
      <anchorfile>structbase__local__planner_1_1Position2DInt__.html</anchorfile>
      <anchor>a17a648fbb2a7ceecdb208ff729b6f779</anchor>
      <arglist>(uint8_t *write_ptr, uint32_t seq) const </arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ROS_DEPRECATED const std::string</type>
      <name>__s_getDataType</name>
      <anchorfile>structbase__local__planner_1_1Position2DInt__.html</anchorfile>
      <anchor>aafcb03f0913c0965d38ee5488d44b601</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ROS_DEPRECATED const std::string</type>
      <name>__s_getMD5Sum</name>
      <anchorfile>structbase__local__planner_1_1Position2DInt__.html</anchorfile>
      <anchor>a74bf63765257e918e4c10036300f0ec3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ROS_DEPRECATED const std::string</type>
      <name>__s_getMessageDefinition</name>
      <anchorfile>structbase__local__planner_1_1Position2DInt__.html</anchorfile>
      <anchor>acdd2be57a7bd4e97bdebe5ad49de940c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>boost::shared_ptr&lt; std::map&lt; std::string, std::string &gt; &gt;</type>
      <name>__connection_header</name>
      <anchorfile>structbase__local__planner_1_1Position2DInt__.html</anchorfile>
      <anchor>ada6aca58d861442b78ad129f22649bbe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int64_t</type>
      <name>x</name>
      <anchorfile>structbase__local__planner_1_1Position2DInt__.html</anchorfile>
      <anchor>a583400d711cda536a8180950acfbd515</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int64_t</type>
      <name>y</name>
      <anchorfile>structbase__local__planner_1_1Position2DInt__.html</anchorfile>
      <anchor>aeda36177b0e4896751fea101f41f07cb</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static const char *</type>
      <name>__s_getDataType_</name>
      <anchorfile>structbase__local__planner_1_1Position2DInt__.html</anchorfile>
      <anchor>a4844c208f3b3ce4f1c812cac8a861457</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static const char *</type>
      <name>__s_getMD5Sum_</name>
      <anchorfile>structbase__local__planner_1_1Position2DInt__.html</anchorfile>
      <anchor>ae8b99cda8b7f160360fbe8408189cd50</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static const char *</type>
      <name>__s_getMessageDefinition_</name>
      <anchorfile>structbase__local__planner_1_1Position2DInt__.html</anchorfile>
      <anchor>a28482de24a19318ddc5c061f2c006b27</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>base_local_planner::Trajectory</name>
    <filename>classbase__local__planner_1_1Trajectory.html</filename>
    <member kind="function">
      <type>void</type>
      <name>addPoint</name>
      <anchorfile>classbase__local__planner_1_1Trajectory.html</anchorfile>
      <anchor>a94ff45de82ae4417fdbb1158c5c2b204</anchor>
      <arglist>(double x, double y, double th)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getEndpoint</name>
      <anchorfile>classbase__local__planner_1_1Trajectory.html</anchorfile>
      <anchor>abd4f95dc6f71ac769b4fba55c56a1765</anchor>
      <arglist>(double &amp;x, double &amp;y, double &amp;th)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getPoint</name>
      <anchorfile>classbase__local__planner_1_1Trajectory.html</anchorfile>
      <anchor>ab020dc4d2777076bf9142e99a360e848</anchor>
      <arglist>(unsigned int index, double &amp;x, double &amp;y, double &amp;th)</arglist>
    </member>
    <member kind="function">
      <type>unsigned int</type>
      <name>getPointsSize</name>
      <anchorfile>classbase__local__planner_1_1Trajectory.html</anchorfile>
      <anchor>ae791d32a6fb2f1e7929416dc840fc28f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>resetPoints</name>
      <anchorfile>classbase__local__planner_1_1Trajectory.html</anchorfile>
      <anchor>a35c05c071ce0f8e54c18f0f8816315d3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setPoint</name>
      <anchorfile>classbase__local__planner_1_1Trajectory.html</anchorfile>
      <anchor>a36da2c9c1cc3e13facc6bc258d2e91e2</anchor>
      <arglist>(unsigned int index, double x, double y, double th)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Trajectory</name>
      <anchorfile>classbase__local__planner_1_1Trajectory.html</anchorfile>
      <anchor>a4bd60dc7ee09e26db6102ce7115a44e2</anchor>
      <arglist>(double xv, double yv, double thetav, unsigned int num_pts)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Trajectory</name>
      <anchorfile>classbase__local__planner_1_1Trajectory.html</anchorfile>
      <anchor>a38089bc04dc5c68da14083dacb4d8bb7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>cost_</name>
      <anchorfile>classbase__local__planner_1_1Trajectory.html</anchorfile>
      <anchor>ab4d255b7614df1a8f381d4e7eb44d385</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>thetav_</name>
      <anchorfile>classbase__local__planner_1_1Trajectory.html</anchorfile>
      <anchor>a9a93bfe9bb3c3b1d65b3627ce7cbae33</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>xv_</name>
      <anchorfile>classbase__local__planner_1_1Trajectory.html</anchorfile>
      <anchor>a228fb59ff438692ebedddb6899c8d957</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>yv_</name>
      <anchorfile>classbase__local__planner_1_1Trajectory.html</anchorfile>
      <anchor>abb4fc9493587f61f888f2cdfec62b89a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; double &gt;</type>
      <name>th_pts_</name>
      <anchorfile>classbase__local__planner_1_1Trajectory.html</anchorfile>
      <anchor>aeb1b21476d54b700d52ef914ab101476</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; double &gt;</type>
      <name>x_pts_</name>
      <anchorfile>classbase__local__planner_1_1Trajectory.html</anchorfile>
      <anchor>aceba1ac2da65c147f18120eb18c2cb50</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; double &gt;</type>
      <name>y_pts_</name>
      <anchorfile>classbase__local__planner_1_1Trajectory.html</anchorfile>
      <anchor>aeb5297a196ec8d7190278a8aa9a1289a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>base_local_planner::TrajectoryPlanner</name>
    <filename>classbase__local__planner_1_1TrajectoryPlanner.html</filename>
    <member kind="function">
      <type>bool</type>
      <name>checkTrajectory</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a16f45df8237d94cafe714d4e5aa4eeb3</anchor>
      <arglist>(double x, double y, double theta, double vx, double vy, double vtheta, double vx_samp, double vy_samp, double vtheta_samp)</arglist>
    </member>
    <member kind="function">
      <type>Trajectory</type>
