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      <arglist>(const Eigen::Ref&lt; const Eigen::Vector2d &gt; &amp;line1_start, const Eigen::Ref&lt; const Eigen::Vector2d &gt; &amp;line1_end, const Eigen::Ref&lt; const Eigen::Vector2d &gt; &amp;line2_start, const Eigen::Ref&lt; const Eigen::Vector2d &gt; &amp;line2_end, Eigen::Vector2d *intersection=NULL)</arglist>
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      <arglist>(const Eigen::Vector2d &amp;point, const Point2dContainer &amp;vertices)</arglist>
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      <arglist>(const Eigen::Ref&lt; const Eigen::Vector2d &gt; &amp;point, const Eigen::Ref&lt; const Eigen::Vector2d &gt; &amp;line_start, const Eigen::Ref&lt; const Eigen::Vector2d &gt; &amp;line_end)</arglist>
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      <arglist>(const Eigen::Ref&lt; const Eigen::Vector2d &gt; &amp;line1_start, const Eigen::Ref&lt; const Eigen::Vector2d &gt; &amp;line1_end, const Eigen::Ref&lt; const Eigen::Vector2d &gt; &amp;line2_start, const Eigen::Ref&lt; const Eigen::Vector2d &gt; &amp;line2_end)</arglist>
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      <arglist>(const double &amp;var, const double &amp;a, const double &amp;epsilon)</arglist>
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      <arglist>(double i, double j)</arglist>
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      <arglist>(double radius)</arglist>
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      <arglist>(const PoseSE2 &amp;current_pose, std::vector&lt; visualization_msgs::Marker &gt; &amp;markers) 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>(size_t vert_idx)</arglist>
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      <arglist>(const BaseRobotFootprintModel *robot_model)</arglist>
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      <arglist>(const TebConfig &amp;cfg)</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(const Obstacle *obstacle)</arglist>
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      <arglist>(const BaseRobotFootprintModel *robot_model)</arglist>
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      <arglist>(const TebConfig &amp;cfg)</arglist>
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      <arglist>(const TebConfig &amp;cfg)</arglist>
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      <arglist></arglist>
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      <arglist>()</arglist>
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      <arglist>(std::istream &amp;is)</arglist>
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      <arglist>(const TebConfig &amp;cfg)</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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    <member kind="function">
      <type>ErrorVector &amp;</type>
      <name>getError</name>
      <anchorfile>classteb__local__planner_1_1EdgeViaPoint.html</anchorfile>
      <anchor>af27e9a2f1875be1f5bc6d1ade8fb5433</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>read</name>
      <anchorfile>classteb__local__planner_1_1EdgeViaPoint.html</anchorfile>
      <anchor>acb14d1bc30c8bee2edf0bce551a1e70b</anchor>
      <arglist>(std::istream &amp;is)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setParameters</name>
      <anchorfile>classteb__local__planner_1_1EdgeViaPoint.html</anchorfile>
      <anchor>a0aa72b653f47639a1d515e2cc93101aa</anchor>
      <arglist>(const TebConfig &amp;cfg, const Eigen::Vector2d *via_point)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setTebConfig</name>
      <anchorfile>classteb__local__planner_1_1EdgeViaPoint.html</anchorfile>
      <anchor>ae6605f57e696fd05e51e4e8a71d8aeea</anchor>
      <arglist>(const TebConfig &amp;cfg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setViaPoint</name>
      <anchorfile>classteb__local__planner_1_1EdgeViaPoint.html</anchorfile>
      <anchor>aa005a74eebda8181f41a5d7599664295</anchor>
      <arglist>(const Eigen::Vector2d *via_point)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>write</name>
      <anchorfile>classteb__local__planner_1_1EdgeViaPoint.html</anchorfile>
      <anchor>ac0452d4124ba7e794ea9a81036fdd412</anchor>
      <arglist>(std::ostream &amp;os) const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~EdgeViaPoint</name>
      <anchorfile>classteb__local__planner_1_1EdgeViaPoint.html</anchorfile>
      <anchor>af6421caf1ab8ec966dc942bc3cd26f25</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>const TebConfig *</type>
      <name>cfg_</name>
      <anchorfile>classteb__local__planner_1_1EdgeViaPoint.html</anchorfile>
      <anchor>a2d0bc264d138fde0bd9ffe7c661532b5</anchor>
      <arglist></arglist>
    </member>
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  <compound kind="struct">
    <name>teb_local_planner::HcGraphVertex</name>
    <filename>structteb__local__planner_1_1HcGraphVertex.html</filename>
    <member kind="variable">
      <type>Eigen::Vector2d</type>
      <name>pos</name>
      <anchorfile>structteb__local__planner_1_1HcGraphVertex.html</anchorfile>
      <anchor>a3f94960fc93a632bd6c3d17cd586c67f</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>teb_local_planner::HomotopyClassPlanner</name>
    <filename>classteb__local__planner_1_1HomotopyClassPlanner.html</filename>
    <base>teb_local_planner::PlannerInterface</base>
    <member kind="function">
      <type>void</type>
