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  <compound kind="class">
    <name>karto::Drive</name>
    <filename>classkarto_1_1Drive.html</filename>
    <base>karto::Sensor</base>
    <member kind="function">
      <type></type>
      <name>Drive</name>
      <anchorfile>classkarto_1_1Drive.html</anchorfile>
      <anchor>a99f9315deff68ef475a2d01216da0e80</anchor>
      <arglist>(const std::string &amp;rName)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual kt_bool</type>
      <name>Validate</name>
      <anchorfile>classkarto_1_1Drive.html</anchorfile>
      <anchor>a5e2059f2f65bdc98d8f09ef74336bddd</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual kt_bool</type>
      <name>Validate</name>
      <anchorfile>classkarto_1_1Drive.html</anchorfile>
      <anchor>a2eb296bccec34a92372056d164827de2</anchor>
      <arglist>(SensorData *pSensorData)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~Drive</name>
      <anchorfile>classkarto_1_1Drive.html</anchorfile>
      <anchor>a6f31e7efe9f45fe01ffa51fc14de8611</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type></type>
      <name>Drive</name>
      <anchorfile>classkarto_1_1Drive.html</anchorfile>
      <anchor>a8878e08712a03e3b72a21f566c20f027</anchor>
      <arglist>(const Drive &amp;)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>const Drive &amp;</type>
      <name>operator=</name>
      <anchorfile>classkarto_1_1Drive.html</anchorfile>
      <anchor>aa8af19205cb86d3c5dc3cd87a45b007f</anchor>
      <arglist>(const Drive &amp;)</arglist>
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  <compound kind="class">
    <name>karto::DrivePose</name>
    <filename>classkarto_1_1DrivePose.html</filename>
    <base>karto::SensorData</base>
    <member kind="function">
      <type></type>
      <name>DrivePose</name>
      <anchorfile>classkarto_1_1DrivePose.html</anchorfile>
      <anchor>ac200f68760c859dd584e6f3abc6d76a9</anchor>
      <arglist>(const Name &amp;rSensorName)</arglist>
    </member>
    <member kind="function">
      <type>const Pose3 &amp;</type>
      <name>GetOdometricPose</name>
      <anchorfile>classkarto_1_1DrivePose.html</anchorfile>
      <anchor>aebd1b9ee67dc9d479b618671aa575b7c</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetOdometricPose</name>
      <anchorfile>classkarto_1_1DrivePose.html</anchorfile>
      <anchor>a0a9f97976ab6739b9e954cba86c60bd2</anchor>
      <arglist>(const Pose3 &amp;rPose)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~DrivePose</name>
      <anchorfile>classkarto_1_1DrivePose.html</anchorfile>
      <anchor>a277c55721feffa42729e04f920166373</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type></type>
      <name>DrivePose</name>
      <anchorfile>classkarto_1_1DrivePose.html</anchorfile>
      <anchor>ade759d6314ac5d37c6910d5b9e9db274</anchor>
      <arglist>(const DrivePose &amp;)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>const DrivePose &amp;</type>
      <name>operator=</name>
      <anchorfile>classkarto_1_1DrivePose.html</anchorfile>
      <anchor>a3dd866333b614713bde5ad78b12f1fc6</anchor>
      <arglist>(const DrivePose &amp;)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Pose3</type>
      <name>m_OdometricPose</name>
      <anchorfile>classkarto_1_1DrivePose.html</anchorfile>
      <anchor>a78397f46e2cb029076e6c0057c762c13</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>karto::Edge</name>
    <filename>classkarto_1_1Edge.html</filename>
    <templarg>T</templarg>
    <member kind="function">
      <type></type>
      <name>Edge</name>
      <anchorfile>classkarto_1_1Edge.html</anchorfile>
      <anchor>a6536aa462dfaf955c7b136a303806b38</anchor>
      <arglist>(Vertex&lt; T &gt; *pSource, Vertex&lt; T &gt; *pTarget)</arglist>
    </member>
    <member kind="function">
      <type>EdgeLabel *</type>
      <name>GetLabel</name>
      <anchorfile>classkarto_1_1Edge.html</anchorfile>
      <anchor>aee851e56229d96eb207c0f9450df2669</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Vertex&lt; T &gt; *</type>
      <name>GetSource</name>
      <anchorfile>classkarto_1_1Edge.html</anchorfile>
      <anchor>a025eeffb7a46ba8fe2ef7133995eb04f</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>Vertex&lt; T &gt; *</type>
      <name>GetTarget</name>
      <anchorfile>classkarto_1_1Edge.html</anchorfile>
      <anchor>ae6ffaf7a14d7e40147a8ecec2c425e02</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>void</type>
      <name>SetLabel</name>
      <anchorfile>classkarto_1_1Edge.html</anchorfile>
      <anchor>af06b4d5a3eabcc48b66699b5278adcd3</anchor>
      <arglist>(EdgeLabel *pLabel)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~Edge</name>
      <anchorfile>classkarto_1_1Edge.html</anchorfile>
      <anchor>a85d336f4836840d7913e6a6f87164144</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>EdgeLabel *</type>
      <name>m_pLabel</name>
      <anchorfile>classkarto_1_1Edge.html</anchorfile>
      <anchor>a550b893e05010d33954e4d9d833f29c3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vertex&lt; T &gt; *</type>
      <name>m_pSource</name>
      <anchorfile>classkarto_1_1Edge.html</anchorfile>
      <anchor>a49fde724888d614e5aade913fb0a28c3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vertex&lt; T &gt; *</type>
      <name>m_pTarget</name>
      <anchorfile>classkarto_1_1Edge.html</anchorfile>
      <anchor>aa0b01ddc05f14dfc9cb75457c4a6bf17</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>karto::EdgeLabel</name>
    <filename>classkarto_1_1EdgeLabel.html</filename>
    <member kind="function">
      <type></type>
      <name>EdgeLabel</name>
      <anchorfile>classkarto_1_1EdgeLabel.html</anchorfile>
      <anchor>a568f690d9877364f735496dca7f4a6e7</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~EdgeLabel</name>
      <anchorfile>classkarto_1_1EdgeLabel.html</anchorfile>
      <anchor>a424547678376ea015be0564796745084</anchor>
      <arglist>()</arglist>
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  <compound kind="class">
    <name>karto::Exception</name>
    <filename>classkarto_1_1Exception.html</filename>
    <member kind="function">
      <type></type>
      <name>Exception</name>
      <anchorfile>classkarto_1_1Exception.html</anchorfile>
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      <arglist>(const std::string &amp;rMessage=&quot;Karto Exception&quot;, kt_int32s errorCode=0)</arglist>
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    <member kind="function">
      <type></type>
      <name>Exception</name>
      <anchorfile>classkarto_1_1Exception.html</anchorfile>
      <anchor>ac0a95b75066fce6a2915acd8d9ca1810</anchor>
      <arglist>(const Exception &amp;rException)</arglist>
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    <member kind="function">
      <type>kt_int32s</type>
      <name>GetErrorCode</name>
      <anchorfile>classkarto_1_1Exception.html</anchorfile>
      <anchor>a662db6fa9a67e3277abefa2aa6846ac6</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>const std::string &amp;</type>
      <name>GetErrorMessage</name>
      <anchorfile>classkarto_1_1Exception.html</anchorfile>
      <anchor>aec4f5ce395ed8ee8cd4fd006e49c48dd</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>Exception &amp;</type>
      <name>operator=</name>
      <anchorfile>classkarto_1_1Exception.html</anchorfile>
      <anchor>a891f030044912e54875de86100b0d77a</anchor>
      <arglist>(const Exception &amp;rException)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~Exception</name>
      <anchorfile>classkarto_1_1Exception.html</anchorfile>
      <anchor>adc2b6c63503511d5bef8d5a9e5ea631d</anchor>
      <arglist>()</arglist>
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    <member kind="variable" protection="private">
      <type>kt_int32s</type>
      <name>m_ErrorCode</name>
      <anchorfile>classkarto_1_1Exception.html</anchorfile>
      <anchor>a7a4c97329539714323fd4c05216de07f</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>m_Message</name>
      <anchorfile>classkarto_1_1Exception.html</anchorfile>
      <anchor>a585a9809e586486eacdcb56c20589157</anchor>
      <arglist></arglist>
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    <member kind="friend">
      <type>friend KARTO_EXPORT std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>classkarto_1_1Exception.html</anchorfile>
      <anchor>a1e183fe4ac41887b1864d39f7af56ae0</anchor>
      <arglist>(std::ostream &amp;rStream, Exception &amp;rException)</arglist>
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    <name>karto::Functor</name>
    <filename>classkarto_1_1Functor.html</filename>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>operator()</name>
      <anchorfile>classkarto_1_1Functor.html</anchorfile>
      <anchor>a478742a2b79868987ad77ce165200d5e</anchor>
      <arglist>(kt_int32u)</arglist>
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  <compound kind="class">
    <name>karto::Graph</name>
    <filename>classkarto_1_1Graph.html</filename>
    <templarg>T</templarg>
    <member kind="typedef">
      <type>std::map&lt; Name, std::vector&lt; Vertex&lt; T &gt; * &gt; &gt;</type>
      <name>VertexMap</name>
      <anchorfile>classkarto_1_1Graph.html</anchorfile>
      <anchor>a454ab7da04998e1024f3c556d713df8a</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>AddEdge</name>
      <anchorfile>classkarto_1_1Graph.html</anchorfile>
      <anchor>a6c1d2686b46e4c426fb8590ce1e97081</anchor>
      <arglist>(Edge&lt; T &gt; *pEdge)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>AddVertex</name>
      <anchorfile>classkarto_1_1Graph.html</anchorfile>
      <anchor>ab905b3a8fe815d15db642ec1992a43cb</anchor>
      <arglist>(const Name &amp;rName, Vertex&lt; T &gt; *pVertex)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Clear</name>
      <anchorfile>classkarto_1_1Graph.html</anchorfile>
      <anchor>a452e35b2988d20111bee842bc9d361da</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; Edge&lt; T &gt; * &gt; &amp;</type>
      <name>GetEdges</name>
      <anchorfile>classkarto_1_1Graph.html</anchorfile>
      <anchor>a87d521f112b95b8232acf0f9e7e4167a</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>const VertexMap &amp;</type>
      <name>GetVertices</name>
      <anchorfile>classkarto_1_1Graph.html</anchorfile>
      <anchor>a8fa095c77c11b839e5393cb38b9c877e</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type></type>
      <name>Graph</name>
      <anchorfile>classkarto_1_1Graph.html</anchorfile>
      <anchor>a0283b6c7fa4b57fe1f2e456b7e98cbb5</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~Graph</name>
      <anchorfile>classkarto_1_1Graph.html</anchorfile>
      <anchor>a8ed13f0ecc74adad38e725ceac96b9ea</anchor>
      <arglist>()</arglist>
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    <member kind="variable" protection="protected">
      <type>std::vector&lt; Edge&lt; T &gt; * &gt;</type>
      <name>m_Edges</name>
      <anchorfile>classkarto_1_1Graph.html</anchorfile>
      <anchor>afe78a617b317427ee1740445c8277825</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>VertexMap</type>
      <name>m_Vertices</name>
      <anchorfile>classkarto_1_1Graph.html</anchorfile>
      <anchor>a948f224bda3e7877bc60665b4b5e3170</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>karto::GraphTraversal</name>
    <filename>classkarto_1_1GraphTraversal.html</filename>
    <templarg>T</templarg>
    <member kind="function">
      <type></type>
      <name>GraphTraversal</name>
      <anchorfile>classkarto_1_1GraphTraversal.html</anchorfile>
      <anchor>a43ab9d1dc2edaf9057657b61f4647dab</anchor>
      <arglist>(Graph&lt; T &gt; *pGraph)</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual std::vector&lt; T * &gt;</type>
      <name>Traverse</name>
      <anchorfile>classkarto_1_1GraphTraversal.html</anchorfile>
      <anchor>a415ae84c86f31611e44905d8e55c8e1f</anchor>
      <arglist>(Vertex&lt; T &gt; *pStartVertex, Visitor&lt; T &gt; *pVisitor)=0</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~GraphTraversal</name>