      <name>findBestPath</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a26b25e08c3bd59f73b5aa19ad2a4a1e3</anchor>
      <arglist>(tf::Stamped&lt; tf::Pose &gt; global_pose, tf::Stamped&lt; tf::Pose &gt; global_vel, tf::Stamped&lt; tf::Pose &gt; &amp;drive_velocities)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getCellCosts</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a23f9726d0f43f94e8c5b3a50556dd7b7</anchor>
      <arglist>(int cx, int cy, float &amp;path_cost, float &amp;goal_cost, float &amp;occ_cost, float &amp;total_cost)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getLocalGoal</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a2106157af1e6bf29c289524ee3391db4</anchor>
      <arglist>(double &amp;x, double &amp;y)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>reconfigure</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a30b83584ef7b95a641db52efc67bc59c</anchor>
      <arglist>(BaseLocalPlannerConfig &amp;cfg)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>scoreTrajectory</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a8ff397f04fbb25760ab68e2ac65a99b0</anchor>
      <arglist>(double x, double y, double theta, double vx, double vy, double vtheta, double vx_samp, double vy_samp, double vtheta_samp)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TrajectoryPlanner</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a853a52d94e39d6ba1c85652c9c00ba40</anchor>
      <arglist>(WorldModel &amp;world_model, const costmap_2d::Costmap2D &amp;costmap, std::vector&lt; geometry_msgs::Point &gt; footprint_spec, double acc_lim_x=1.0, double acc_lim_y=1.0, double acc_lim_theta=1.0, double sim_time=1.0, double sim_granularity=0.025, int vx_samples=20, int vtheta_samples=20, double pdist_scale=0.6, double gdist_scale=0.8, double occdist_scale=0.2, double heading_lookahead=0.325, double oscillation_reset_dist=0.05, double escape_reset_dist=0.10, double escape_reset_theta=M_PI_2, bool holonomic_robot=true, double max_vel_x=0.5, double min_vel_x=0.1, double max_vel_th=1.0, double min_vel_th=-1.0, double min_in_place_vel_th=0.4, double backup_vel=-0.1, bool dwa=false, bool heading_scoring=false, double heading_scoring_timestep=0.1, bool simple_attractor=false, std::vector&lt; double &gt; y_vels=std::vector&lt; double &gt;(0), double stop_time_buffer=0.2, double sim_period=0.1, double angular_sim_granularity=0.025)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>updatePlan</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>ad8c384954625a91934bad8354f5dc24d</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;new_plan, bool compute_dists=false)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~TrajectoryPlanner</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>aeccbb304a8c6fe44b81a279a689831e6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>computeNewThetaPosition</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>aadd3289b84c1c76778cc705250757c66</anchor>
      <arglist>(double thetai, double vth, double dt)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>computeNewVelocity</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a054ff7c497b332357979908f5df35031</anchor>
      <arglist>(double vg, double vi, double a_max, double dt)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>computeNewXPosition</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a464d133b3ff7d997ff2de19ea769e0ef</anchor>
      <arglist>(double xi, double vx, double vy, double theta, double dt)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>computeNewYPosition</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a2177c9510ce5cb1a6564e4d39797b4a7</anchor>
      <arglist>(double yi, double vx, double vy, double theta, double dt)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>Trajectory</type>
      <name>createTrajectories</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a44c8434c9df68efb24eef36fc670ae7c</anchor>
      <arglist>(double x, double y, double theta, double vx, double vy, double vtheta, double acc_x, double acc_y, double acc_theta)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>footprintCost</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>ab3f9bae95f002f9a800f16feaffd460e</anchor>
      <arglist>(double x_i, double y_i, double theta_i)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>generateTrajectory</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a78ea0a479b32f589f518c55a78dcb755</anchor>
      <arglist>(double x, double y, double theta, double vx, double vy, double vtheta, double vx_samp, double vy_samp, double vtheta_samp, double acc_x, double acc_y, double acc_theta, double impossible_cost, Trajectory &amp;traj)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>getFillCells</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a63a0631e9bbfff0e9c901b05ac574745</anchor>
      <arglist>(std::vector&lt; base_local_planner::Position2DInt &gt; &amp;footprint)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>std::vector&lt; base_local_planner::Position2DInt &gt;</type>
      <name>getFootprintCells</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>ab63ebff2fcdad0532fca3819f4ac61b4</anchor>
      <arglist>(double x_i, double y_i, double theta_i, bool fill)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>getLineCells</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a6f32bdda549b2a64f6b3862bf39f152a</anchor>
      <arglist>(int x0, int x1, int y0, int y1, std::vector&lt; base_local_planner::Position2DInt &gt; &amp;pts)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>getMaxSpeedToStopInTime</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a7d1d82d8ba0c281c6d4992ac3f9d70d7</anchor>
      <arglist>(double time, double &amp;vx, double &amp;vy, double &amp;vth)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>headingDiff</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a36016a332040ca88776ebf7f48b632b4</anchor>
      <arglist>(int cell_x, int cell_y, double x, double y, double heading)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>lineCost</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>abd8710866ba7bd693c63919e93c87813</anchor>
      <arglist>(int x0, int x1, int y0, int y1)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>pointCost</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>ab1d5ed02ab5ede53f48fad6d426c27e9</anchor>