      <name>clearPlanner</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>a6694a28c75cd04e929a22f941f982b1d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>computeCurrentCost</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>af5961032312004a5f31db16b46acf89c</anchor>
      <arglist>(std::vector&lt; double &gt; &amp;cost, double obst_cost_scale=1.0, double viapoint_cost_scale=1.0, bool alternative_time_cost=false)</arglist>
    </member>
    <member kind="function">
      <type>const TebOptPlannerContainer &amp;</type>
      <name>getTrajectoryContainer</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>a46c9f4ff7bd3dd51a408442829fa4465</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>HomotopyClassPlanner</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>a2110f239b27e401ee3bcb5136eac89b0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>HomotopyClassPlanner</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>ac767cbafaf5058ee83ff99114d24fb92</anchor>
      <arglist>(const TebConfig &amp;cfg, ObstContainer *obstacles=NULL, RobotFootprintModelPtr robot_model=boost::make_shared&lt; PointRobotFootprint &gt;(), TebVisualizationPtr visualization=TebVisualizationPtr(), const ViaPointContainer *via_points=NULL)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>initialize</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>a8116edc25c55704e5ec640e062ba622f</anchor>
      <arglist>(const TebConfig &amp;cfg, ObstContainer *obstacles=NULL, RobotFootprintModelPtr robot_model=boost::make_shared&lt; PointRobotFootprint &gt;(), TebVisualizationPtr visualization=TebVisualizationPtr(), const ViaPointContainer *via_points=NULL)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>isHorizonReductionAppropriate</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>a952113227630482cfe8ce2ea38883afb</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;initial_plan) const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~HomotopyClassPlanner</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>af5f799778df2cb29f03275619e421fbf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>plan</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>a753fbac63c8ccc621435ec0dc408b9de</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;initial_plan, const geometry_msgs::Twist *start_vel=NULL, bool free_goal_vel=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>plan</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>a7e76566fab5100ee6dcdb64bbe0bc1e1</anchor>
      <arglist>(const tf::Pose &amp;start, const tf::Pose &amp;goal, const geometry_msgs::Twist *start_vel=NULL, bool free_goal_vel=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>plan</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>a1b0cc9cf687e2c6cfb00f9514a49e448</anchor>
      <arglist>(const PoseSE2 &amp;start, const PoseSE2 &amp;goal, const Eigen::Vector2d &amp;start_vel, bool free_goal_vel=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>getVelocityCommand</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>a502a148fb8737930079e91a8adc3cbbb</anchor>
      <arglist>(double &amp;v, double &amp;omega) const </arglist>
    </member>
    <member kind="function">
      <type>TebOptimalPlannerPtr</type>
      <name>bestTeb</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>a7ca276d488337c90e1db5a2de2a7937c</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>isTrajectoryFeasible</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>a859e06c7aa3738614ea10569af74e138</anchor>
      <arglist>(base_local_planner::CostmapModel *costmap_model, const std::vector&lt; geometry_msgs::Point &gt; &amp;footprint_spec, double inscribed_radius=0.0, double circumscribed_radius=0.0, int look_ahead_idx=-1)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setVisualization</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>a7c5eb7412271b533e774a309fa6abd05</anchor>
      <arglist>(TebVisualizationPtr visualization)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>visualize</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>afb83e402cfcbe04b113e4b633806257e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exploreHomotopyClassesAndInitTebs</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>a54447874832bfb1764e0cc9053941ae6</anchor>
      <arglist>(const PoseSE2 &amp;start, const PoseSE2 &amp;goal, double dist_to_obst, boost::optional&lt; const Eigen::Vector2d &amp; &gt; start_vel)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>deleteTebDetours</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>a80be8c2b8158ed0f264fd821b05b9aaf</anchor>
      <arglist>(double threshold=0.0)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addAndInitNewTeb</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>aa2394405b203b40a28655499c7363299</anchor>
      <arglist>(BidirIter path_start, BidirIter path_end, Fun fun_position, double start_orientation, double goal_orientation, boost::optional&lt; const Eigen::Vector2d &amp; &gt; start_velocity)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addAndInitNewTeb</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>a438d1e87e6d8e5e3ddcfeb01240835bf</anchor>
      <arglist>(const PoseSE2 &amp;start, const PoseSE2 &amp;goal, boost::optional&lt; const Eigen::Vector2d &amp; &gt; start_velocity)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addAndInitNewTeb</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>a95adf4281ec9d8d04e5de0401eb89d86</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;initial_plan, boost::optional&lt; const Eigen::Vector2d &amp; &gt; start_velocity)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>updateAllTEBs</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>a38ed48b2af1333262fd1218bcc0a8be6</anchor>