      <anchorfile>classkarto_1_1GraphTraversal.html</anchorfile>
      <anchor>a3ce2ffeaff7c7347c8b57f6b4b2aa4bb</anchor>
      <arglist>()</arglist>
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    <member kind="variable" protection="protected">
      <type>Graph&lt; T &gt; *</type>
      <name>m_pGraph</name>
      <anchorfile>classkarto_1_1GraphTraversal.html</anchorfile>
      <anchor>ac2b50dd394523e3d7dfc5a1097909354</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>karto::Grid</name>
    <filename>classkarto_1_1Grid.html</filename>
    <templarg>T</templarg>
    <member kind="function">
      <type>void</type>
      <name>Clear</name>
      <anchorfile>classkarto_1_1Grid.html</anchorfile>
      <anchor>a8b9ec18a031a4e801d0cc13e02f3a51a</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>Grid *</type>
      <name>Clone</name>
      <anchorfile>classkarto_1_1Grid.html</anchorfile>
      <anchor>a0ff1e61eab686af4904dfd11474946a4</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>BoundingBox2</type>
      <name>GetBoundingBox</name>
      <anchorfile>classkarto_1_1Grid.html</anchorfile>
      <anchor>a93c44b996fe77239a8e149416c459957</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>CoordinateConverter *</type>
      <name>GetCoordinateConverter</name>
      <anchorfile>classkarto_1_1Grid.html</anchorfile>
      <anchor>aeb36f7faee86ec97c1c922ff5d349e1d</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>T *</type>
      <name>GetDataPointer</name>
      <anchorfile>classkarto_1_1Grid.html</anchorfile>
      <anchor>a4dcdcc2c9dda0b55f43778bfd2c608c1</anchor>
      <arglist>(const Vector2&lt; kt_int32s &gt; &amp;rGrid)</arglist>
    </member>
    <member kind="function">
      <type>T *</type>
      <name>GetDataPointer</name>
      <anchorfile>classkarto_1_1Grid.html</anchorfile>
      <anchor>a0fbfe26dfabec18d60710dfc850d3e15</anchor>
      <arglist>(const Vector2&lt; kt_int32s &gt; &amp;rGrid) const </arglist>
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    <member kind="function">
      <type>T *</type>
      <name>GetDataPointer</name>
      <anchorfile>classkarto_1_1Grid.html</anchorfile>
      <anchor>aca5af1cd046a6d953d29410012c5cd15</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>T *</type>
      <name>GetDataPointer</name>
      <anchorfile>classkarto_1_1Grid.html</anchorfile>
      <anchor>adfbdae328506a58b5c2bb6114a893ef5</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>kt_int32s</type>
      <name>GetDataSize</name>
      <anchorfile>classkarto_1_1Grid.html</anchorfile>
      <anchor>a0033c9e17f46ad68ac36ca4d3a053a6a</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>kt_int32s</type>
      <name>GetHeight</name>
      <anchorfile>classkarto_1_1Grid.html</anchorfile>
      <anchor>acb1f890baf0ef302f17e342dc5476e3d</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>kt_double</type>
      <name>GetResolution</name>
      <anchorfile>classkarto_1_1Grid.html</anchorfile>
      <anchor>ad5ff7c4c9c9f38118aff404e562bed16</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>const Size2&lt; kt_int32s &gt;</type>
      <name>GetSize</name>
      <anchorfile>classkarto_1_1Grid.html</anchorfile>
      <anchor>a05d6fcef1f70501936f13f784bfd05ce</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>T</type>
      <name>GetValue</name>
      <anchorfile>classkarto_1_1Grid.html</anchorfile>
      <anchor>a44e7fa323ae56efcb5ea9bb841facd8e</anchor>
      <arglist>(const Vector2&lt; kt_int32s &gt; &amp;rGrid) const </arglist>
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    <member kind="function">
      <type>kt_int32s</type>
      <name>GetWidth</name>
      <anchorfile>classkarto_1_1Grid.html</anchorfile>
      <anchor>abaca23598919331686825696c89f0bcf</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>kt_int32s</type>
      <name>GetWidthStep</name>
      <anchorfile>classkarto_1_1Grid.html</anchorfile>
      <anchor>a0740a6c737a108ef6934712e02486b6e</anchor>
      <arglist>() const </arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual kt_int32s</type>
      <name>GridIndex</name>
      <anchorfile>classkarto_1_1Grid.html</anchorfile>
      <anchor>a761b832ad881b8aef039b3e9054c4d61</anchor>
      <arglist>(const Vector2&lt; kt_int32s &gt; &amp;rGrid, kt_bool boundaryCheck=true) const </arglist>
    </member>
    <member kind="function">
      <type>Vector2&lt; kt_double &gt;</type>
      <name>GridToWorld</name>
      <anchorfile>classkarto_1_1Grid.html</anchorfile>
      <anchor>ac494899e7ba870435a4a9ba34affe3c4</anchor>
      <arglist>(const Vector2&lt; kt_int32s &gt; &amp;rGrid, kt_bool flipY=false) const </arglist>
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    <member kind="function">
      <type>Vector2&lt; kt_int32s &gt;</type>
      <name>IndexToGrid</name>
      <anchorfile>classkarto_1_1Grid.html</anchorfile>
      <anchor>afaac435a00359922cb6fea805a2ec7ca</anchor>
      <arglist>(kt_int32s index) const </arglist>
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    <member kind="function">
      <type>kt_bool</type>
      <name>IsValidGridIndex</name>
      <anchorfile>classkarto_1_1Grid.html</anchorfile>
      <anchor>a8d895a6478151ceba29326ef24fe0fb2</anchor>
      <arglist>(const Vector2&lt; kt_int32s &gt; &amp;rGrid) const </arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>Resize</name>
      <anchorfile>classkarto_1_1Grid.html</anchorfile>
      <anchor>adc37b6fdb2166f395d6994f38d6a4b83</anchor>
      <arglist>(kt_int32s width, kt_int32s height)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>TraceLine</name>
      <anchorfile>classkarto_1_1Grid.html</anchorfile>
      <anchor>a8b737b0a00fa16fc1a8337e9b13eee6c</anchor>
      <arglist>(kt_int32s x0, kt_int32s y0, kt_int32s x1, kt_int32s y1, Functor *f=NULL)</arglist>
    </member>
    <member kind="function">
      <type>Vector2&lt; kt_int32s &gt;</type>
      <name>WorldToGrid</name>
      <anchorfile>classkarto_1_1Grid.html</anchorfile>
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      <arglist>(const Vector2&lt; kt_double &gt; &amp;rWorld, kt_bool flipY=false) const </arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
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      <anchorfile>classkarto_1_1Grid.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function" static="yes">
      <type>static Grid *</type>
      <name>CreateGrid</name>
      <anchorfile>classkarto_1_1Grid.html</anchorfile>
      <anchor>a7eb8ca3f7726f98d94acd4bc985efb43</anchor>
      <arglist>(kt_int32s width, kt_int32s height, kt_double resolution)</arglist>
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    <member kind="function" protection="protected">
      <type></type>
      <name>Grid</name>
      <anchorfile>classkarto_1_1Grid.html</anchorfile>
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      <arglist>(kt_int32s width, kt_int32s height)</arglist>
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    <member kind="variable" protection="private">
      <type>kt_int32s</type>
      <name>m_Height</name>
      <anchorfile>classkarto_1_1Grid.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>CoordinateConverter *</type>
      <name>m_pCoordinateConverter</name>
      <anchorfile>classkarto_1_1Grid.html</anchorfile>
      <anchor>a9a5019f2e4a80b79d9d23d0ddc62449c</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>T *</type>
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      <anchorfile>classkarto_1_1Grid.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>kt_int32s</type>
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      <anchorfile>classkarto_1_1Grid.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>kt_int32s</type>
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      <anchorfile>classkarto_1_1Grid.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>karto::GridIndexLookup</name>
    <filename>classkarto_1_1GridIndexLookup.html</filename>
    <templarg>T</templarg>
    <member kind="function">
      <type>void</type>
      <name>ComputeOffsets</name>
      <anchorfile>classkarto_1_1GridIndexLookup.html</anchorfile>
      <anchor>a500b075f28902e509c9889a547f6eaf0</anchor>
      <arglist>(LocalizedRangeScan *pScan, kt_double angleCenter, kt_double angleOffset, kt_double angleResolution)</arglist>
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    <member kind="function">
      <type>const std::vector&lt; kt_double &gt; &amp;</type>
      <name>GetAngles</name>
      <anchorfile>classkarto_1_1GridIndexLookup.html</anchorfile>
      <anchor>aea86206eda89a32de4c86b9b9d80f4df</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>const LookupArray *</type>
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      <anchorfile>classkarto_1_1GridIndexLookup.html</anchorfile>
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      <arglist>(kt_int32u index) const </arglist>
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    <member kind="function">
      <type></type>
      <name>GridIndexLookup</name>
      <anchorfile>classkarto_1_1GridIndexLookup.html</anchorfile>
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      <arglist>(Grid&lt; T &gt; *pGrid)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~GridIndexLookup</name>
      <anchorfile>classkarto_1_1GridIndexLookup.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function" protection="private">
      <type>void</type>
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      <anchorfile>classkarto_1_1GridIndexLookup.html</anchorfile>
      <anchor>ada64a05f23b1b500370b280d8897163d</anchor>
      <arglist>(kt_int32u angleIndex, kt_double angle, const Pose2Vector &amp;rLocalPoints, LocalizedRangeScan *pScan)</arglist>
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    <member kind="function" protection="private">
      <type>void</type>
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      <anchorfile>classkarto_1_1GridIndexLookup.html</anchorfile>
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      <arglist>()</arglist>
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      <type>void</type>
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      <anchorfile>classkarto_1_1GridIndexLookup.html</anchorfile>
      <anchor>af966f199a950346a8c8fcaa453b7606c</anchor>
      <arglist>(kt_int32u size)</arglist>
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    <member kind="variable" protection="private">
      <type>std::vector&lt; kt_double &gt;</type>
      <name>m_Angles</name>
      <anchorfile>classkarto_1_1GridIndexLookup.html</anchorfile>
      <anchor>a941f76bbce21b335341ed47ba9bd4842</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>kt_int32u</type>
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      <anchorfile>classkarto_1_1GridIndexLookup.html</anchorfile>
      <anchor>a0dca08e2aa153b57780c19be65e64d85</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Grid&lt; T &gt; *</type>
      <name>m_pGrid</name>
      <anchorfile>classkarto_1_1GridIndexLookup.html</anchorfile>
      <anchor>aeb567b0c9abc68db0c6db7078e9ee346</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>LookupArray **</type>
      <name>m_ppLookupArray</name>
      <anchorfile>classkarto_1_1GridIndexLookup.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>kt_int32u</type>
      <name>m_Size</name>
      <anchorfile>classkarto_1_1GridIndexLookup.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>karto::LaserRangeFinder</name>
    <filename>classkarto_1_1LaserRangeFinder.html</filename>
    <base>karto::Sensor</base>
    <member kind="function">
      <type>kt_double</type>
      <name>GetAngularResolution</name>
      <anchorfile>classkarto_1_1LaserRangeFinder.html</anchorfile>
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      <arglist>() const </arglist>
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    <member kind="function">
      <type>kt_double</type>
      <name>GetMaximumAngle</name>
      <anchorfile>classkarto_1_1LaserRangeFinder.html</anchorfile>
      <anchor>a75e7e7d0bea60d1f32880df412252fd3</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>kt_double</type>