      <arglist>(int x, int y)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>acc_lim_theta_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>af212f9a9ecc07a1db91a97d0482074e0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>acc_lim_x_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a82433daefdecb2f33b5cafdcc361af4f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>acc_lim_y_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>ac84b1c3bee279de48b6e8c9487fce066</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>angular_sim_granularity_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a28e137b98274f7ceda2f2eeb497e6ab5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>backup_vel_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a7ac35a1ec8c8a60d503ec73593d9df5a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>boost::mutex</type>
      <name>configuration_mutex_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>aa8a12b241174a691ccb102f07ebbc218</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const costmap_2d::Costmap2D &amp;</type>
      <name>costmap_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a427473829005f026021798a2da855515</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>dwa_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a86059f83bea9cfa99ce90c02c8ab0c8d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>escape_reset_dist_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a2e06d36ab5445545d2962b031805873e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>escape_reset_theta_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>ac4c627bceed847bc3ae7cd8471c2880b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>escape_theta_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a4fe36fdff093780fb769adbb13a3207a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>escape_x_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a12154babd84af0fdcb45a280e6089cd7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>escape_y_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a36dfa6683ed074e63ff129451b975493</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>escaping_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a89537dae396e2c07f35be85c679488a5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; geometry_msgs::Point &gt;</type>
      <name>footprint_spec_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a010de99484b85362d060624780cc5d92</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>gdist_scale_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a4a549e213d7c61431e4827f9d1372a3f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; geometry_msgs::PoseStamped &gt;</type>
      <name>global_plan_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a2c5b9a33117e579550c1060cf7f3e142</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>goal_x_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a650f7b3ec7732318271dce4fa29f8b77</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>goal_y_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a575b14a06d9d982898b36b88714aee40</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>heading_lookahead_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a453521003c8a2def8f7c7b0ba1ef9894</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>heading_scoring_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a1c76975ab90a0952538d435ab782b7f4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>heading_scoring_timestep_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a350e42ec12def8880eecf441d83f44bf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>holonomic_robot_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a1edda9ad372428d05f954aad5b9da9b4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>MapGrid</type>
      <name>map_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>ac77108a5dc15dc7a0e03a0766475f9c4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>max_vel_th_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a6d205cfad977b364a103dcd523f189f6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>max_vel_x_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a17e663c990e2705fdfffc512a22926e1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>min_in_place_vel_th_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>af3ed1fa44d9f4c55486bf15407ec8cb0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>min_vel_th_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a41241453b8b3c665ef9d910e721f33a5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>min_vel_x_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>ace2a2cec2204ac066abe84ea39f0f642</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>occdist_scale_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a58c8fa7023dba6cbba95839faee0f76d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>oscillation_reset_dist_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a2909e523020dda88f5250a7a35cc1944</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>pdist_scale_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a882a34b78d0ab7035168d829511e8ed7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>prev_x_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>ace87f6aece448f136b515c93e856619b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>prev_y_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a7085404fa06ee6e665049d6e4d47943e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>rotating_left</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>ae5a805a21dd2e1a935e975bc2d74e654</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>rotating_right</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a436b60135113893ef95ea5a03b5ddffd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>sim_granularity_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>ace7d9b990dc6dd023e551471b3803378</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>sim_period_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a75cfc9c4728404e06fde402c9e5e95d0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>sim_time_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>ad9a02872d29a4276b4f2a0d4967c180e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>simple_attractor_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a089775d1b5646dd117f279e3b121bf3a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>stop_time_buffer_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>acc4710bc2d6dbb6afd472c420f985caa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>strafe_left</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a865fd11f01628c7de45f1dfe9fec51ba</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>strafe_right</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a763c6afbfbbdf7be1900b8ed74690392</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>stuck_left</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a14ea7ef27beed0398c4f24c5c03c8959</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>stuck_left_strafe</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>aa0472ad50b674b4b11b91beecf111664</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>stuck_right</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a80f1f1eb4e72bc88e586c57de0409ece</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>stuck_right_strafe</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a9993d5c80b8b01ef5e22f719e42c03e2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Trajectory</type>