      <arglist>(boost::optional&lt; const PoseSE2 &amp; &gt; start, boost::optional&lt; const PoseSE2 &amp; &gt; goal, boost::optional&lt; const Eigen::Vector2d &amp; &gt; start_velocity)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>optimizeAllTEBs</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>a08d7bb5f6d61c01267e38c0ad1357fb8</anchor>
      <arglist>(unsigned int iter_innerloop, unsigned int iter_outerloop)</arglist>
    </member>
    <member kind="function">
      <type>TebOptimalPlannerPtr</type>
      <name>selectBestTeb</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>ac8377a6481cfd1a7e9c08c556bb0a5e7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::complex&lt; long double &gt;</type>
      <name>calculateHSignature</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>a8444f61e39be488139a9ab9b794ea3be</anchor>
      <arglist>(BidirIter path_start, BidirIter path_end, Fun fun_cplx_point, const ObstContainer *obstacles=NULL, double prescaler=1)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static bool</type>
      <name>isHSignatureSimilar</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>ab4759ac6ac07fee46625ba45ab9fb7d2</anchor>
      <arglist>(const std::complex&lt; long double &gt; &amp;h1, const std::complex&lt; long double &gt; &amp;h2, double threshold)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>createGraph</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>abe60b9a2a288e8eddb95621eb3db69b0</anchor>
      <arglist>(const PoseSE2 &amp;start, const PoseSE2 &amp;goal, double dist_to_obst, double obstacle_heading_threshold, boost::optional&lt; const Eigen::Vector2d &amp; &gt; start_velocity)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>createProbRoadmapGraph</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>a8f5a1cc57dd2febafa07892e728ebf94</anchor>
      <arglist>(const PoseSE2 &amp;start, const PoseSE2 &amp;goal, double dist_to_obst, int no_samples, double obstacle_heading_threshold, boost::optional&lt; const Eigen::Vector2d &amp; &gt; start_velocity)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>hasHSignature</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>ab7f9431ce66484df0c5969e385c93a5c</anchor>
      <arglist>(const std::complex&lt; long double &gt; &amp;H) const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>addHSignatureIfNew</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>a022b472150cae2d5724a27015c610f8d</anchor>
      <arglist>(const std::complex&lt; long double &gt; &amp;H, bool lock=false)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>renewAndAnalyzeOldTebs</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>ab67f5d38e08e1fd6a63ee1f06bf652f1</anchor>
      <arglist>(bool delete_detours)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>updateReferenceTrajectoryViaPoints</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>a87bba235037c6769b5882ba5714e882a</anchor>
      <arglist>(bool all_trajectories)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>DepthFirst</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>acbcc261caa73efc2232c21f91380638c</anchor>
      <arglist>(HcGraph &amp;g, std::vector&lt; HcGraphVertexType &gt; &amp;visited, const HcGraphVertexType &amp;goal, double start_orientation, double goal_orientation, boost::optional&lt; const Eigen::Vector2d &amp; &gt; start_velocity)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>clearGraph</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>a6ab8d25cf2d6053608d3ee3e8c55235a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>int</type>
      <name>bestTebIdx</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>aabd1dfa135b93c6c8321c0528424b54d</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TebOptimalPlannerPtr</type>
      <name>best_teb_</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>a2ed5825c67604ca73379301672ddae20</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>const TebConfig *</type>
      <name>cfg_</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>a8fadf170bebb98e4c39a07af8afdced4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>HcGraph</type>
      <name>graph_</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>a937c597063dc53abb9a86486f83ef9b4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; std::pair&lt; std::complex&lt; long double &gt;, bool &gt; &gt;</type>
      <name>h_signatures_</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>a3155af843c7435e7be0dde5ce48865de</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>const std::vector&lt; geometry_msgs::PoseStamped &gt; *</type>
      <name>initial_plan_</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>a27e3caa202d4fa614427c30aa49d093a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::complex&lt; long double &gt;</type>
      <name>initial_plan_h_sig_</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>aec9884452eeede7dc1ae5b9c4dc8b2b3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>initialized_</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>a933fdb7d462403912283bec9eaf414be</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ObstContainer *</type>
