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    <filename>classompl__interface__testing_1_1LoadTestRobot.html</filename>
    <member kind="function" protection="protected">
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      <anchorfile>classompl__interface__testing_1_1LoadTestRobot.html</anchorfile>
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      <arglist>(const std::string &amp;robot_name, const std::string &amp;group_name)</arglist>
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      <type>std::string</type>
      <name>base_link_name_</name>
      <anchorfile>classompl__interface__testing_1_1LoadTestRobot.html</anchorfile>
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      <arglist></arglist>
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      <type>std::string</type>
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      <anchorfile>classompl__interface__testing_1_1LoadTestRobot.html</anchorfile>
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      <arglist></arglist>
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      <type>const std::string</type>
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      <anchor>a62474895bcca99c879b348ef60efbb5c</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>const robot_state::JointModelGroup *</type>
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      <arglist></arglist>
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      <type>std::size_t</type>
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      <anchor>a2dc2045584029dcb58b0ca77cf1e8673</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>moveit::core::RobotModelPtr</type>
      <name>robot_model_</name>
      <anchorfile>classompl__interface__testing_1_1LoadTestRobot.html</anchorfile>
      <anchor>a6b1fd001b4209a4b69db4d83c72f5321</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>const std::string</type>
      <name>robot_name_</name>
      <anchorfile>classompl__interface__testing_1_1LoadTestRobot.html</anchorfile>
      <anchor>a5620e0828207b3b7cc972accf4333859</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>robot_state::RobotStatePtr</type>
      <name>robot_state_</name>
      <anchorfile>classompl__interface__testing_1_1LoadTestRobot.html</anchorfile>
      <anchor>a692669e7541eaea9341b1076ccd2c47d</anchor>
      <arglist></arglist>
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    <filename>classompl__interface_1_1ModelBasedPlanningContext.html</filename>
    <base>planning_interface::PlanningContext</base>
    <member kind="function">
      <type>bool</type>
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      <arglist>(double timeout, unsigned int count, const std::string &amp;filename=&quot;&quot;)</arglist>
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      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
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      <arglist>() override</arglist>
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      <arglist>(const ros::NodeHandle &amp;nh, bool use_constraints_approximations)</arglist>
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      <type>void</type>
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      <arglist>(const og::PathGeometric &amp;pg, robot_trajectory::RobotTrajectory &amp;traj) const</arglist>
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      <type>const moveit::core::RobotState &amp;</type>
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      <arglist>() const</arglist>
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      <type>const constraint_samplers::ConstraintSamplerManagerPtr &amp;</type>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>const ConstraintsLibraryPtr &amp;</type>
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      <arglist>() const</arglist>
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      <type>ConstraintsLibraryPtr</type>
      <name>getConstraintsLibraryNonConst</name>
      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>const moveit::core::JointModelGroup *</type>
      <name>getJointModelGroup</name>
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      <arglist>() const</arglist>
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      <type>double</type>
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      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>double</type>
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      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>unsigned int</type>
      <name>getMaximumGoalSamples</name>
      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>unsigned int</type>
      <name>getMaximumGoalSamplingAttempts</name>
      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>unsigned int</type>
      <name>getMaximumPlanningThreads</name>
      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>double</type>
      <name>getMaximumSolutionSegmentLength</name>
      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
      <anchor>addeb2ac667bda523bf500989cdf36747</anchor>
      <arglist>() const</arglist>
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      <type>unsigned int</type>
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      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>unsigned int</type>
      <name>getMinimumWaypointCount</name>
      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
      <anchor>a97392e0dce5cab1a9275175ddeafd0c2</anchor>
      <arglist>() const</arglist>
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      <name>getOMPLBenchmark</name>
      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
      <anchor>ac29d1448cb2e95db5250f15256877819</anchor>
      <arglist>()</arglist>
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      <type>const ot::Benchmark &amp;</type>
      <name>getOMPLBenchmark</name>
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      <arglist>() const</arglist>
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      <type>og::SimpleSetupPtr &amp;</type>
      <name>getOMPLSimpleSetup</name>
      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
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      <arglist>()</arglist>
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      <type>const og::SimpleSetupPtr &amp;</type>
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      <arglist>() const</arglist>
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      <type>const ModelBasedStateSpacePtr &amp;</type>