      <name>traj_one</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>abf0f6db3fa6539455fe652fff72e8b60</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Trajectory</type>
      <name>traj_two</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>ae3c8ba0a1ae42c76feafd794b83418a9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>vtheta_samples_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a2048288dc999810dfc28cdcfa524f14d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>vx_samples_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a7df8ed75c0d6ac171d468ec486b1f5d7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>WorldModel &amp;</type>
      <name>world_model_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a3cc8b66e54642a9967d736d5eae01b60</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; double &gt;</type>
      <name>y_vels_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a5f0e1162d1120486111c68f44a0233e0</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend" protection="private">
      <type>friend class</type>
      <name>TrajectoryPlannerTest</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a156887bf956f38e1462db6dfbbe523a1</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>base_local_planner::TrajectoryPlannerROS</name>
    <filename>classbase__local__planner_1_1TrajectoryPlannerROS.html</filename>
    <base>nav_core::BaseLocalPlanner</base>
    <member kind="function">
      <type>bool</type>
      <name>checkTrajectory</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a9155bebb3d073ae4b19b8d0da87478a6</anchor>
      <arglist>(double vx_samp, double vy_samp, double vtheta_samp, bool update_map=true)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>computeVelocityCommands</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>adb2d96332da31a154db84930754409af</anchor>
      <arglist>(geometry_msgs::Twist &amp;cmd_vel)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>initialize</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a4b78694e9a9731a93d46adb57dc3e61c</anchor>
      <arglist>(std::string name, tf::TransformListener *tf, costmap_2d::Costmap2DROS *costmap_ros)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isGoalReached</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a5196b75a728ab7c37d6bdd99faa7b541</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>scoreTrajectory</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>af883fc515db5a2234cd6b6d366ca31a5</anchor>
      <arglist>(double vx_samp, double vy_samp, double vtheta_samp, bool update_map=true)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>setPlan</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>af3a0c8be5746b1e1d8657f6b867ea934</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;orig_global_plan)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TrajectoryPlannerROS</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>ae646760a3abcffa60565753165fb1a07</anchor>
      <arglist>(std::string name, tf::TransformListener *tf, costmap_2d::Costmap2DROS *costmap_ros)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TrajectoryPlannerROS</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a3b6817c8d9f2a49b00ccdda3bc166548</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~TrajectoryPlannerROS</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a79384acb51a894dbcec4447bee1ca90f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>std::vector&lt; double &gt;</type>
      <name>loadYVels</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a1a94734b46ffd4a4b0cc58ac894e9414</anchor>
      <arglist>(ros::NodeHandle node)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>odomCallback</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>aabae6c3dc2661ca9dc1943fcf9eb42b7</anchor>
      <arglist>(const nav_msgs::Odometry::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>reconfigureCB</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a9fa1e0775ebaf2cc0d46d65011b68630</anchor>
      <arglist>(BaseLocalPlannerConfig &amp;config, uint32_t level)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>rotateToGoal</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a6ea972db94204fc635899b8127f128c8</anchor>
      <arglist>(const tf::Stamped&lt; tf::Pose &gt; &amp;global_pose, const tf::Stamped&lt; tf::Pose &gt; &amp;robot_vel, double goal_th, geometry_msgs::Twist &amp;cmd_vel)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>sign</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>ada7a715a0c6fb57fa5254b817519362b</anchor>
      <arglist>(double x)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>stopWithAccLimits</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>aa8d2785ab7ab109f58125e217b6f6db2</anchor>
      <arglist>(const tf::Stamped&lt; tf::Pose &gt; &amp;global_pose, const tf::Stamped&lt; tf::Pose &gt; &amp;robot_vel, geometry_msgs::Twist &amp;cmd_vel)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>acc_lim_theta_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a41ba3f1430e5c76121e82fae51d3e8b2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>acc_lim_x_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a56643b042c9ab1f755c01690153b24fb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>acc_lim_y_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a69c43326c04a92417c9daaf212ce4bda</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>nav_msgs::Odometry</type>
      <name>base_odom_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a1696ab6bd7f735c93a1bc0ed71713f78</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>costmap_2d::Costmap2D</type>
      <name>costmap_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a4254b4823c909cebabcc619a3ace699a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>costmap_2d::Costmap2DROS *</type>
      <name>costmap_ros_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a88bcbda99e0430a9674784b7e6e552e5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>base_local_planner::BaseLocalPlannerConfig</type>