      <name>obstacles_</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>a2d9c4645bb20e68df3bf1a47738da40f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::random::mt19937</type>
      <name>rnd_generator_</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>a10110694aa904d36de0be43badf2b7a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>RobotFootprintModelPtr</type>
      <name>robot_model_</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>aaf2d67a9747834ea58132b34bdfbf57f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TebOptPlannerContainer</type>
      <name>tebs_</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>a3312042b11d8f9606676e8e2793fdc57</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>const ViaPointContainer *</type>
      <name>via_points_</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>a815890db7b340b937cc8ba135a244571</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TebVisualizationPtr</type>
      <name>visualization_</name>
      <anchorfile>classteb__local__planner_1_1HomotopyClassPlanner.html</anchorfile>
      <anchor>a282c59b32905b7a567070f518d45bdc0</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>teb_local_planner::LineObstacle</name>
    <filename>classteb__local__planner_1_1LineObstacle.html</filename>
    <base>teb_local_planner::Obstacle</base>
    <member kind="typedef">
      <type>std::vector&lt; Eigen::Vector2d, Eigen::aligned_allocator&lt; Eigen::Vector2d &gt; &gt;</type>
      <name>VertexContainer</name>
      <anchorfile>classteb__local__planner_1_1LineObstacle.html</anchorfile>
      <anchor>a2eda1d7297bcacd1d1ed3b4ced280c3d</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>checkCollision</name>
      <anchorfile>classteb__local__planner_1_1LineObstacle.html</anchorfile>
      <anchor>a1df126225aee2203206d53d6b5b48d20</anchor>
      <arglist>(const Eigen::Vector2d &amp;point, double min_dist) const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>checkLineIntersection</name>
      <anchorfile>classteb__local__planner_1_1LineObstacle.html</anchorfile>
      <anchor>a5ae71f3a1471c8132656e249fac0ff30</anchor>
      <arglist>(const Eigen::Vector2d &amp;line_start, const Eigen::Vector2d &amp;line_end, double min_dist=0) const </arglist>
    </member>
    <member kind="function">
      <type>const Eigen::Vector2d &amp;</type>
      <name>end</name>
      <anchorfile>classteb__local__planner_1_1LineObstacle.html</anchorfile>
      <anchor>ad38af9e8f9689611f74d909391d03908</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual const Eigen::Vector2d &amp;</type>
      <name>getCentroid</name>
      <anchorfile>classteb__local__planner_1_1LineObstacle.html</anchorfile>
      <anchor>a537b129776f23120f80727b20996d29e</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual std::complex&lt; double &gt;</type>
      <name>getCentroidCplx</name>
      <anchorfile>classteb__local__planner_1_1LineObstacle.html</anchorfile>
      <anchor>a7f72300a2e12818c301fbd176bd38be5</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Eigen::Vector2d</type>
      <name>getClosestPoint</name>
      <anchorfile>classteb__local__planner_1_1LineObstacle.html</anchorfile>
      <anchor>a792cfe30f5c136e1080db6881532a47f</anchor>
      <arglist>(const Eigen::Vector2d &amp;position) const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>getMinimumDistance</name>
      <anchorfile>classteb__local__planner_1_1LineObstacle.html</anchorfile>
      <anchor>a5c4995138eedd10dead656dc16037422</anchor>
      <arglist>(const Eigen::Vector2d &amp;position) const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>getMinimumDistance</name>
      <anchorfile>classteb__local__planner_1_1LineObstacle.html</anchorfile>
      <anchor>a7a4caa36cd8dbe6aad5df22b3e6d333b</anchor>
      <arglist>(const Eigen::Vector2d &amp;line_start, const Eigen::Vector2d &amp;line_end) const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>getMinimumDistance</name>
      <anchorfile>classteb__local__planner_1_1LineObstacle.html</anchorfile>
      <anchor>a41a4d02c17356406b312c5b50698cd3c</anchor>
      <arglist>(const Point2dContainer &amp;polygon) const </arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>LineObstacle</name>
      <anchorfile>classteb__local__planner_1_1LineObstacle.html</anchorfile>
      <anchor>a8a63c701716c4abc8f0c3a09cd7e3db4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>LineObstacle</name>
      <anchorfile>classteb__local__planner_1_1LineObstacle.html</anchorfile>
      <anchor>ad4a5f600d02a795f42b20562a84da9b9</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::Vector2d &gt; &amp;line_start, const Eigen::Ref&lt; const Eigen::Vector2d &gt; &amp;line_end)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>LineObstacle</name>
      <anchorfile>classteb__local__planner_1_1LineObstacle.html</anchorfile>
      <anchor>a225c45580f0be90e85efb3d0b4c2f503</anchor>
      <arglist>(double x1, double y1, double x2, double y2)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setEnd</name>
      <anchorfile>classteb__local__planner_1_1LineObstacle.html</anchorfile>
      <anchor>a04d204bd0d5e319efcdb463617414423</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::Vector2d &gt; &amp;end)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setStart</name>
      <anchorfile>classteb__local__planner_1_1LineObstacle.html</anchorfile>
      <anchor>af0e4d2b3b978cbb5d572c0d3510c5a77</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::Vector2d &gt; &amp;start)</arglist>