      <name>getOMPLStateSpace</name>
      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>const kinematic_constraints::KinematicConstraintSetPtr &amp;</type>
      <name>getPathConstraints</name>
      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>const moveit::core::RobotModelConstPtr &amp;</type>
      <name>getRobotModel</name>
      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>bool</type>
      <name>getSolutionPath</name>
      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
      <anchor>a2427bec09b70fb0a7524487f827016bf</anchor>
      <arglist>(robot_trajectory::RobotTrajectory &amp;traj) const</arglist>
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      <type>const ModelBasedPlanningContextSpecification &amp;</type>
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      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>const std::map&lt; std::string, std::string &gt; &amp;</type>
      <name>getSpecificationConfig</name>
      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>void</type>
      <name>interpolateSolution</name>
      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
      <anchor>a4fc428e4e6af604ec1c09564cd858501</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>loadConstraintApproximations</name>
      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
      <anchor>a718b3bccc4bbfa3a707dacfb1f548175</anchor>
      <arglist>(const ros::NodeHandle &amp;nh)</arglist>
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      <type></type>
      <name>ModelBasedPlanningContext</name>
      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
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      <arglist>(const std::string &amp;name, const ModelBasedPlanningContextSpecification &amp;spec)</arglist>
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      <type>bool</type>
      <name>saveConstraintApproximations</name>
      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
      <anchor>a8a04494d8f62900b590542335dd6201a</anchor>
      <arglist>(const ros::NodeHandle &amp;nh)</arglist>
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      <type>void</type>
      <name>setCompleteInitialState</name>
      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
      <anchor>a87a8bfa81f20d1c166f127b57e310cbf</anchor>
      <arglist>(const moveit::core::RobotState &amp;complete_initial_robot_state)</arglist>
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      <type>void</type>
      <name>setConstraintSamplerManager</name>
      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
      <anchor>aaa3b718c9f631f35e9a52a77e0d04f0c</anchor>
      <arglist>(const constraint_samplers::ConstraintSamplerManagerPtr &amp;csm)</arglist>
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      <type>void</type>
      <name>setConstraintsApproximations</name>
      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
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      <arglist>(const ConstraintsLibraryPtr &amp;constraints_library)</arglist>
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      <type>bool</type>
      <name>setGoalConstraints</name>
      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
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      <arglist>(const std::vector&lt; moveit_msgs::Constraints &gt; &amp;goal_constraints, const moveit_msgs::Constraints &amp;path_constraints, moveit_msgs::MoveItErrorCodes *error)</arglist>
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      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
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      <arglist>(bool flag)</arglist>
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      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
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      <arglist>(bool flag)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setMaximumGoalSamples</name>
      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
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      <arglist>(unsigned int max_goal_samples)</arglist>
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      <type>void</type>
      <name>setMaximumGoalSamplingAttempts</name>
      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
      <anchor>a790ef3b74793decc59a32cbb9be9b58d</anchor>
      <arglist>(unsigned int max_goal_sampling_attempts)</arglist>
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      <type>void</type>
      <name>setMaximumPlanningThreads</name>
      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
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      <arglist>(unsigned int max_planning_threads)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setMaximumSolutionSegmentLength</name>
      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
      <anchor>a3c1a571607e634f63d9e78b21c8e2733</anchor>
      <arglist>(double mssl)</arglist>
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      <type>void</type>
      <name>setMaximumStateSamplingAttempts</name>
      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
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      <arglist>(unsigned int max_state_sampling_attempts)</arglist>
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      <name>setMinimumWaypointCount</name>
      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
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      <arglist>(unsigned int mwc)</arglist>
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      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
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      <arglist>(const moveit_msgs::Constraints &amp;path_constraints, moveit_msgs::MoveItErrorCodes *error)</arglist>
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      <arglist>(const moveit_msgs::WorkspaceParameters &amp;wparams)</arglist>
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      <arglist>(const std::string &amp;peval)</arglist>
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      <arglist>(const std::map&lt; std::string, std::string &gt; &amp;config)</arglist>
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      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
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      <arglist>(bool flag)</arglist>
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      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
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      <arglist>(double timeout)</arglist>