      <name>default_config_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a8a236aa31c9c2336f6bcf71c86adbf89</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>dynamic_reconfigure::Server&lt; BaseLocalPlannerConfig &gt; *</type>
      <name>dsrv_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a4d459ec3873d93b98a43747dafc1644e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Publisher</type>
      <name>g_plan_pub_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a3d15245f94d7d5ba0c00bd09823e32d3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>global_frame_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>ae1ef03662ad6972629e2f40db458ed79</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; geometry_msgs::PoseStamped &gt;</type>
      <name>global_plan_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a226445fba5513d89198ff40f8673b1ad</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>inflation_radius_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a0357566794e8376d380b677d8c9f0fed</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>initialized_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a49c099ecf00a17b0d01b8dd0707897b8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Publisher</type>
      <name>l_plan_pub_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a33f0bdeafb5bd4e2097afaf193cecdc9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>latch_xy_goal_tolerance_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a688aca3f50ec29a81f048e1e49017abf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>MapGridVisualizer</type>
      <name>map_viz_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>ac473c8569b7c79663162376818a2b353</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>max_sensor_range_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>ad870ec0a030496c3f00570d5b7492947</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>max_vel_th_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>ac2942f48b2c9fecff51b1889daf5e5d4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>min_in_place_vel_th_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>aab87187e1f93b2202ca5b2ccdc54a133</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>min_vel_th_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a64133d6019a4dcf33eec70a71830ee1c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>boost::recursive_mutex</type>
      <name>odom_lock_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a6b8c9cb6ff03cb4a88ef3c43662bef91</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>odom_sub_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a0a3a92a6cbf9d63af669bbfabeeebf0a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>prune_plan_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>af604f4e53309a3c6bced47e540c22e78</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>robot_base_frame_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>ae76406da45ddc78af258c3c514edd6f2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>rot_stopped_velocity_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a09ff11c255348f097b206d5bbb407f4d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>rotating_to_goal_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a53a875c2c222307d1cbc06679164f214</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>setup_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a027afe3c5cb208ede6b5ac7a10ef819e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>sim_period_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>ae40f0600cfee52046c949523aef364b7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>TrajectoryPlanner *</type>
      <name>tc_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a46e956dac438ffd88c237d3dd2964869</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>tf::TransformListener *</type>
      <name>tf_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>ab7712f8c85d8071e460c587f4d3ea004</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>trans_stopped_velocity_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>ac2d24f42ed1e07067887fd1745b0c13c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>WorldModel *</type>
      <name>world_model_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a5b05092eccb2fb636c597265d5ed40b2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>xy_goal_tolerance_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a3c00302b7da1fa156f5041ae41c1b493</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>xy_tolerance_latch_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a3ab2b17659e6233084ebb0856f7d801a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>yaw_goal_tolerance_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a21f3bfe629bbe670733042823f49584e</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>base_local_planner::TrajectoryPlannerTest</name>
    <filename>classbase__local__planner_1_1TrajectoryPlannerTest.html</filename>
    <member kind="function">
      <type>void</type>
      <name>checkGoalDistance</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerTest.html</anchorfile>
      <anchor>a58ec327a9cf5589741ccf6bd31ca933d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>checkPathDistance</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerTest.html</anchorfile>
      <anchor>a53eaee5e09664c9c8882bf23eb45be82</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>correctFootprint</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerTest.html</anchorfile>
      <anchor>a43249763a2358cc3abf0c673662ed823</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>footprintObstacles</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerTest.html</anchorfile>
      <anchor>aed6310ad3775b62007fa12ea9a3df4da</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>TestBody</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerTest.html</anchorfile>
      <anchor>a8e6a863d9c967c9c2fc60ff3292ff4c8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TrajectoryPlannerTest</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerTest.html</anchorfile>
      <anchor>ad2c7ab13340981964655ae5d5511b91f</anchor>
      <arglist>(MapGrid &amp;g, WavefrontMapAccessor *wave, const costmap_2d::Costmap2D &amp;map, std::vector&lt; geometry_msgs::Point &gt; footprint_spec)</arglist>
    </member>
    <member kind="variable">
      <type>CostmapModel</type>
      <name>cm</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerTest.html</anchorfile>
      <anchor>a5949fa290c690e22c3ccb4624c154172</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>MapGrid &amp;</type>