    </member>
    <member kind="function">
      <type>const Eigen::Vector2d &amp;</type>
      <name>start</name>
      <anchorfile>classteb__local__planner_1_1LineObstacle.html</anchorfile>
      <anchor>a7b02f04c924b9abe183e3064e29636e7</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>toPolygonMsg</name>
      <anchorfile>classteb__local__planner_1_1LineObstacle.html</anchorfile>
      <anchor>abbec1954cd67c93adc02537329eb4ec4</anchor>
      <arglist>(geometry_msgs::Polygon &amp;polygon)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>calcCentroid</name>
      <anchorfile>classteb__local__planner_1_1LineObstacle.html</anchorfile>
      <anchor>a3c71861d6afcbd423647af041af7ca66</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Vector2d</type>
      <name>centroid_</name>
      <anchorfile>classteb__local__planner_1_1LineObstacle.html</anchorfile>
      <anchor>a45368bbc3b59940463761dea9186968c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Vector2d</type>
      <name>end_</name>
      <anchorfile>classteb__local__planner_1_1LineObstacle.html</anchorfile>
      <anchor>ab97791fb3c6da89e9b66c7f10ebc67d1</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Eigen::Vector2d</type>
      <name>start_</name>
      <anchorfile>classteb__local__planner_1_1LineObstacle.html</anchorfile>
      <anchor>afe78c6ae8a14eae151940d85d683a060</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>teb_local_planner::LineRobotFootprint</name>
    <filename>classteb__local__planner_1_1LineRobotFootprint.html</filename>
    <base>teb_local_planner::BaseRobotFootprintModel</base>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>calculateDistance</name>
      <anchorfile>classteb__local__planner_1_1LineRobotFootprint.html</anchorfile>
      <anchor>a0623373df31436fb26311fc9a4747aa8</anchor>
      <arglist>(const PoseSE2 &amp;current_pose, const Obstacle *obstacle) const </arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>LineRobotFootprint</name>
      <anchorfile>classteb__local__planner_1_1LineRobotFootprint.html</anchorfile>
      <anchor>ab8b3b53acda45a8510165a182686206d</anchor>
      <arglist>(const geometry_msgs::Point &amp;line_start, const geometry_msgs::Point &amp;line_end)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>LineRobotFootprint</name>
      <anchorfile>classteb__local__planner_1_1LineRobotFootprint.html</anchorfile>
      <anchor>a36cde5f69d9c497715139bb19fdadb73</anchor>
      <arglist>(const Eigen::Vector2d &amp;line_start, const Eigen::Vector2d &amp;line_end)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setLine</name>
      <anchorfile>classteb__local__planner_1_1LineRobotFootprint.html</anchorfile>
      <anchor>aa8b9e87aa66b9570fd34d763b4b730ea</anchor>
      <arglist>(const geometry_msgs::Point &amp;line_start, const geometry_msgs::Point &amp;line_end)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setLine</name>
      <anchorfile>classteb__local__planner_1_1LineRobotFootprint.html</anchorfile>
      <anchor>a5c47f0d1b296d21592cefea5bf7fa602</anchor>
      <arglist>(const Eigen::Vector2d &amp;line_start, const Eigen::Vector2d &amp;line_end)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>visualizeRobot</name>
      <anchorfile>classteb__local__planner_1_1LineRobotFootprint.html</anchorfile>
      <anchor>ae1d63b103f2ebd96db9a8e257dc29a95</anchor>
      <arglist>(const PoseSE2 &amp;current_pose, std::vector&lt; visualization_msgs::Marker &gt; &amp;markers) const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~LineRobotFootprint</name>
      <anchorfile>classteb__local__planner_1_1LineRobotFootprint.html</anchorfile>
      <anchor>ac1195c2be5c6c240c14a2203defc387d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Vector2d</type>
      <name>line_end_</name>
      <anchorfile>classteb__local__planner_1_1LineRobotFootprint.html</anchorfile>
      <anchor>a93b64eb7c53574ae81fc5e90968a729b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Vector2d</type>
      <name>line_start_</name>
      <anchorfile>classteb__local__planner_1_1LineRobotFootprint.html</anchorfile>
      <anchor>a9ae8f93f924206eae91adb7256d1f8b3</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>teb_local_planner::Obstacle</name>
    <filename>classteb__local__planner_1_1Obstacle.html</filename>
    <member kind="function">
      <type></type>
      <name>Obstacle</name>
      <anchorfile>classteb__local__planner_1_1Obstacle.html</anchorfile>
      <anchor>a6ed0b3bf06fabe6a341788df35d67b93</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~Obstacle</name>
      <anchorfile>classteb__local__planner_1_1Obstacle.html</anchorfile>
      <anchor>a28c6687e1b207dc9d344a4597c5d8be7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual const Eigen::Vector2d &amp;</type>
      <name>getCentroid</name>
      <anchorfile>classteb__local__planner_1_1Obstacle.html</anchorfile>
      <anchor>a6960c8404759401120d53a44ec2155cc</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual std::complex&lt; double &gt;</type>
      <name>getCentroidCplx</name>
      <anchorfile>classteb__local__planner_1_1Obstacle.html</anchorfile>
      <anchor>abb48a94476235acde6ff31fd6607b35c</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>checkCollision</name>
      <anchorfile>classteb__local__planner_1_1Obstacle.html</anchorfile>
      <anchor>af2487bf6752ca520032608e95a016223</anchor>
      <arglist>(const Eigen::Vector2d &amp;position, double min_dist) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>checkLineIntersection</name>