      <name>GetMaximumRange</name>
      <anchorfile>classkarto_1_1LaserRangeFinder.html</anchorfile>
      <anchor>ae1d40604896920c84936588e1b939268</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>kt_double</type>
      <name>GetMinimumAngle</name>
      <anchorfile>classkarto_1_1LaserRangeFinder.html</anchorfile>
      <anchor>ad3158c68a4a37a19e11d2fc65dd2eaa7</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>kt_double</type>
      <name>GetMinimumRange</name>
      <anchorfile>classkarto_1_1LaserRangeFinder.html</anchorfile>
      <anchor>acb0736c9884119978edf992fd2a6e950</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>kt_int32u</type>
      <name>GetNumberOfRangeReadings</name>
      <anchorfile>classkarto_1_1LaserRangeFinder.html</anchorfile>
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      <arglist>() const </arglist>
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    <member kind="function">
      <type>const PointVectorDouble</type>
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      <anchorfile>classkarto_1_1LaserRangeFinder.html</anchorfile>
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      <arglist>(LocalizedRangeScan *pLocalizedRangeScan, CoordinateConverter *pCoordinateConverter, kt_bool ignoreThresholdPoints=true, kt_bool flipY=false) const </arglist>
    </member>
    <member kind="function">
      <type>kt_double</type>
      <name>GetRangeThreshold</name>
      <anchorfile>classkarto_1_1LaserRangeFinder.html</anchorfile>
      <anchor>abfff8491dcb763edc9a29d342fb74a89</anchor>
      <arglist>() const </arglist>
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      <type>kt_int32s</type>
      <name>GetType</name>
      <anchorfile>classkarto_1_1LaserRangeFinder.html</anchorfile>
      <anchor>a85bab8f451f832632d885af8c0380ee7</anchor>
      <arglist>()</arglist>
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      <type>void</type>
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      <anchorfile>classkarto_1_1LaserRangeFinder.html</anchorfile>
      <anchor>a9b247d68d9261fc033b8614e9efa1c0b</anchor>
      <arglist>(kt_double angularResolution)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>SetMaximumAngle</name>
      <anchorfile>classkarto_1_1LaserRangeFinder.html</anchorfile>
      <anchor>a7a82e008237bc5750a3dbdf0d32b92e1</anchor>
      <arglist>(kt_double maximumAngle)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>SetMaximumRange</name>
      <anchorfile>classkarto_1_1LaserRangeFinder.html</anchorfile>
      <anchor>a7b6feacfd991a2b3bbfe9776eb683b2b</anchor>
      <arglist>(kt_double maximumRange)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>SetMinimumAngle</name>
      <anchorfile>classkarto_1_1LaserRangeFinder.html</anchorfile>
      <anchor>aba75d7eb13fe0604b4ba1aff091df3ca</anchor>
      <arglist>(kt_double minimumAngle)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetMinimumRange</name>
      <anchorfile>classkarto_1_1LaserRangeFinder.html</anchorfile>
      <anchor>ac75a0b6a3b63cc1a8175fba424cf81d8</anchor>
      <arglist>(kt_double minimumRange)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>SetRangeThreshold</name>
      <anchorfile>classkarto_1_1LaserRangeFinder.html</anchorfile>
      <anchor>a7d2a1a79d5ef0e87e342ff529ff2c4ad</anchor>
      <arglist>(kt_double rangeThreshold)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual kt_bool</type>
      <name>Validate</name>
      <anchorfile>classkarto_1_1LaserRangeFinder.html</anchorfile>
      <anchor>a4783e3080e8e5db3d39a59c5136023d6</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual kt_bool</type>
      <name>Validate</name>
      <anchorfile>classkarto_1_1LaserRangeFinder.html</anchorfile>
      <anchor>a174d477eaf0fce0ac86e78d75aff2d1a</anchor>
      <arglist>(SensorData *pSensorData)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~LaserRangeFinder</name>
      <anchorfile>classkarto_1_1LaserRangeFinder.html</anchorfile>
      <anchor>a832fb58fd38a8fddaade4f7b9bdb6326</anchor>
      <arglist>()</arglist>
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    <member kind="function" static="yes">
      <type>static LaserRangeFinder *</type>
      <name>CreateLaserRangeFinder</name>
      <anchorfile>classkarto_1_1LaserRangeFinder.html</anchorfile>
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      <arglist>(LaserRangeFinderType type, const Name &amp;rName)</arglist>
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      <type></type>
      <name>LaserRangeFinder</name>
      <anchorfile>classkarto_1_1LaserRangeFinder.html</anchorfile>
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      <arglist>(const Name &amp;rName)</arglist>
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      <type></type>
      <name>LaserRangeFinder</name>
      <anchorfile>classkarto_1_1LaserRangeFinder.html</anchorfile>
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      <arglist>(const LaserRangeFinder &amp;)</arglist>
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    <member kind="function" protection="private">
      <type>const LaserRangeFinder &amp;</type>
      <name>operator=</name>
      <anchorfile>classkarto_1_1LaserRangeFinder.html</anchorfile>
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      <arglist>(const LaserRangeFinder &amp;)</arglist>
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    <member kind="function" protection="private">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classkarto_1_1LaserRangeFinder.html</anchorfile>
      <anchor>a13af48bec334f4b10ea9d196820891e6</anchor>
      <arglist>()</arglist>
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    <member kind="variable" protection="private">
      <type>kt_int32u</type>
      <name>m_NumberOfRangeReadings</name>
      <anchorfile>classkarto_1_1LaserRangeFinder.html</anchorfile>
      <anchor>a748bdf758690233e6f32ff3aa43fd044</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Parameter&lt; kt_double &gt; *</type>
      <name>m_pAngularResolution</name>
      <anchorfile>classkarto_1_1LaserRangeFinder.html</anchorfile>
      <anchor>a349dc336f2072e73819f22aea92b39b0</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Parameter&lt; kt_double &gt; *</type>
      <name>m_pMaximumAngle</name>
      <anchorfile>classkarto_1_1LaserRangeFinder.html</anchorfile>
      <anchor>a8020d0aafbd464496dc65f45146c506d</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Parameter&lt; kt_double &gt; *</type>
      <name>m_pMaximumRange</name>
      <anchorfile>classkarto_1_1LaserRangeFinder.html</anchorfile>
      <anchor>a7b29d15e7804dd6adb3ff4ff88434da5</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Parameter&lt; kt_double &gt; *</type>
      <name>m_pMinimumAngle</name>
      <anchorfile>classkarto_1_1LaserRangeFinder.html</anchorfile>
      <anchor>a8bb1189f36e23b0a51d5bec276df72fd</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Parameter&lt; kt_double &gt; *</type>
      <name>m_pMinimumRange</name>
      <anchorfile>classkarto_1_1LaserRangeFinder.html</anchorfile>
      <anchor>af41b3711a7eeae3319f08011ff04a9d0</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Parameter&lt; kt_double &gt; *</type>
      <name>m_pRangeThreshold</name>
      <anchorfile>classkarto_1_1LaserRangeFinder.html</anchorfile>
      <anchor>ae5ef934516f5b2042d81ec81258e08a1</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>ParameterEnum *</type>
      <name>m_pType</name>
      <anchorfile>classkarto_1_1LaserRangeFinder.html</anchorfile>
      <anchor>af4dec9a13881c7d9a3f067ffd2936125</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>karto::LaserRangeScan</name>
    <filename>classkarto_1_1LaserRangeScan.html</filename>
    <base>karto::SensorData</base>
    <member kind="function">
      <type>LaserRangeFinder *</type>
      <name>GetLaserRangeFinder</name>
      <anchorfile>classkarto_1_1LaserRangeScan.html</anchorfile>
      <anchor>a98106365ca4e9e9e2c6c2f61d847e22d</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>kt_int32u</type>
      <name>GetNumberOfRangeReadings</name>
      <anchorfile>classkarto_1_1LaserRangeScan.html</anchorfile>
      <anchor>a1cb7de7c1e4800fd4d8b483d64748f9a</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>kt_double *</type>
      <name>GetRangeReadings</name>
      <anchorfile>classkarto_1_1LaserRangeScan.html</anchorfile>
      <anchor>a33babe9384bf2a548dbd4700c900a3c9</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>RangeReadingsVector</type>
      <name>GetRangeReadingsVector</name>
      <anchorfile>classkarto_1_1LaserRangeScan.html</anchorfile>
      <anchor>a0a17c28193329670b5a28d8ffea01447</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>LaserRangeScan</name>
      <anchorfile>classkarto_1_1LaserRangeScan.html</anchorfile>
      <anchor>a8e6580dced5b937e0c5241fa0ece1bdb</anchor>
      <arglist>(const Name &amp;rSensorName)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>LaserRangeScan</name>
      <anchorfile>classkarto_1_1LaserRangeScan.html</anchorfile>
      <anchor>ac765e732913a4083b66730cec2c45a49</anchor>
      <arglist>(const Name &amp;rSensorName, const RangeReadingsVector &amp;rRangeReadings)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetRangeReadings</name>
      <anchorfile>classkarto_1_1LaserRangeScan.html</anchorfile>
      <anchor>af6be6f8c835e72ee3ae5985dd7c348f6</anchor>
      <arglist>(const RangeReadingsVector &amp;rRangeReadings)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~LaserRangeScan</name>
      <anchorfile>classkarto_1_1LaserRangeScan.html</anchorfile>
      <anchor>a586f90e438097c66c127f35ded0d1e2b</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="private">
      <type></type>
      <name>LaserRangeScan</name>
      <anchorfile>classkarto_1_1LaserRangeScan.html</anchorfile>
      <anchor>ae49724faa04dbf401dfda21b01d6b607</anchor>
      <arglist>(const LaserRangeScan &amp;)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>const LaserRangeScan &amp;</type>
      <name>operator=</name>
      <anchorfile>classkarto_1_1LaserRangeScan.html</anchorfile>
      <anchor>a11ae2fa16bc990bbdd73cb3f731e7234</anchor>
      <arglist>(const LaserRangeScan &amp;)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>kt_int32u</type>
      <name>m_NumberOfRangeReadings</name>
      <anchorfile>classkarto_1_1LaserRangeScan.html</anchorfile>
      <anchor>a83794d86875d7e95ec07c26e464ac611</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>kt_double *</type>
      <name>m_pRangeReadings</name>
      <anchorfile>classkarto_1_1LaserRangeScan.html</anchorfile>
      <anchor>ad8c76efcdca8557a37b48cd5556457b6</anchor>
      <arglist></arglist>
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  </compound>
  <compound kind="class">
    <name>karto::LinkInfo</name>
    <filename>classkarto_1_1LinkInfo.html</filename>
    <base>karto::EdgeLabel</base>
    <member kind="function">
      <type>const Matrix3 &amp;</type>
      <name>GetCovariance</name>
      <anchorfile>classkarto_1_1LinkInfo.html</anchorfile>
      <anchor>a04bcd44136abb883a35c8823183dbb8c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const Pose2 &amp;</type>
      <name>GetPose1</name>
      <anchorfile>classkarto_1_1LinkInfo.html</anchorfile>
      <anchor>ac82fb617ec0c7aadd24667c8804b309d</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>const Pose2 &amp;</type>
      <name>GetPose2</name>
      <anchorfile>classkarto_1_1LinkInfo.html</anchorfile>
      <anchor>a4f230be51ece5601c2e8a4a522080164</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>const Pose2 &amp;</type>
      <name>GetPoseDifference</name>
      <anchorfile>classkarto_1_1LinkInfo.html</anchorfile>
      <anchor>a1f4660437a0c7d6e76f8c67218399717</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>LinkInfo</name>
      <anchorfile>classkarto_1_1LinkInfo.html</anchorfile>
      <anchor>a89fc1e1dd5652c7ea64fc42c358ec906</anchor>
      <arglist>(const Pose2 &amp;rPose1, const Pose2 &amp;rPose2, const Matrix3 &amp;rCovariance)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classkarto_1_1LinkInfo.html</anchorfile>