      <name>map_</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerTest.html</anchorfile>
      <anchor>ad146e70202da8696567caaf8eeb1f1e0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>TrajectoryPlanner</type>
      <name>tc</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerTest.html</anchorfile>
      <anchor>a5c253e4bb8d1d7a0e9e100a6a1854828</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>WavefrontMapAccessor *</type>
      <name>wa</name>
      <anchorfile>classbase__local__planner_1_1TrajectoryPlannerTest.html</anchorfile>
      <anchor>adf6cf7136a42b0f42d6aa978933ce447</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>base_local_planner::VoxelGridModel</name>
    <filename>classbase__local__planner_1_1VoxelGridModel.html</filename>
    <base>base_local_planner::WorldModel</base>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>footprintCost</name>
      <anchorfile>classbase__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>aa6bc3668327838938f7881a6f553b521</anchor>
      <arglist>(const geometry_msgs::Point &amp;position, const std::vector&lt; geometry_msgs::Point &gt; &amp;footprint, double inscribed_radius, double circumscribed_radius)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getPoints</name>
      <anchorfile>classbase__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>ae83079ddab58c740ffd2ef1a7cb3adee</anchor>
      <arglist>(pcl::PointCloud&lt; pcl::PointXYZ &gt; &amp;cloud)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>updateWorld</name>
      <anchorfile>classbase__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>a3a5b2c042a813dc06a9fdbfcd0bd6291</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::Point &gt; &amp;footprint, const std::vector&lt; costmap_2d::Observation &gt; &amp;observations, const std::vector&lt; PlanarLaserScan &gt; &amp;laser_scans)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>VoxelGridModel</name>
      <anchorfile>classbase__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>a41482cba0c408053ef433d486693d8b4</anchor>
      <arglist>(double size_x, double size_y, double size_z, double xy_resolution, double z_resolution, double origin_x, double origin_y, double origin_z, double max_z, double obstacle_range)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~VoxelGridModel</name>
      <anchorfile>classbase__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>ab9d0a3a6fa8ea481c8b3911b90236c3b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>dist</name>
      <anchorfile>classbase__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>a1c2c7a677f931ae95969ebf5bfcccd3d</anchor>
      <arglist>(double x0, double y0, double z0, double x1, double y1, double z1)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>insert</name>
      <anchorfile>classbase__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>ad26f82e4e8c551d28be9beedd774c055</anchor>
      <arglist>(pcl::PointXYZ pt)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>lineCost</name>
      <anchorfile>classbase__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>a5d23209def60ddb1e49b2ab5b38b57b1</anchor>
      <arglist>(int x0, int x1, int y0, int y1)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>mapToWorld2D</name>
      <anchorfile>classbase__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>af8f524f9f74e572c83b04ce82f5a4608</anchor>
      <arglist>(unsigned int mx, unsigned int my, double &amp;wx, double &amp;wy)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>mapToWorld3D</name>
      <anchorfile>classbase__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>acef8400483d48cae6e563cfcb79bbc7c</anchor>
      <arglist>(unsigned int mx, unsigned int my, unsigned int mz, double &amp;wx, double &amp;wy, double &amp;wz)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>pointCost</name>
      <anchorfile>classbase__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>a4fd267d8b1e15639cde041ce9a57c505</anchor>
      <arglist>(int x, int y)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>removePointsInScanBoundry</name>
      <anchorfile>classbase__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>a1ec57951ccb153b2a2a2e997e703e13f</anchor>
      <arglist>(const PlanarLaserScan &amp;laser_scan, double raytrace_range)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>worldToMap2D</name>
      <anchorfile>classbase__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>a186435fb11fac84f700c65c9d09f1c66</anchor>
      <arglist>(double wx, double wy, unsigned int &amp;mx, unsigned int &amp;my)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>worldToMap3D</name>
      <anchorfile>classbase__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>a3a709a7c0a5b7715cc4ffd3f5b9ce739</anchor>
      <arglist>(double wx, double wy, double wz, unsigned int &amp;mx, unsigned int &amp;my, unsigned int &amp;mz)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>max_z_</name>
      <anchorfile>classbase__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>aa9d5f978d8eb185e9fcdc325212fda46</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>voxel_grid::VoxelGrid</type>
      <name>obstacle_grid_</name>
      <anchorfile>classbase__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>ad8bd0fed79e42f431c92cb8916e049f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>origin_x_</name>
      <anchorfile>classbase__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>a50ccc7fead8cd105840c9858c5ef001f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>origin_y_</name>
      <anchorfile>classbase__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>ae2d0311c5a1c6110b929d0111fb1ce79</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>origin_z_</name>
      <anchorfile>classbase__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>a867dabbafce30cdaa5f7f736445abfeb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>sq_obstacle_range_</name>
      <anchorfile>classbase__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>a61791d30cb1403e93f3e3659743abd74</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>xy_resolution_</name>
      <anchorfile>classbase__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>a9a2a512520fcb62c8ea1f1f8c91094b9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>z_resolution_</name>
      <anchorfile>classbase__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>a30df42099cd22d24e1b7d9900c1b60e0</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>base_local_planner::WavefrontMapAccessor</name>
    <filename>classbase__local__planner_1_1WavefrontMapAccessor.html</filename>
    <base>costmap_2d::Costmap2D</base>