      <anchorfile>classteb__local__planner_1_1Obstacle.html</anchorfile>
      <anchor>af94e4f86ac2c6d26fccb6022d4b3c457</anchor>
      <arglist>(const Eigen::Vector2d &amp;line_start, const Eigen::Vector2d &amp;line_end, double min_dist=0) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual double</type>
      <name>getMinimumDistance</name>
      <anchorfile>classteb__local__planner_1_1Obstacle.html</anchorfile>
      <anchor>aa402c55336629cea9eb2abf34cffc013</anchor>
      <arglist>(const Eigen::Vector2d &amp;position) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual double</type>
      <name>getMinimumDistance</name>
      <anchorfile>classteb__local__planner_1_1Obstacle.html</anchorfile>
      <anchor>ad0318a1d12949d41f72109477e002587</anchor>
      <arglist>(const Eigen::Vector2d &amp;line_start, const Eigen::Vector2d &amp;line_end) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual double</type>
      <name>getMinimumDistance</name>
      <anchorfile>classteb__local__planner_1_1Obstacle.html</anchorfile>
      <anchor>a252167bfbe5e08dea1ea3c5d3ed94ca3</anchor>
      <arglist>(const Point2dContainer &amp;polygon) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual Eigen::Vector2d</type>
      <name>getClosestPoint</name>
      <anchorfile>classteb__local__planner_1_1Obstacle.html</anchorfile>
      <anchor>ab16489bf4a8a5a1dd116b7714f8d04a9</anchor>
      <arglist>(const Eigen::Vector2d &amp;position) const =0</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isDynamic</name>
      <anchorfile>classteb__local__planner_1_1Obstacle.html</anchorfile>
      <anchor>a30ea0e7c459a46471d26f08d81b75f73</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setCentroidVelocity</name>
      <anchorfile>classteb__local__planner_1_1Obstacle.html</anchorfile>
      <anchor>aa09b1cabdee7953e905cb0d41fc9a11a</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::Vector2d &gt; &amp;vel)</arglist>
    </member>
    <member kind="function">
      <type>const Eigen::Vector2d &amp;</type>
      <name>getCentroidVelocity</name>
      <anchorfile>classteb__local__planner_1_1Obstacle.html</anchorfile>
      <anchor>ae70828065a2ca58fc0483ded81f2a9dc</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>toPolygonMsg</name>
      <anchorfile>classteb__local__planner_1_1Obstacle.html</anchorfile>
      <anchor>a13d46bddd41ab00dbcc968da213424d4</anchor>
      <arglist>(geometry_msgs::Polygon &amp;polygon)=0</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Eigen::Vector2d</type>
      <name>centroid_velocity_</name>
      <anchorfile>classteb__local__planner_1_1Obstacle.html</anchorfile>
      <anchor>a600b04efad61b787ab8e2428426755d0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>dynamic_</name>
      <anchorfile>classteb__local__planner_1_1Obstacle.html</anchorfile>
      <anchor>a15f9ab8310125b1bcaeada34a5019f08</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>teb_local_planner::PlannerInterface</name>
    <filename>classteb__local__planner_1_1PlannerInterface.html</filename>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>clearPlanner</name>
      <anchorfile>classteb__local__planner_1_1PlannerInterface.html</anchorfile>
      <anchor>aab4b2a774a41d5d98a6eed6bdde81298</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>computeCurrentCost</name>
      <anchorfile>classteb__local__planner_1_1PlannerInterface.html</anchorfile>
      <anchor>a62971a56c686fad9b139790cca52d0ff</anchor>
      <arglist>(std::vector&lt; double &gt; &amp;cost, double obst_cost_scale=1.0, bool alternative_time_cost=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>isHorizonReductionAppropriate</name>
      <anchorfile>classteb__local__planner_1_1PlannerInterface.html</anchorfile>
      <anchor>a8bccc820f51cf2eb6a4d7ab98e456d34</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;initial_plan) const </arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>isTrajectoryFeasible</name>
      <anchorfile>classteb__local__planner_1_1PlannerInterface.html</anchorfile>
      <anchor>a6c0c90babc218d68f88135335e3019f6</anchor>
      <arglist>(base_local_planner::CostmapModel *costmap_model, const std::vector&lt; geometry_msgs::Point &gt; &amp;footprint_spec, double inscribed_radius=0.0, double circumscribed_radius=0.0, int look_ahead_idx=-1)=0</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PlannerInterface</name>
      <anchorfile>classteb__local__planner_1_1PlannerInterface.html</anchorfile>
      <anchor>af6e3288fc97b1b54847e47f171575def</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>visualize</name>
      <anchorfile>classteb__local__planner_1_1PlannerInterface.html</anchorfile>
      <anchor>afeeda8f566d59ee83c02077d2ff6c241</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~PlannerInterface</name>
      <anchorfile>classteb__local__planner_1_1PlannerInterface.html</anchorfile>
      <anchor>ad1abeab53bae39232c51b902c357e2c0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>plan</name>
      <anchorfile>classteb__local__planner_1_1PlannerInterface.html</anchorfile>
      <anchor>aad7ea1d2454b0bc23db0082df85c99de</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;initial_plan, const geometry_msgs::Twist *start_vel=NULL, bool free_goal_vel=false)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>plan</name>
      <anchorfile>classteb__local__planner_1_1PlannerInterface.html</anchorfile>
      <anchor>a35f325b8dd40da1fd8cce699550bf8a2</anchor>