      <anchor>ab3d9fa83a9b312b3b85eeaea7a69e81e</anchor>
      <arglist>(const Pose2 &amp;rPose1, const Pose2 &amp;rPose2, const Matrix3 &amp;rCovariance)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~LinkInfo</name>
      <anchorfile>classkarto_1_1LinkInfo.html</anchorfile>
      <anchor>a398513d2e17f3b289a3731a70e47765f</anchor>
      <arglist>()</arglist>
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    <member kind="variable" protection="private">
      <type>Matrix3</type>
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      <anchorfile>classkarto_1_1LinkInfo.html</anchorfile>
      <anchor>ab4c3534ae0ae3e789879088bffe8dc0b</anchor>
      <arglist></arglist>
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      <type>Pose2</type>
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      <anchorfile>classkarto_1_1LinkInfo.html</anchorfile>
      <anchor>ad9e6e4bfdb09df4a66e87ff8a955ac2d</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Pose2</type>
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      <anchorfile>classkarto_1_1LinkInfo.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Pose2</type>
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      <anchorfile>classkarto_1_1LinkInfo.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
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    <base>karto::LaserRangeScan</base>
    <member kind="function">
      <type>const Pose2 &amp;</type>
      <name>GetBarycenterPose</name>
      <anchorfile>classkarto_1_1LocalizedRangeScan.html</anchorfile>
      <anchor>a9e0b779f3d2674ac44919bea61b4b6ab</anchor>
      <arglist>() const </arglist>
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      <arglist>() const </arglist>
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    <member kind="function">
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      <arglist>() const </arglist>
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    <member kind="function">
      <type>const Pose2 &amp;</type>
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      <arglist>() const </arglist>
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      <type>const PointVectorDouble &amp;</type>
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      <arglist>(kt_bool wantFiltered=false) const </arglist>
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      <arglist>(kt_bool useBarycenter) const </arglist>
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      <arglist>(const Pose2 &amp;rPose) const </arglist>
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      <arglist>() const </arglist>
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      <name>LocalizedRangeScan</name>
      <anchorfile>classkarto_1_1LocalizedRangeScan.html</anchorfile>
      <anchor>a55f427b35a1ad85a239d3ccb2f6fcf93</anchor>
      <arglist>(const Name &amp;rSensorName, const RangeReadingsVector &amp;rReadings)</arglist>
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      <arglist>(const Pose2 &amp;rPose)</arglist>
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      <anchor>ac4abf1f8e18c6ce2be734271629c544c</anchor>
      <arglist>(const Pose2 &amp;rPose)</arglist>
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      <anchor>a1a14f2dda96b09a6446a3b98f705a42c</anchor>
      <arglist>(const Pose2 &amp;rScanPose)</arglist>
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      <type>virtual</type>
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      <anchorfile>classkarto_1_1LocalizedRangeScan.html</anchorfile>
      <anchor>a22d3d7fc3aa14e60f079c6d830b64bda</anchor>
      <arglist>()</arglist>
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      <type>Pose2</type>
      <name>m_BarycenterPose</name>
      <anchorfile>classkarto_1_1LocalizedRangeScan.html</anchorfile>
      <anchor>ae895bfe3840a4f2ceda448e0aa059d5c</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>BoundingBox2</type>
      <name>m_BoundingBox</name>
      <anchorfile>classkarto_1_1LocalizedRangeScan.html</anchorfile>
      <anchor>a5f3a83e8c3dd74a58c9143095266a725</anchor>
      <arglist></arglist>
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      <type>kt_bool</type>
      <name>m_IsDirty</name>
      <anchorfile>classkarto_1_1LocalizedRangeScan.html</anchorfile>
      <anchor>a4942cc3548ed0154fffa6e9adfbe579e</anchor>
      <arglist></arglist>
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      <type>PointVectorDouble</type>
      <name>m_PointReadings</name>
      <anchorfile>classkarto_1_1LocalizedRangeScan.html</anchorfile>
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      <arglist></arglist>
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      <type>PointVectorDouble</type>
      <name>m_UnfilteredPointReadings</name>
      <anchorfile>classkarto_1_1LocalizedRangeScan.html</anchorfile>
      <anchor>a773a19cba31d53981e654f14ea1e77b5</anchor>
      <arglist></arglist>
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      <anchorfile>classkarto_1_1LocalizedRangeScan.html</anchorfile>
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      <arglist>(const LocalizedRangeScan &amp;)</arglist>
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      <type>const LocalizedRangeScan &amp;</type>
      <name>operator=</name>
      <anchorfile>classkarto_1_1LocalizedRangeScan.html</anchorfile>
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      <arglist>(const LocalizedRangeScan &amp;)</arglist>
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      <anchorfile>classkarto_1_1LocalizedRangeScan.html</anchorfile>
      <anchor>a4e9e7fc60edc7e832a95d72c0a0302d5</anchor>
      <arglist>()</arglist>
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      <type>Pose2</type>
      <name>m_CorrectedPose</name>
      <anchorfile>classkarto_1_1LocalizedRangeScan.html</anchorfile>
      <anchor>a77e2c96a80b8eda394a30a6dee986706</anchor>
      <arglist></arglist>
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      <type>boost::shared_mutex</type>
      <name>m_Lock</name>
      <anchorfile>classkarto_1_1LocalizedRangeScan.html</anchorfile>
      <anchor>ab4f9dc9228ebcc99d0ef6dfc0926b6c7</anchor>
      <arglist></arglist>
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      <type>Pose2</type>
      <name>m_OdometricPose</name>
      <anchorfile>classkarto_1_1LocalizedRangeScan.html</anchorfile>
      <anchor>acc642089b3ade886b8767ed5b83ffd49</anchor>
      <arglist></arglist>
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    <base>karto::LocalizedRangeScan</base>
    <member kind="function">
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      <name>LocalizedRangeScanWithPoints</name>
      <anchorfile>classkarto_1_1LocalizedRangeScanWithPoints.html</anchorfile>
      <anchor>a28000435cc5ecb717cfe0ce699364a50</anchor>
      <arglist>(const Name &amp;rSensorName, const RangeReadingsVector &amp;rReadings, const PointVectorDouble &amp;rPoints)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~LocalizedRangeScanWithPoints</name>
      <anchorfile>classkarto_1_1LocalizedRangeScanWithPoints.html</anchorfile>
      <anchor>a89c91eb771cfdd98a653c9307b0238c9</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="private">
      <type></type>
      <name>LocalizedRangeScanWithPoints</name>
      <anchorfile>classkarto_1_1LocalizedRangeScanWithPoints.html</anchorfile>
      <anchor>a444ae2acd3316baeb577b960d3c9d25c</anchor>
      <arglist>(const LocalizedRangeScanWithPoints &amp;)</arglist>
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    <member kind="function" protection="private">
      <type>const LocalizedRangeScanWithPoints &amp;</type>
      <name>operator=</name>
      <anchorfile>classkarto_1_1LocalizedRangeScanWithPoints.html</anchorfile>
      <anchor>a3a33843015d080c48381da8b2015cea4</anchor>
      <arglist>(const LocalizedRangeScanWithPoints &amp;)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>Update</name>
      <anchorfile>classkarto_1_1LocalizedRangeScanWithPoints.html</anchorfile>
      <anchor>a452bf4237a12f5ae2fe0a1f487516cab</anchor>
      <arglist>()</arglist>
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    <member kind="variable" protection="private">
      <type>const PointVectorDouble</type>
      <name>m_Points</name>
      <anchorfile>classkarto_1_1LocalizedRangeScanWithPoints.html</anchorfile>
      <anchor>ad3f548d0ed6c287f82014e1740cf59a1</anchor>
      <arglist></arglist>
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    <filename>classkarto_1_1LookupArray.html</filename>
    <member kind="function">
      <type>void</type>
      <name>Clear</name>
      <anchorfile>classkarto_1_1LookupArray.html</anchorfile>
      <anchor>a50ded66aebefe6f3e29f603c36bd7f24</anchor>
      <arglist>()</arglist>
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      <type>kt_int32s *</type>
      <name>GetArrayPointer</name>
      <anchorfile>classkarto_1_1LookupArray.html</anchorfile>
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      <arglist>()</arglist>
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      <name>GetArrayPointer</name>
      <anchorfile>classkarto_1_1LookupArray.html</anchorfile>
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      <arglist>() const </arglist>
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      <name>GetSize</name>
      <anchorfile>classkarto_1_1LookupArray.html</anchorfile>
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      <arglist>() const </arglist>
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      <anchorfile>classkarto_1_1LookupArray.html</anchorfile>
      <anchor>a9e1bacfb86c0a011de788c053ad39e29</anchor>
      <arglist>()</arglist>
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      <anchorfile>classkarto_1_1LookupArray.html</anchorfile>
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      <arglist>(kt_int32u index)</arglist>
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      <anchorfile>classkarto_1_1LookupArray.html</anchorfile>
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      <arglist>(kt_int32u index) const </arglist>
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      <type>void</type>
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      <anchorfile>classkarto_1_1LookupArray.html</anchorfile>
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      <arglist>(kt_int32u size)</arglist>
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      <anchorfile>classkarto_1_1LookupArray.html</anchorfile>
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      <arglist>()</arglist>
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      <type>kt_int32u</type>
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      <arglist></arglist>
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      <arglist></arglist>
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      <anchorfile>classkarto_1_1LookupArray.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
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    <base>karto::Module</base>
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      <type>void</type>
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      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
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      <arglist>(MapperListener *pListener)</arglist>
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      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
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      <arglist>(const std::string &amp;rInfo) const </arglist>
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      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
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      <arglist>(const std::string &amp;rInfo) const </arglist>
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      <arglist>(const std::string &amp;rInfo) const </arglist>
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      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