    <member kind="function">
      <type>void</type>
      <name>synchronize</name>
      <anchorfile>classbase__local__planner_1_1WavefrontMapAccessor.html</anchorfile>
      <anchor>a22a6ea335309603f580cac039bc8871c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>WavefrontMapAccessor</name>
      <anchorfile>classbase__local__planner_1_1WavefrontMapAccessor.html</anchorfile>
      <anchor>ae92e32fe659ba7aee0384015e0b385d8</anchor>
      <arglist>(MapGrid &amp;map, double outer_radius)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~WavefrontMapAccessor</name>
      <anchorfile>classbase__local__planner_1_1WavefrontMapAccessor.html</anchorfile>
      <anchor>aacf3ec8556be6b053c003593658dd38b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>MapGrid &amp;</type>
      <name>map_</name>
      <anchorfile>classbase__local__planner_1_1WavefrontMapAccessor.html</anchorfile>
      <anchor>ae5f8ba5cd62755debdec3044aadb218c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>outer_radius_</name>
      <anchorfile>classbase__local__planner_1_1WavefrontMapAccessor.html</anchorfile>
      <anchor>a37c744569edbaa7c226bca3d046844d4</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>base_local_planner::WorldModel</name>
    <filename>classbase__local__planner_1_1WorldModel.html</filename>
    <member kind="function" virtualness="pure">
      <type>virtual double</type>
      <name>footprintCost</name>
      <anchorfile>classbase__local__planner_1_1WorldModel.html</anchorfile>
      <anchor>a36d4c808bc441e2b87b0ac038099993a</anchor>
      <arglist>(const geometry_msgs::Point &amp;position, const std::vector&lt; geometry_msgs::Point &gt; &amp;footprint, double inscribed_radius, double circumscribed_radius)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~WorldModel</name>
      <anchorfile>classbase__local__planner_1_1WorldModel.html</anchorfile>
      <anchor>a87c45611143fde55c4a2efb4d078471d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>WorldModel</name>
      <anchorfile>classbase__local__planner_1_1WorldModel.html</anchorfile>
      <anchor>a577351de9f26b9fc6f702e1cceed84e4</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>base_local_planner::msg</name>
    <filename>namespacebase__local__planner_1_1msg.html</filename>
    <namespace>base_local_planner::msg::_Position2DInt</namespace>
  </compound>
  <compound kind="namespace">
    <name>base_local_planner::msg::_Position2DInt</name>
    <filename>namespacebase__local__planner_1_1msg_1_1__Position2DInt.html</filename>
    <class kind="class">base_local_planner::msg::_Position2DInt::Position2DInt</class>
    <member kind="variable">
      <type>tuple</type>
      <name>_struct_2q</name>
      <anchorfile>namespacebase__local__planner_1_1msg_1_1__Position2DInt.html</anchorfile>
      <anchor>ae8fec6881ee182805120bf8ba1d8d71f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>_struct_I</name>
      <anchorfile>namespacebase__local__planner_1_1msg_1_1__Position2DInt.html</anchorfile>
      <anchor>afce50c32490f0eccf9d5227af9e30832</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>base_local_planner::msg::_Position2DInt::Position2DInt</name>
    <filename>classbase__local__planner_1_1msg_1_1__Position2DInt_1_1Position2DInt.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classbase__local__planner_1_1msg_1_1__Position2DInt_1_1Position2DInt.html</anchorfile>
      <anchor>acd224694de26e65ed71962b36caec72f</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>deserialize</name>
      <anchorfile>classbase__local__planner_1_1msg_1_1__Position2DInt_1_1Position2DInt.html</anchorfile>
      <anchor>aa47de016649f5356b96d73dc8195cb49</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>deserialize_numpy</name>
      <anchorfile>classbase__local__planner_1_1msg_1_1__Position2DInt_1_1Position2DInt.html</anchorfile>
      <anchor>a9936628a75d4bbb06c33ddd096aa40cd</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>serialize</name>
      <anchorfile>classbase__local__planner_1_1msg_1_1__Position2DInt_1_1Position2DInt.html</anchorfile>
      <anchor>a73caa8d0501c456102dc8a59c38f520b</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>serialize_numpy</name>
      <anchorfile>classbase__local__planner_1_1msg_1_1__Position2DInt_1_1Position2DInt.html</anchorfile>
      <anchor>af7adf0412cb2fd512caa1fb574b75cba</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x</name>
      <anchorfile>classbase__local__planner_1_1msg_1_1__Position2DInt_1_1Position2DInt.html</anchorfile>
      <anchor>a06942698abbeac4b331536fae7b56d68</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>y</name>
      <anchorfile>classbase__local__planner_1_1msg_1_1__Position2DInt_1_1Position2DInt.html</anchorfile>
      <anchor>a5efec392a05221e2920bd0cffeb3ea3e</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="private">
      <type>def</type>
      <name>_get_types</name>
      <anchorfile>classbase__local__planner_1_1msg_1_1__Position2DInt_1_1Position2DInt.html</anchorfile>
      <anchor>ad669e67c97a74bdd8511e3e954ab4bcb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type>list</type>
      <name>__slots__</name>
      <anchorfile>classbase__local__planner_1_1msg_1_1__Position2DInt_1_1Position2DInt.html</anchorfile>
      <anchor>a597dc152a604ebddb545f113ff604290</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type>string</type>
      <name>_full_text</name>
      <anchorfile>classbase__local__planner_1_1msg_1_1__Position2DInt_1_1Position2DInt.html</anchorfile>
      <anchor>af1b8a5933d6773dea88c9a3b3674d754</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type></type>
      <name>_has_header</name>
      <anchorfile>classbase__local__planner_1_1msg_1_1__Position2DInt_1_1Position2DInt.html</anchorfile>
      <anchor>aeb0ee77385e5b1aae3262018367bb1d0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type>string</type>
      <name>_md5sum</name>
      <anchorfile>classbase__local__planner_1_1msg_1_1__Position2DInt_1_1Position2DInt.html</anchorfile>
      <anchor>ae339058439553ea7e0723019756ad57f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type>list</type>
      <name>_slot_types</name>
      <anchorfile>classbase__local__planner_1_1msg_1_1__Position2DInt_1_1Position2DInt.html</anchorfile>
      <anchor>a4cc73f82c076305914ab4476fb0c2c77</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type>string</type>
      <name>_type</name>
      <anchorfile>classbase__local__planner_1_1msg_1_1__Position2DInt_1_1Position2DInt.html</anchorfile>
      <anchor>a3ad46976cb25a7e573caecf87fbd403f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>ros::message_operations::Printer&lt; ::base_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &gt;</name>