      <arglist>(const tf::Pose &amp;start, const tf::Pose &amp;goal, const geometry_msgs::Twist *start_vel=NULL, bool free_goal_vel=false)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>plan</name>
      <anchorfile>classteb__local__planner_1_1PlannerInterface.html</anchorfile>
      <anchor>a934f61bb240219665dd8546ab0e24869</anchor>
      <arglist>(const PoseSE2 &amp;start, const PoseSE2 &amp;goal, const Eigen::Vector2d &amp;start_vel, bool free_goal_vel=false)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>getVelocityCommand</name>
      <anchorfile>classteb__local__planner_1_1PlannerInterface.html</anchorfile>
      <anchor>a7c250a02064b56ba05776d7cc49e4220</anchor>
      <arglist>(double &amp;v, double &amp;omega) const =0</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>teb_local_planner::PointObstacle</name>
    <filename>classteb__local__planner_1_1PointObstacle.html</filename>
    <base>teb_local_planner::Obstacle</base>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>checkCollision</name>
      <anchorfile>classteb__local__planner_1_1PointObstacle.html</anchorfile>
      <anchor>a24b5c7d042b6c9bc4520d57c833d1e41</anchor>
      <arglist>(const Eigen::Vector2d &amp;point, double min_dist) const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>checkLineIntersection</name>
      <anchorfile>classteb__local__planner_1_1PointObstacle.html</anchorfile>
      <anchor>a69c6ee1cd322351cf01db165c2915ac0</anchor>
      <arglist>(const Eigen::Vector2d &amp;line_start, const Eigen::Vector2d &amp;line_end, double min_dist=0) const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual const Eigen::Vector2d &amp;</type>
      <name>getCentroid</name>
      <anchorfile>classteb__local__planner_1_1PointObstacle.html</anchorfile>
      <anchor>a7e25b49290ec0969d68d1c1b7fc7b1d0</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual std::complex&lt; double &gt;</type>
      <name>getCentroidCplx</name>
      <anchorfile>classteb__local__planner_1_1PointObstacle.html</anchorfile>
      <anchor>a4b185a05187c8d6cc51a7fbff0475436</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Eigen::Vector2d</type>
      <name>getClosestPoint</name>
      <anchorfile>classteb__local__planner_1_1PointObstacle.html</anchorfile>
      <anchor>a3449e3990887616a96f2e2c70ba9d0cd</anchor>
      <arglist>(const Eigen::Vector2d &amp;position) const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>getMinimumDistance</name>
      <anchorfile>classteb__local__planner_1_1PointObstacle.html</anchorfile>
      <anchor>a400ab4944a61ff752cdb5863e23d2715</anchor>
      <arglist>(const Eigen::Vector2d &amp;position) const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>getMinimumDistance</name>
      <anchorfile>classteb__local__planner_1_1PointObstacle.html</anchorfile>
      <anchor>a837e6df380e6f35c11ff2d626cddd600</anchor>
      <arglist>(const Eigen::Vector2d &amp;line_start, const Eigen::Vector2d &amp;line_end) const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>getMinimumDistance</name>
      <anchorfile>classteb__local__planner_1_1PointObstacle.html</anchorfile>
      <anchor>a15dbb1002ff06aff18f19a84d8ff022e</anchor>
      <arglist>(const Point2dContainer &amp;polygon) const </arglist>
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    <member kind="function">
      <type></type>
      <name>PointObstacle</name>
      <anchorfile>classteb__local__planner_1_1PointObstacle.html</anchorfile>
      <anchor>a0c0f5eb80f08ae449f14ec0b3d90c465</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>PointObstacle</name>
      <anchorfile>classteb__local__planner_1_1PointObstacle.html</anchorfile>
      <anchor>a77b04f7c256fa96c011c74f377263924</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::Vector2d &gt; &amp;position)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PointObstacle</name>
      <anchorfile>classteb__local__planner_1_1PointObstacle.html</anchorfile>
      <anchor>aa5978728f6bc5d3284c38c9e006df891</anchor>
      <arglist>(double x, double y)</arglist>
    </member>
    <member kind="function">
      <type>const Eigen::Vector2d &amp;</type>
      <name>position</name>
      <anchorfile>classteb__local__planner_1_1PointObstacle.html</anchorfile>
      <anchor>a68bc62fbf794c05ef83373479c49371c</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>Eigen::Vector2d &amp;</type>
      <name>position</name>
      <anchorfile>classteb__local__planner_1_1PointObstacle.html</anchorfile>
      <anchor>a9ab13860828277d96452a041471be9a3</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>toPolygonMsg</name>
      <anchorfile>classteb__local__planner_1_1PointObstacle.html</anchorfile>
      <anchor>a85068bd698f75325acca1f6fbe0ec12e</anchor>
      <arglist>(geometry_msgs::Polygon &amp;polygon)</arglist>
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    <member kind="function">
      <type>double &amp;</type>
      <name>x</name>
      <anchorfile>classteb__local__planner_1_1PointObstacle.html</anchorfile>
      <anchor>a3d602ccef5fb7417c1cbd668838c1ba0</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>const double &amp;</type>
      <name>x</name>
      <anchorfile>classteb__local__planner_1_1PointObstacle.html</anchorfile>
      <anchor>a997fb61f95b9feed4d8d1164451b9f86</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>double &amp;</type>
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      <anchorfile>classteb__local__planner_1_1PointObstacle.html</anchorfile>