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      <arglist>(const std::string &amp;rInfo) const </arglist>
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      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
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      <arglist>(const std::string &amp;rInfo) const </arglist>
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      <name>GetAllProcessedScans</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
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      <arglist>() const </arglist>
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      <name>GetGraph</name>
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      <arglist>() const </arglist>
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      <type>virtual ScanMatcher *</type>
      <name>GetLoopScanMatcher</name>
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      <arglist>() const </arglist>
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      <type>MapperSensorManager *</type>
      <name>GetMapperSensorManager</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
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      <arglist>() const </arglist>
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      <type>double</type>
      <name>getParamAngleVariancePenalty</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
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      <arglist>()</arglist>
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      <type>double</type>
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      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
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      <arglist>()</arglist>
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      <type>double</type>
      <name>getParamCoarseSearchAngleOffset</name>
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      <arglist>()</arglist>
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      <type>double</type>
      <name>getParamCorrelationSearchSpaceDimension</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a3bfc51479397dbcc84e6108cabefce3c</anchor>
      <arglist>()</arglist>
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      <type>double</type>
      <name>getParamCorrelationSearchSpaceResolution</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
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      <arglist>()</arglist>
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      <type>double</type>
      <name>getParamCorrelationSearchSpaceSmearDeviation</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
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      <arglist>()</arglist>
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      <type>double</type>
      <name>getParamDistanceVariancePenalty</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
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      <arglist>()</arglist>
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      <type>bool</type>
      <name>getParamDoLoopClosing</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
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      <arglist>()</arglist>
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      <type>double</type>
      <name>getParamFineSearchAngleOffset</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a3f05ed04bc3229137a4a43de2ed5a4f3</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>double</type>
      <name>getParamLinkMatchMinimumResponseFine</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a850c7afe009fffbef700ca11f918a8c7</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>double</type>
      <name>getParamLinkScanMaximumDistance</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a9718403f7f411f74c5e822d6423141b1</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>double</type>
      <name>getParamLoopMatchMaximumVarianceCoarse</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>aa8211cc81f5ab7a88e2948c62d505cf8</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getParamLoopMatchMinimumChainSize</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a5ea76f6c11246ffb594450dd5485a040</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>double</type>
      <name>getParamLoopMatchMinimumResponseCoarse</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a192320226e3eef4dd3707d719569e49d</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>double</type>
      <name>getParamLoopMatchMinimumResponseFine</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>af108f3c64472cf3a6c278d3d67f74ff9</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>double</type>
      <name>getParamLoopSearchMaximumDistance</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>aa26ede4759c2fc949581bc0cb618e9d7</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>double</type>
      <name>getParamLoopSearchSpaceDimension</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a2e3583b0b4589db02e076251542e86ab</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>double</type>
      <name>getParamLoopSearchSpaceResolution</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a5d34bb2f9d39da88fe547e8ddf2100b6</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>double</type>
      <name>getParamLoopSearchSpaceSmearDeviation</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a0de9895d4712c7cee25ec98fa1243f45</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>double</type>
      <name>getParamMinimumAnglePenalty</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>ac5d977390542f696f02ed75c6b04ea35</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>double</type>
      <name>getParamMinimumDistancePenalty</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a65f34fbe5dfdc6b9ae8a85e13ea386af</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>double</type>
      <name>getParamMinimumTimeInterval</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>af14c1ffd2196ee8c386b37acdcba5db3</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>double</type>
      <name>getParamMinimumTravelDistance</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a0913b99b9d9c835072c387db5b5366e9</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>double</type>
      <name>getParamMinimumTravelHeading</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>ae45ca3f5255963729ebb740fac1c909a</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>double</type>
      <name>getParamScanBufferMaximumScanDistance</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>aec08639f4c04fd2e3c09b68d1d143fa0</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getParamScanBufferSize</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a4894e4b478dbe3aebcaa0abb61460c66</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>getParamUseResponseExpansion</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>afdd0f4b02cb1c720fdf66a9bb0c68cf2</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>getParamUseScanBarycenter</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a561b7c2de6d7e946aa29ac0352d61012</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>getParamUseScanMatching</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a5b96835d23b82d8ca780c900519aa746</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual ScanMatcher *</type>
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      <anchor>a535ebb320fc3f684c379a8257dd9796d</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>void</type>
      <name>Initialize</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a44fe261bce5f4dab5fc2054e5d17b2a7</anchor>
      <arglist>(kt_double rangeThreshold)</arglist>
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    <member kind="function">
      <type></type>
      <name>Mapper</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>aae99ebcbe1da8d9edc0768f272cd28c6</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>Mapper</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a539493b1007c5e129849755a1f5cb9fa</anchor>
      <arglist>(const std::string &amp;rName)</arglist>
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      <type>virtual kt_bool</type>
      <name>Process</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a456dcad4244b14f36af3895f78068670</anchor>
      <arglist>(LocalizedRangeScan *pScan)</arglist>
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      <type>virtual kt_bool</type>
      <name>Process</name>
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      <arglist>(Object *pObject)</arglist>
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      <name>RemoveListener</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
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      <arglist>(MapperListener *pListener)</arglist>
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      <anchor>a3064ce0a237d3c993cbd22b61b982b7a</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a552550a16a07d25c019e123f065f5718</anchor>
      <arglist>(double d)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setParamCoarseAngleResolution</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a34a42043085720235b38b09fa55802f6</anchor>
      <arglist>(double d)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setParamCoarseSearchAngleOffset</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a754e9b0d56c9b3867d2714eed19f381a</anchor>
      <arglist>(double d)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setParamCorrelationSearchSpaceDimension</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a12d767704c29128cfbd99c0b5bd42f82</anchor>
      <arglist>(double d)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setParamCorrelationSearchSpaceResolution</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a8f669a8659313057fa9e08e496bec403</anchor>
      <arglist>(double d)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setParamCorrelationSearchSpaceSmearDeviation</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a290ad5c3a064fe31ea3d1a0d47759930</anchor>
      <arglist>(double d)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setParamDistanceVariancePenalty</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>ad1631c972ce308e286cee3847fb23c16</anchor>
      <arglist>(double d)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setParamDoLoopClosing</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a4372f425d14ef6d90321e9724e688b95</anchor>
      <arglist>(bool b)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setParamFineSearchAngleOffset</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a0702346e850ff9222279caf6465b9ff4</anchor>
      <arglist>(double d)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setParamLinkMatchMinimumResponseFine</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a54bfa3dd132f30568e85593f192c8bd4</anchor>
      <arglist>(double d)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setParamLinkScanMaximumDistance</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a258cb4a448ad700f51727fa77cef60d9</anchor>
      <arglist>(double d)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setParamLoopMatchMaximumVarianceCoarse</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a832ff4155bfa894e70a7aa2fe9f5cd79</anchor>
      <arglist>(double d)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setParamLoopMatchMinimumChainSize</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a025c3e3ba9390f283fccff97ed9cd284</anchor>
      <arglist>(int i)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setParamLoopMatchMinimumResponseCoarse</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>aa03b80895903e2e03e9b467910f36a0d</anchor>
      <arglist>(double d)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setParamLoopMatchMinimumResponseFine</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a375e3761910af87c4260154f43f6ea43</anchor>