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      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
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      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
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      <arglist>(bool flag)</arglist>
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    <member kind="function">
      <type>const moveit_msgs::MoveItErrorCodes</type>
      <name>solve</name>
      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
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      <arglist>(double timeout, unsigned int count)</arglist>
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      <type>bool</type>
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      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
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      <arglist>(planning_interface::MotionPlanDetailedResponse &amp;res) override</arglist>
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      <type>bool</type>
      <name>solve</name>
      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
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      <arglist>(planning_interface::MotionPlanResponse &amp;res) override</arglist>
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      <name>terminate</name>
      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
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      <arglist>() override</arglist>
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      <name>~ModelBasedPlanningContext</name>
      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
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      <arglist>() override</arglist>
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      <type>virtual ob::StateSamplerPtr</type>
      <name>allocPathConstrainedSampler</name>
      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
      <anchor>ac220ab7de080e32fcb91f3644e7bb1f2</anchor>
      <arglist>(const ompl::base::StateSpace *ss) const</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual ob::GoalPtr</type>
      <name>constructGoal</name>
      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
      <anchor>aee14229aca593e33a73106cc6275ed73</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual ob::PlannerTerminationCondition</type>
      <name>constructPlannerTerminationCondition</name>
      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
      <anchor>a54477ea9c26e40fde3431ae24a519654</anchor>
      <arglist>(double timeout, const ompl::time::point &amp;start)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>int32_t</type>
      <name>errorCode</name>
      <anchorfile>classompl__interface_1_1ModelBasedPlanningContext.html</anchorfile>
      <anchor>a28fc28725aad08560115b22be14c1f9e</anchor>
      <arglist>(const ompl::base::PlannerStatus &amp;status)</arglist>
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      <arglist>(const ompl::base::State *state, std::ostream &amp;out) const override</arglist>
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      <arglist>(const ompl::base::State *state) const override</arglist>
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      <arglist>(double minX, double maxX, double minY, double maxY, double minZ, double maxZ)</arglist>
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      <arglist>(const planning_scene::PlanningSceneConstPtr &amp;planning_scene, const planning_interface::MotionPlanRequest &amp;req, moveit_msgs::MoveItErrorCodes &amp;error_code) const</arglist>
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      <arglist>(const moveit::core::RobotModelConstPtr &amp;robot_model, const planning_interface::PlannerConfigurationMap &amp;pconfig, const ros::NodeHandle &amp;nh=ros::NodeHandle(&quot;~&quot;))</arglist>
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      <arglist>(const planning_interface::PlannerConfigurationMap &amp;pconfig)</arglist>
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      <arglist>(bool flag)</arglist>
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      <arglist>()</arglist>
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      <arglist>(const ModelBasedPlanningContextPtr &amp;context) const</arglist>
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      <arglist>()</arglist>
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      <arglist>(const std::string &amp;group_name, const std::string &amp;planner_id, const std::map&lt; std::string, std::string &gt; &amp;group_params, planning_interface::PlannerConfigurationSettings &amp;planner_config)</arglist>
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      <arglist>()</arglist>
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      <arglist>(const planning_interface::MotionPlanRequest &amp;req, const planning_scene::PlanningSceneConstPtr &amp;planning_scene, moveit_msgs::MoveItErrorCodes *error_code, unsigned int *attempts, double *timeout) const</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(const moveit_msgs::MotionPlanRequest &amp;req) const override</arglist>
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      <arglist>() const override</arglist>
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      <arglist>(std::vector&lt; std::string &gt; &amp;algs) const override</arglist>
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      <arglist>(const planning_scene::PlanningSceneConstPtr &amp;planning_scene, const planning_interface::MotionPlanRequest &amp;req, moveit_msgs::MoveItErrorCodes &amp;error_code) const override</arglist>
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      <arglist>(const moveit::core::RobotModelConstPtr &amp;model, const std::string &amp;ns) override</arglist>
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      <arglist>()</arglist>
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      <arglist>(const planning_interface::PlannerConfigurationMap &amp;pconfig) override</arglist>
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      <arglist>(OMPLDynamicReconfigureConfig &amp;config, uint32_t)</arglist>
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      <arglist></arglist>
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      <type>std::unique_ptr&lt; dynamic_reconfigure::Server&lt; OMPLDynamicReconfigureConfig &gt; &gt;</type>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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