    <filename>structros_1_1message__operations_1_1Printer_3_01_1_1base__local__planner_1_1Position2DInt___3_01ContainerAllocator_01_4_01_4.html</filename>
    <templarg></templarg>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>stream</name>
      <anchorfile>structros_1_1message__operations_1_1Printer_3_01_1_1base__local__planner_1_1Position2DInt___3_01ContainerAllocator_01_4_01_4.html</anchorfile>
      <anchor>a24f6285d62270074bba6d38cbf43053f</anchor>
      <arglist>(Stream &amp;s, const std::string &amp;indent, const ::base_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &amp;v)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>ros::message_traits::DataType&lt; ::base_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &gt;</name>
    <filename>structros_1_1message__traits_1_1DataType_3_01_1_1base__local__planner_1_1Position2DInt___3_01ContainerAllocator_01_4_01_4.html</filename>
    <templarg></templarg>
    <member kind="function" static="yes">
      <type>static const char *</type>
      <name>value</name>
      <anchorfile>structros_1_1message__traits_1_1DataType_3_01_1_1base__local__planner_1_1Position2DInt___3_01ContainerAllocator_01_4_01_4.html</anchorfile>
      <anchor>a9293583b6eac6bc7c774c82f21f43feb</anchor>
      <arglist>(const ::base_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &amp;)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const char *</type>
      <name>value</name>
      <anchorfile>structros_1_1message__traits_1_1DataType_3_01_1_1base__local__planner_1_1Position2DInt___3_01ContainerAllocator_01_4_01_4.html</anchorfile>
      <anchor>a91027aebf9c2eefe3b4a9ea66e40a835</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>ros::message_traits::Definition&lt; ::base_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &gt;</name>
    <filename>structros_1_1message__traits_1_1Definition_3_01_1_1base__local__planner_1_1Position2DInt___3_01ContainerAllocator_01_4_01_4.html</filename>
    <templarg></templarg>
    <member kind="function" static="yes">
      <type>static const char *</type>
      <name>value</name>
      <anchorfile>structros_1_1message__traits_1_1Definition_3_01_1_1base__local__planner_1_1Position2DInt___3_01ContainerAllocator_01_4_01_4.html</anchorfile>
      <anchor>a583786c29bdfea3c65ff66b85b36a08a</anchor>
      <arglist>(const ::base_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &amp;)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const char *</type>
      <name>value</name>
      <anchorfile>structros_1_1message__traits_1_1Definition_3_01_1_1base__local__planner_1_1Position2DInt___3_01ContainerAllocator_01_4_01_4.html</anchorfile>
      <anchor>a5ffba4f113fec8344d5c0a3689d5e8e5</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>ros::message_traits::IsFixedSize&lt; ::base_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &gt;</name>
    <filename>structros_1_1message__traits_1_1IsFixedSize_3_01_1_1base__local__planner_1_1Position2DInt___3_01ContainerAllocator_01_4_01_4.html</filename>
    <templarg></templarg>
    <base>ros::message_traits::TrueType</base>
  </compound>
  <compound kind="struct">
    <name>ros::message_traits::IsMessage&lt; ::base_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &gt;</name>
    <filename>structros_1_1message__traits_1_1IsMessage_3_01_1_1base__local__planner_1_1Position2DInt___3_01ContainerAllocator_01_4_01_4.html</filename>
    <templarg></templarg>
    <base>ros::message_traits::TrueType</base>
  </compound>
  <compound kind="struct">
    <name>ros::message_traits::IsMessage&lt; ::base_local_planner::Position2DInt_&lt; ContainerAllocator &gt;const  &gt;</name>
    <filename>structros_1_1message__traits_1_1IsMessage_3_01_1_1base__local__planner_1_1Position2DInt___3_01Coc0b63efb5fd073c3de67886ba7975af4.html</filename>
    <templarg></templarg>
    <base>ros::message_traits::TrueType</base>
  </compound>
  <compound kind="struct">
    <name>ros::message_traits::MD5Sum&lt; ::base_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &gt;</name>
    <filename>structros_1_1message__traits_1_1MD5Sum_3_01_1_1base__local__planner_1_1Position2DInt___3_01ContainerAllocator_01_4_01_4.html</filename>
    <templarg></templarg>
    <member kind="function" static="yes">
      <type>static const char *</type>
      <name>value</name>
      <anchorfile>structros_1_1message__traits_1_1MD5Sum_3_01_1_1base__local__planner_1_1Position2DInt___3_01ContainerAllocator_01_4_01_4.html</anchorfile>
      <anchor>ab2c68bc590256561e635116bd56badd6</anchor>
      <arglist>(const ::base_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &amp;)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const char *</type>
      <name>value</name>
      <anchorfile>structros_1_1message__traits_1_1MD5Sum_3_01_1_1base__local__planner_1_1Position2DInt___3_01ContainerAllocator_01_4_01_4.html</anchorfile>
      <anchor>ae00d0f96397edcc9c34ceccb1ec5898a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const uint64_t</type>
      <name>static_value1</name>
      <anchorfile>structros_1_1message__traits_1_1MD5Sum_3_01_1_1base__local__planner_1_1Position2DInt___3_01ContainerAllocator_01_4_01_4.html</anchorfile>
      <anchor>a2b6473151a93b45f186e98b553c9d2db</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const uint64_t</type>
      <name>static_value2</name>
      <anchorfile>structros_1_1message__traits_1_1MD5Sum_3_01_1_1base__local__planner_1_1Position2DInt___3_01ContainerAllocator_01_4_01_4.html</anchorfile>
      <anchor>a9d3ebe137ae0a62ae897010210c26475</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>ros::serialization::Serializer&lt; ::base_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &gt;</name>
    <filename>structros_1_1serialization_1_1Serializer_3_01_1_1base__local__planner_1_1Position2DInt___3_01ContainerAllocator_01_4_01_4.html</filename>
    <templarg></templarg>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>allInOne</name>
      <anchorfile>structros_1_1serialization_1_1Serializer_3_01_1_1base__local__planner_1_1Position2DInt___3_01ContainerAllocator_01_4_01_4.html</anchorfile>
      <anchor>ab1ab1d9a969245be1e430bc7367c0471</anchor>
      <arglist>(Stream &amp;stream, T m)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ROS_DECLARE_ALLINONE_SERIALIZER</name>
      <anchorfile>structros_1_1serialization_1_1Serializer_3_01_1_1base__local__planner_1_1Position2DInt___3_01ContainerAllocator_01_4_01_4.html</anchorfile>
      <anchor>a563e5963d5352adf7c2dde31f092d5f7</anchor>
      <arglist></arglist>
    </member>
  </compound>
</tagfile>