      <arglist>(double d)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setParamLoopSearchMaximumDistance</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a7c28724047ade6fbef31c04812ec4517</anchor>
      <arglist>(double d)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setParamLoopSearchSpaceDimension</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a0079cad1491fbdeec6be8dea474c216f</anchor>
      <arglist>(double d)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setParamLoopSearchSpaceResolution</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>abf6c1f6d71dc3cb7af740ba5236ee9d4</anchor>
      <arglist>(double d)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setParamLoopSearchSpaceSmearDeviation</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a2f922ba71e3a14a55950bd7df5556e6a</anchor>
      <arglist>(double d)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setParamMinimumAnglePenalty</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a2e17e6f6f09b515631e07154a0921f5b</anchor>
      <arglist>(double d)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setParamMinimumDistancePenalty</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a87b23e50541cec1f241ae4298e2e96b4</anchor>
      <arglist>(double d)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setParamMinimumTimeInterval</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a84b06331344cdc957abb15fe3cc8841a</anchor>
      <arglist>(double d)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setParamMinimumTravelDistance</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>ab12fb9870f90015460364860182bd3ed</anchor>
      <arglist>(double d)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setParamMinimumTravelHeading</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>ad484a37f0dff1e205dd359aef613780c</anchor>
      <arglist>(double d)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setParamScanBufferMaximumScanDistance</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a4529c7eb5ffa4596aed84fe82bfa0880</anchor>
      <arglist>(double d)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setParamScanBufferSize</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>ac854dcdb5750910633583e43d8632113</anchor>
      <arglist>(int i)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setParamUseResponseExpansion</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a3d14262445ba74f9e42fec3f61aa111a</anchor>
      <arglist>(bool b)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setParamUseScanBarycenter</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>acd5e4338c83dcd5049afa8f460e2a2c5</anchor>
      <arglist>(bool b)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setParamUseScanMatching</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a4e0a2685add56733b644b1cc48573bfc</anchor>
      <arglist>(bool b)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetScanSolver</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>ab33d3c4bd93d770a18518e20b54bac03</anchor>
      <arglist>(ScanSolver *pSolver)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetUseScanMatching</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a92400370cf12e41d7e17617f8698594d</anchor>
      <arglist>(kt_bool val)</arglist>
    </member>
    <member kind="function">
      <type>kt_bool</type>
      <name>TryCloseLoop</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>ab89c54f672db18628ac937d7b583111e</anchor>
      <arglist>(LocalizedRangeScan *pScan, const Name &amp;rSensorName)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~Mapper</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a0abc4e431a35678561c64ffb858ac145</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>kt_bool</type>
      <name>HasMovedEnough</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>ade7b65add0e29f11f7bac2933968e906</anchor>
      <arglist>(LocalizedRangeScan *pScan, LocalizedRangeScan *pLastScan) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>InitializeParameters</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a14767b43b1c121b21c2d1fcc0149a725</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type></type>
      <name>Mapper</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>af1da15a456d10bc18132ca90b4c27322</anchor>
      <arglist>(const Mapper &amp;)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>const Mapper &amp;</type>
      <name>operator=</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a61c73aa81de99a4d0008158cade76f1c</anchor>
      <arglist>(const Mapper &amp;)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>kt_bool</type>
      <name>m_Initialized</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>ad201c0b0639bf8f5cadd306f0ef39057</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; MapperListener * &gt;</type>
      <name>m_Listeners</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>ad56b7a841c22ab36ebf8de07b75524a0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Parameter&lt; kt_double &gt; *</type>
      <name>m_pAngleVariancePenalty</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a4728a9bafb965fcab7d5b44dac84bdc0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Parameter&lt; kt_double &gt; *</type>
      <name>m_pCoarseAngleResolution</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a5e9f9b9dd63c03b3cbfe00f2b9e1b4ab</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Parameter&lt; kt_double &gt; *</type>
      <name>m_pCoarseSearchAngleOffset</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a127b43eab906cad261f266b05e526e9a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Parameter&lt; kt_double &gt; *</type>
      <name>m_pCorrelationSearchSpaceDimension</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>ab0a8cced7c7c0aa05b19eb449cf42aca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Parameter&lt; kt_double &gt; *</type>
      <name>m_pCorrelationSearchSpaceResolution</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a99bf9b22b257e41f55e7a4af56721d1a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Parameter&lt; kt_double &gt; *</type>
      <name>m_pCorrelationSearchSpaceSmearDeviation</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>acd357c277c58bfd750c0c7f7eb67f271</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Parameter&lt; kt_double &gt; *</type>
      <name>m_pDistanceVariancePenalty</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a981b9de1f5a731a00a52c801f549b383</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Parameter&lt; kt_bool &gt; *</type>
      <name>m_pDoLoopClosing</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>ad726c2d384ef702f14d3f581451d1221</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Parameter&lt; kt_double &gt; *</type>
      <name>m_pFineSearchAngleOffset</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a2aeece4e33403e08dc83c6ec6e5bb130</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>MapperGraph *</type>
      <name>m_pGraph</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>ab80200d7ace3d520fd60efb272f56dca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Parameter&lt; kt_double &gt; *</type>
      <name>m_pLinkMatchMinimumResponseFine</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a79f101dfbc23aed5d26effaf0e3a8c87</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Parameter&lt; kt_double &gt; *</type>
      <name>m_pLinkScanMaximumDistance</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>ae1f365306e3524ffff747460c0089576</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Parameter&lt; kt_double &gt; *</type>
      <name>m_pLoopMatchMaximumVarianceCoarse</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>ab7de77793e2f1c572349c9b75b97597e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Parameter&lt; kt_int32u &gt; *</type>
      <name>m_pLoopMatchMinimumChainSize</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a91eae4f02e339d53eac17062f0681f84</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Parameter&lt; kt_double &gt; *</type>
      <name>m_pLoopMatchMinimumResponseCoarse</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>af1b6a2ddc3d00f7cd86f58ed2d466bc2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Parameter&lt; kt_double &gt; *</type>
      <name>m_pLoopMatchMinimumResponseFine</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>aec08968324ece44a7faacaa4c3752fb4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Parameter&lt; kt_double &gt; *</type>
      <name>m_pLoopSearchMaximumDistance</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a8bfa5b0d11d2f8d0510088e546ac320e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Parameter&lt; kt_double &gt; *</type>
      <name>m_pLoopSearchSpaceDimension</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a91d9211bcb1185d5f63dd1c4601102fd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Parameter&lt; kt_double &gt; *</type>
      <name>m_pLoopSearchSpaceResolution</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>ae63b4f83cad9a48318a52a02e948aa63</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Parameter&lt; kt_double &gt; *</type>
      <name>m_pLoopSearchSpaceSmearDeviation</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a2827663381e194271fd1cec6cde23721</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>MapperSensorManager *</type>
      <name>m_pMapperSensorManager</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>aebd043a93288712156b0c4b67caa5360</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Parameter&lt; kt_double &gt; *</type>
      <name>m_pMinimumAnglePenalty</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a881ce8669f0243e5e0d2e2cbbaaaa2cf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Parameter&lt; kt_double &gt; *</type>
      <name>m_pMinimumDistancePenalty</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>ab684e42144f225a9acd8285fecc745cd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Parameter&lt; kt_double &gt; *</type>
      <name>m_pMinimumTimeInterval</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>ae15e72abe1619f1b0a016d2318733ede</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Parameter&lt; kt_double &gt; *</type>
      <name>m_pMinimumTravelDistance</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>af3b23e341c71615caf7074587d168f95</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Parameter&lt; kt_double &gt; *</type>
      <name>m_pMinimumTravelHeading</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>abfdd077948639918563713222a2f30d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Parameter&lt; kt_double &gt; *</type>
      <name>m_pScanBufferMaximumScanDistance</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>af428ef3e4598fe759f1c92884c165033</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Parameter&lt; kt_int32u &gt; *</type>
      <name>m_pScanBufferSize</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a72dc08c4e72b6d207ee35b512a41d82e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ScanSolver *</type>
      <name>m_pScanOptimizer</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>acbe48ca848099d64f2ab4005091b7929</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ScanMatcher *</type>
      <name>m_pSequentialScanMatcher</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>ad15d7b01280775e7579f8b4191ded363</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Parameter&lt; kt_bool &gt; *</type>
      <name>m_pUseResponseExpansion</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a4d389f88763dcf8d2d5b5a493dd4ccb1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Parameter&lt; kt_bool &gt; *</type>
      <name>m_pUseScanBarycenter</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a7013e7d5f1f204f5beaf71c976674fea</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Parameter&lt; kt_bool &gt; *</type>
      <name>m_pUseScanMatching</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>ae6198e26ea426dc62ad0d1bea1e58145</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend" protection="private">
      <type>friend class</type>
      <name>MapperGraph</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a7f4deddeb98787106def19945427113f</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend" protection="private">
      <type>friend class</type>
      <name>ScanMatcher</name>
      <anchorfile>classkarto_1_1Mapper.html</anchorfile>
      <anchor>a941c1f09088f329db894d9e5243b0596</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>karto::MapperDebugListener</name>
    <filename>classkarto_1_1MapperDebugListener.html</filename>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>Debug</name>
      <anchorfile>classkarto_1_1MapperDebugListener.html</anchorfile>
      <anchor>af0bd0408035609eedd8c402a74ead947</anchor>
      <arglist>(const std::string &amp;)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>karto::MapperGraph</name>
    <filename>classkarto_1_1MapperGraph.html</filename>
    <base>Graph&lt; LocalizedRangeScan &gt;</base>
    <member kind="function">
      <type>Edge&lt; LocalizedRangeScan &gt; *</type>
      <name>AddEdge</name>
      <anchorfile>classkarto_1_1MapperGraph.html</anchorfile>
      <anchor>ad34a1a7e008f5d7ec3e0666e5d0ecd46</anchor>
      <arglist>(LocalizedRangeScan *pSourceScan, LocalizedRangeScan *pTargetScan, kt_bool &amp;rIsNewEdge)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>AddEdges</name>
      <anchorfile>classkarto_1_1MapperGraph.html</anchorfile>
      <anchor>a496d18f55f93cf47b6fbbff796840868</anchor>
      <arglist>(LocalizedRangeScan *pScan, const Matrix3 &amp;rCovariance)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>AddVertex</name>
      <anchorfile>classkarto_1_1MapperGraph.html</anchorfile>
      <anchor>a939ef198fe725ce2708d0796d37b8088</anchor>
      <arglist>(LocalizedRangeScan *pScan)</arglist>
    </member>
    <member kind="function">
      <type>LocalizedRangeScanVector</type>
      <name>FindNearLinkedScans</name>
      <anchorfile>classkarto_1_1MapperGraph.html</anchorfile>
      <anchor>acbb4ef18e5af52eb64a2bbf8f0ca2f92</anchor>
      <arglist>(LocalizedRangeScan *pScan, kt_double maxDistance)</arglist>
    </member>
    <member kind="function">
      <type>ScanMatcher *</type>
      <name>GetLoopScanMatcher</name>
      <anchorfile>classkarto_1_1MapperGraph.html</anchorfile>
      <anchor>a02678755ba61eae77cd82373f04ff655</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MapperGraph</name>
      <anchorfile>classkarto_1_1MapperGraph.html</anchorfile>
      <anchor>a795c79f129f7209e82e8c8eb03115a22</anchor>
      <arglist>(Mapper *pMapper, kt_double rangeThreshold)</arglist>
    </member>
    <member kind="function">
      <type>kt_bool</type>
      <name>TryCloseLoop</name>
      <anchorfile>classkarto_1_1MapperGraph.html</anchorfile>
      <anchor>a9f3c749f04951e4b5b7d27ab26be057d</anchor>
      <arglist>(LocalizedRangeScan *pScan, const Name &amp;rSensorName)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~MapperGraph</name>
      <anchorfile>classkarto_1_1MapperGraph.html</anchorfile>
      <anchor>a185bd2adb47e509389588b99e29b632f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>Pose2</type>
      <name>ComputeWeightedMean</name>
      <anchorfile>classkarto_1_1MapperGraph.html</anchorfile>
      <anchor>ae1990ef12e1701bc7cc33fd4d40188aa</anchor>
      <arglist>(const Pose2Vector &amp;rMeans, const std::vector&lt; Matrix3 &gt; &amp;rCovariances) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>CorrectPoses</name>
      <anchorfile>classkarto_1_1MapperGraph.html</anchorfile>
      <anchor>ae5f2b287f9967f59fe126ed007a1f81e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>std::vector&lt; LocalizedRangeScanVector &gt;</type>
      <name>FindNearChains</name>
      <anchorfile>classkarto_1_1MapperGraph.html</anchorfile>
      <anchor>a8d58b4917e6eadcd33cf6b427f3eada5</anchor>
      <arglist>(LocalizedRangeScan *pScan)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>LocalizedRangeScanVector</type>
      <name>FindPossibleLoopClosure</name>
      <anchorfile>classkarto_1_1MapperGraph.html</anchorfile>
      <anchor>af2e516b17d893f05d6882221b68e0218</anchor>
      <arglist>(LocalizedRangeScan *pScan, const Name &amp;rSensorName, kt_int32u &amp;rStartNum)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>LocalizedRangeScan *</type>
      <name>GetClosestScanToPose</name>
      <anchorfile>classkarto_1_1MapperGraph.html</anchorfile>
      <anchor>a5e9c8f93202edca82899cfc42ea9f0d1</anchor>
      <arglist>(const LocalizedRangeScanVector &amp;rScans, const Pose2 &amp;rPose) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>Vertex&lt; LocalizedRangeScan &gt; *</type>
      <name>GetVertex</name>
      <anchorfile>classkarto_1_1MapperGraph.html</anchorfile>
      <anchor>af43bc19db98be5d6e1f7f81da6d479ae</anchor>
      <arglist>(LocalizedRangeScan *pScan)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>LinkChainToScan</name>
      <anchorfile>classkarto_1_1MapperGraph.html</anchorfile>
      <anchor>ad8db1c99c45564b3d892d0e7e6a1b368</anchor>
      <arglist>(const LocalizedRangeScanVector &amp;rChain, LocalizedRangeScan *pScan, const Pose2 &amp;rMean, const Matrix3 &amp;rCovariance)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>LinkNearChains</name>
      <anchorfile>classkarto_1_1MapperGraph.html</anchorfile>
      <anchor>a66ccda641ef769da589675ecd436fc7a</anchor>
      <arglist>(LocalizedRangeScan *pScan, Pose2Vector &amp;rMeans, std::vector&lt; Matrix3 &gt; &amp;rCovariances)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>LinkScans</name>
      <anchorfile>classkarto_1_1MapperGraph.html</anchorfile>
      <anchor>a84919655f8e8b6f84be45cd00ec229c2</anchor>
      <arglist>(LocalizedRangeScan *pFromScan, LocalizedRangeScan *pToScan, const Pose2 &amp;rMean, const Matrix3 &amp;rCovariance)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ScanMatcher *</type>
      <name>m_pLoopScanMatcher</name>
      <anchorfile>classkarto_1_1MapperGraph.html</anchorfile>
      <anchor>aa0fa5b2c473d2495bfa56fb4c77ef885</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Mapper *</type>
      <name>m_pMapper</name>
      <anchorfile>classkarto_1_1MapperGraph.html</anchorfile>
      <anchor>a76096a8b4024dfd9570d6cc19a5747ed</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>GraphTraversal&lt; LocalizedRangeScan &gt; *</type>
      <name>m_pTraversal</name>
      <anchorfile>classkarto_1_1MapperGraph.html</anchorfile>
      <anchor>a4a8de60cc7358ed7663857019ff88f0a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>karto::MapperListener</name>
    <filename>classkarto_1_1MapperListener.html</filename>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>Info</name>
      <anchorfile>classkarto_1_1MapperListener.html</anchorfile>
      <anchor>a587ef7d4a3b09fa727b181a23b3c7d47</anchor>
      <arglist>(const std::string &amp;)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>karto::MapperLoopClosureListener</name>
    <filename>classkarto_1_1MapperLoopClosureListener.html</filename>
    <base>karto::MapperListener</base>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>BeginLoopClosure</name>
      <anchorfile>classkarto_1_1MapperLoopClosureListener.html</anchorfile>
      <anchor>a046928a5ab764dca7dd306baff0a6b1d</anchor>
      <arglist>(const std::string &amp;)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>EndLoopClosure</name>
      <anchorfile>classkarto_1_1MapperLoopClosureListener.html</anchorfile>
      <anchor>a76bb3240f6762589c49df755ac4befd0</anchor>
      <arglist>(const std::string &amp;)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>LoopClosureCheck</name>
      <anchorfile>classkarto_1_1MapperLoopClosureListener.html</anchorfile>
      <anchor>a219577826c88d978dee14c62c3021c24</anchor>
      <arglist>(const std::string &amp;)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>karto::MapperSensorManager</name>
    <filename>classkarto_1_1MapperSensorManager.html</filename>
    <member kind="function">
      <type>void</type>
      <name>AddRunningScan</name>
      <anchorfile>classkarto_1_1MapperSensorManager.html</anchorfile>
      <anchor>a6b15e25ec6b7b9962d269492555204df</anchor>
      <arglist>(LocalizedRangeScan *pScan)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>AddScan</name>
      <anchorfile>classkarto_1_1MapperSensorManager.html</anchorfile>
      <anchor>a6cc2e58a02a4f83708926b8fdde4b522</anchor>
      <arglist>(LocalizedRangeScan *pScan)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Clear</name>
      <anchorfile>classkarto_1_1MapperSensorManager.html</anchorfile>
      <anchor>ae01fef2092bd9714321930ebd94732c4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>LocalizedRangeScanVector</type>
      <name>GetAllScans</name>
      <anchorfile>classkarto_1_1MapperSensorManager.html</anchorfile>
      <anchor>acd8542acdc26bca2eb76c3cfbe704794</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>LocalizedRangeScan *</type>
      <name>GetLastScan</name>
      <anchorfile>classkarto_1_1MapperSensorManager.html</anchorfile>
      <anchor>a1d87137fe36cdb7279d270b957aec027</anchor>
      <arglist>(const Name &amp;rSensorName)</arglist>
    </member>
    <member kind="function">
      <type>LocalizedRangeScanVector &amp;</type>
      <name>GetRunningScans</name>
      <anchorfile>classkarto_1_1MapperSensorManager.html</anchorfile>
      <anchor>a4d78a0f2279f26bdd24385ed80018eae</anchor>
      <arglist>(const Name &amp;rSensorName)</arglist>
    </member>
    <member kind="function">
      <type>LocalizedRangeScan *</type>
      <name>GetScan</name>
      <anchorfile>classkarto_1_1MapperSensorManager.html</anchorfile>
      <anchor>accc0f752211d7d900425232f7335825e</anchor>
      <arglist>(const Name &amp;rSensorName, kt_int32s scanIndex)</arglist>
    </member>
    <member kind="function">
      <type>LocalizedRangeScan *</type>
      <name>GetScan</name>
      <anchorfile>classkarto_1_1MapperSensorManager.html</anchorfile>
      <anchor>aa5b85934e8cecb4d9a8a5542e9ff37ba</anchor>
      <arglist>(kt_int32s id)</arglist>
    </member>
    <member kind="function">
      <type>LocalizedRangeScanVector &amp;</type>
      <name>GetScans</name>
      <anchorfile>classkarto_1_1MapperSensorManager.html</anchorfile>
      <anchor>a4b1d28531b27b1c2f61c93606be87848</anchor>
      <arglist>(const Name &amp;rSensorName)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; Name &gt;</type>
      <name>GetSensorNames</name>
      <anchorfile>classkarto_1_1MapperSensorManager.html</anchorfile>
      <anchor>a689b84a6a28871d4644f0582925d7ad6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MapperSensorManager</name>
      <anchorfile>classkarto_1_1MapperSensorManager.html</anchorfile>
      <anchor>a02f0221f0c1d193ed0fc72b15793093b</anchor>
      <arglist>(kt_int32u runningBufferMaximumSize, kt_double runningBufferMaximumDistance)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>RegisterSensor</name>
      <anchorfile>classkarto_1_1MapperSensorManager.html</anchorfile>
      <anchor>aa398510691edf0577b61df4876c9ece0</anchor>
      <arglist>(const Name &amp;rSensorName)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetLastScan</name>
      <anchorfile>classkarto_1_1MapperSensorManager.html</anchorfile>
      <anchor>a49d8155fcbcd3b63dd4a35d20ff119ad</anchor>
      <arglist>(LocalizedRangeScan *pScan)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~MapperSensorManager</name>
      <anchorfile>classkarto_1_1MapperSensorManager.html</anchorfile>
      <anchor>a63121a3e1140f746ed640f9e9bf0381a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="typedef" protection="private">
      <type>std::map&lt; Name, ScanManager * &gt;</type>
      <name>ScanManagerMap</name>
      <anchorfile>classkarto_1_1MapperSensorManager.html</anchorfile>
      <anchor>a8872910ef2b44405845bf26e6fb2eed4</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="private">
      <type>ScanManager *</type>
      <name>GetScanManager</name>
      <anchorfile>classkarto_1_1MapperSensorManager.html</anchorfile>
      <anchor>a85098e025f3b951042393c448f557d8a</anchor>
      <arglist>(LocalizedRangeScan *pScan)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>ScanManager *</type>
      <name>GetScanManager</name>
      <anchorfile>classkarto_1_1MapperSensorManager.html</anchorfile>
      <anchor>a72534e19b1ad9b9ab4b9e1c3bfce4fe1</anchor>
      <arglist>(const Name &amp;rSensorName)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>kt_int32s</type>
      <name>m_NextScanId</name>
      <anchorfile>classkarto_1_1MapperSensorManager.html</anchorfile>
      <anchor>a103a18b2959c2c474ccb790459a285af</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>kt_double</type>
      <name>m_RunningBufferMaximumDistance</name>
      <anchorfile>classkarto_1_1MapperSensorManager.html</anchorfile>
      <anchor>a1b936e00ea272ecce3a88e64ebf31cbe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>kt_int32u</type>
      <name>m_RunningBufferMaximumSize</name>
      <anchorfile>classkarto_1_1MapperSensorManager.html</anchorfile>
      <anchor>a650e3563b39daca05befdc7057b5f9ab</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ScanManagerMap</type>
      <name>m_ScanManagers</name>
      <anchorfile>classkarto_1_1MapperSensorManager.html</anchorfile>
      <anchor>ae482ca9901c017a91306cb8d08f973db</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
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      <arglist>(const LocalizedRangeScanVector &amp;rScans, kt_double resolution, kt_int32s &amp;rWidth, kt_int32s &amp;rHeight, Vector2&lt; kt_double &gt; &amp;rOffset)</arglist>
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      <arglist>(const Rectangle2 &amp;rOther)</arglist>
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      <arglist>(const Rectangle2 &amp;rOther) const </arglist>
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      <arglist>()</arglist>
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      <arglist>(T x, T y, T width, T height)</arglist>
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      <arglist>(const Vector2&lt; T &gt; &amp;rPosition, const Size2&lt; T &gt; &amp;rSize)</arglist>
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      <arglist>(const Rectangle2 &amp;rOther)</arglist>
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      <arglist>(T height)</arglist>
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      <arglist>(const T &amp;rX, const T &amp;rY)</arglist>
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      <arglist>(const Vector2&lt; T &gt; &amp;rPosition)</arglist>
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      <arglist>(const Size2&lt; T &gt; &amp;rSize)</arglist>
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      <arglist>(T width)</arglist>
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      <arglist>(T x)</arglist>
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      <arglist>(T y)</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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    <name>karto::ScanManager</name>
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      <type>void</type>
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      <arglist>(LocalizedRangeScan *pScan)</arglist>
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      <anchorfile>classkarto_1_1ScanManager.html</anchorfile>
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      <arglist>(LocalizedRangeScan *pScan, kt_int32s uniqueId)</arglist>
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      <type>void</type>
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      <arglist>()</arglist>
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      <type>LocalizedRangeScan *</type>
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      <arglist>()</arglist>
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      <type>LocalizedRangeScanVector &amp;</type>
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      <arglist>()</arglist>
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      <type>LocalizedRangeScanVector &amp;</type>
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      <arglist>()</arglist>
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      <anchor>a181e7c7f5f7203b45bb698493442ea98</anchor>
      <arglist>(kt_int32u runningBufferMaximumSize, kt_double runningBufferMaximumDistance)</arglist>
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      <anchorfile>classkarto_1_1ScanManager.html</anchorfile>
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      <arglist>(LocalizedRangeScan *pScan)</arglist>
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      <arglist>()</arglist>
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      <type>LocalizedRangeScan *</type>
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      <anchorfile>classkarto_1_1ScanManager.html</anchorfile>
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      <arglist></arglist>
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      <type>kt_double</type>
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      <arglist></arglist>
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      <type>kt_int32u</type>
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      <arglist></arglist>
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      <type>LocalizedRangeScanVector</type>
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      <arglist></arglist>
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      <arglist></arglist>
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    <member kind="function">
      <type>void</type>
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      <anchor>a1dc04be83266fcf77e217dca51138a3e</anchor>
      <arglist>(const Pose2 &amp;rBestPose, kt_double bestResponse, const Pose2 &amp;rSearchCenter, kt_double searchAngleOffset, kt_double searchAngleResolution, Matrix3 &amp;rCovariance)</arglist>
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      <type>void</type>
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      <anchor>a8b0d144bf4ba1cc02622a87930ba4a78</anchor>
      <arglist>(const Pose2 &amp;rBestPose, kt_double bestResponse, const Pose2 &amp;rSearchCenter, const Vector2&lt; kt_double &gt; &amp;rSearchSpaceOffset, const Vector2&lt; kt_double &gt; &amp;rSearchSpaceResolution, kt_double searchAngleResolution, Matrix3 &amp;rCovariance)</arglist>
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      <anchorfile>classkarto_1_1ScanMatcher.html</anchorfile>
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      <arglist>(LocalizedRangeScan *pScan, const Pose2 &amp;rSearchCenter, const Vector2&lt; kt_double &gt; &amp;rSearchSpaceOffset, const Vector2&lt; kt_double &gt; &amp;rSearchSpaceResolution, kt_double searchAngleOffset, kt_double searchAngleResolution, kt_bool doPenalize, Pose2 &amp;rMean, Matrix3 &amp;rCovariance, kt_bool doingFineMatch)</arglist>
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      <type>CorrelationGrid *</type>
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      <arglist>() const </arglist>
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      <anchorfile>classkarto_1_1ScanMatcher.html</anchorfile>
      <anchor>a2bb0eaaa05d1ded041ef2437c5745714</anchor>
      <arglist>(LocalizedRangeScan *pScan, const LocalizedRangeScanVector &amp;rBaseScans, Pose2 &amp;rMean, Matrix3 &amp;rCovariance, kt_bool doPenalize=true, kt_bool doRefineMatch=true)</arglist>
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      <anchorfile>classkarto_1_1ScanMatcher.html</anchorfile>
      <anchor>a6c8c9602b757f50b0403752ed7609912</anchor>
      <arglist>()</arglist>
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      <name>Create</name>
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      <anchor>ae4f71e6a6665d28fa9b77b222031163c</anchor>
      <arglist>(Mapper *pMapper, kt_double searchSize, kt_double resolution, kt_double smearDeviation, kt_double rangeThreshold)</arglist>
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      <anchorfile>classkarto_1_1ScanMatcher.html</anchorfile>
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      <arglist>(Mapper *pMapper)</arglist>
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      <arglist>(LocalizedRangeScan *pScan, const Vector2&lt; kt_double &gt; &amp;rViewPoint, kt_bool doSmear=true)</arglist>
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      <anchorfile>classkarto_1_1ScanMatcher.html</anchorfile>
      <anchor>ab74729acbea8f7b24a89708c95e0aa6f</anchor>
      <arglist>(const LocalizedRangeScanVector &amp;rScans, Vector2&lt; kt_double &gt; viewPoint)</arglist>
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      <type>PointVectorDouble</type>
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      <anchorfile>classkarto_1_1ScanMatcher.html</anchorfile>
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      <arglist>(LocalizedRangeScan *pScan, const Vector2&lt; kt_double &gt; &amp;rViewPoint) const </arglist>
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      <type>kt_double</type>
      <name>GetResponse</name>
      <anchorfile>classkarto_1_1ScanMatcher.html</anchorfile>
      <anchor>a6618adec5fa414c1a9b2bb080a582c0d</anchor>
      <arglist>(kt_int32u angleIndex, kt_int32s gridPositionIndex) const </arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>std::vector&lt; std::pair&lt; kt_int32s, Pose2 &gt; &gt;</type>
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      <arglist></arglist>
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      <arglist>(Edge&lt; LocalizedRangeScan &gt; *)</arglist>
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      <arglist>(Vertex&lt; LocalizedRangeScan &gt; *)</arglist>
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      <arglist>()</arglist>
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      <arglist>()=0</arglist>
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      <arglist>() const =0</arglist>
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      <arglist>(kt_int32s, kt_int32s)</arglist>
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      <arglist>(kt_int32s)</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <type>const Pose2 &amp;</type>
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      <arglist>() const </arglist>
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      <arglist>(const Pose2 &amp;rPose)</arglist>
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      <arglist>()=0</arglist>
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      <arglist>(SensorData *pSensorData)=0</arglist>
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      <arglist>()</arglist>
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      <arglist>(const Name &amp;rName)</arglist>
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      <arglist>(const Sensor &amp;)</arglist>
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      <arglist>(const Sensor &amp;)</arglist>
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      <type>Parameter&lt; Pose2 &gt; *</type>
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      <arglist></arglist>
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      <type>void</type>
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      <arglist>(CustomData *pCustomData)</arglist>
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      <type>const CustomDataVector &amp;</type>
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      <arglist>() const </arglist>
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    <member kind="function">
      <type>const Name &amp;</type>
      <name>GetSensorName</name>
      <anchorfile>classkarto_1_1SensorData.html</anchorfile>
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      <arglist>() const </arglist>
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      <name>GetStateId</name>
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      <arglist>() const </arglist>
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      <type>kt_double</type>
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      <arglist>(T width)</arglist>
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