      <anchor>a18b260b431d49da3a455a5009fb98f59</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>const double &amp;</type>
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      <anchorfile>classteb__local__planner_1_1PointObstacle.html</anchorfile>
      <anchor>a2c76b8b51b24b12d2d0e5402f324157e</anchor>
      <arglist>() const </arglist>
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    <member kind="variable" protection="protected">
      <type>Eigen::Vector2d</type>
      <name>pos_</name>
      <anchorfile>classteb__local__planner_1_1PointObstacle.html</anchorfile>
      <anchor>a6c84314e39365b30c3541c80df3fa658</anchor>
      <arglist></arglist>
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  </compound>
  <compound kind="class">
    <name>teb_local_planner::PointRobotFootprint</name>
    <filename>classteb__local__planner_1_1PointRobotFootprint.html</filename>
    <base>teb_local_planner::BaseRobotFootprintModel</base>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>calculateDistance</name>
      <anchorfile>classteb__local__planner_1_1PointRobotFootprint.html</anchorfile>
      <anchor>a089fcc9405e012d6245f4dbd9fd2d141</anchor>
      <arglist>(const PoseSE2 &amp;current_pose, const Obstacle *obstacle) const </arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PointRobotFootprint</name>
      <anchorfile>classteb__local__planner_1_1PointRobotFootprint.html</anchorfile>
      <anchor>a0c4ce0f8778255d9c31b82972523c5d3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~PointRobotFootprint</name>
      <anchorfile>classteb__local__planner_1_1PointRobotFootprint.html</anchorfile>
      <anchor>a25445851e0c326154242fc1340eb48cb</anchor>
      <arglist>()</arglist>
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  </compound>
  <compound kind="class">
    <name>teb_local_planner::PolygonObstacle</name>
    <filename>classteb__local__planner_1_1PolygonObstacle.html</filename>
    <base>teb_local_planner::Obstacle</base>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>checkCollision</name>
      <anchorfile>classteb__local__planner_1_1PolygonObstacle.html</anchorfile>
      <anchor>aab0744103ad9ad462d4c33b876ce85bc</anchor>
      <arglist>(const Eigen::Vector2d &amp;point, double min_dist) const </arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>checkLineIntersection</name>
      <anchorfile>classteb__local__planner_1_1PolygonObstacle.html</anchorfile>
      <anchor>afe560f6ec4328cbb7ba4f86a626e927d</anchor>
      <arglist>(const Eigen::Vector2d &amp;line_start, const Eigen::Vector2d &amp;line_end, double min_dist=0) const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual const Eigen::Vector2d &amp;</type>
      <name>getCentroid</name>
      <anchorfile>classteb__local__planner_1_1PolygonObstacle.html</anchorfile>
      <anchor>a5027d9d1b716372ab8e95f58e2e46180</anchor>
      <arglist>() const </arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual std::complex&lt; double &gt;</type>
      <name>getCentroidCplx</name>
      <anchorfile>classteb__local__planner_1_1PolygonObstacle.html</anchorfile>
      <anchor>a07aa17b81ba5cd77a7a82d9d5c241296</anchor>
      <arglist>() const </arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual Eigen::Vector2d</type>
      <name>getClosestPoint</name>
      <anchorfile>classteb__local__planner_1_1PolygonObstacle.html</anchorfile>
      <anchor>a4c6b90194f39fa959dd49aa61ea200de</anchor>
      <arglist>(const Eigen::Vector2d &amp;position) const </arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>getMinimumDistance</name>
      <anchorfile>classteb__local__planner_1_1PolygonObstacle.html</anchorfile>
      <anchor>a6dd62cf5e5d5f7d99bd04932503187a3</anchor>
      <arglist>(const Eigen::Vector2d &amp;position) const </arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>getMinimumDistance</name>
      <anchorfile>classteb__local__planner_1_1PolygonObstacle.html</anchorfile>
      <anchor>a97e153bfad8ee033d6f7a2a93023d7b8</anchor>
      <arglist>(const Eigen::Vector2d &amp;line_start, const Eigen::Vector2d &amp;line_end) const </arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>getMinimumDistance</name>
      <anchorfile>classteb__local__planner_1_1PolygonObstacle.html</anchorfile>
      <anchor>a9abc1f657b3c26a8baf8728f955c9eb8</anchor>
      <arglist>(const Point2dContainer &amp;polygon) const </arglist>
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    <member kind="function">
      <type></type>
      <name>PolygonObstacle</name>
      <anchorfile>classteb__local__planner_1_1PolygonObstacle.html</anchorfile>
      <anchor>ac01c295bc0fadd3c039e2a54dba7b72d</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>toPolygonMsg</name>
      <anchorfile>classteb__local__planner_1_1PolygonObstacle.html</anchorfile>
      <anchor>a2be16542e4359fa3a7b1447a55e76dc3</anchor>
      <arglist>(geometry_msgs::Polygon &amp;polygon)</arglist>
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      <type>const Point2dContainer &amp;</type>
      <name>vertices</name>
      <anchorfile>classteb__local__planner_1_1PolygonObstacle.html</anchorfile>
      <anchor>ad8b7640472c9633de8d078593633cf8a</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>Point2dContainer &amp;</type>
      <name>vertices</name>
      <anchorfile>classteb__local__planner_1_1PolygonObstacle.html</anchorfile>
      <anchor>abc59bc5ea588be700637021b4b1ff198</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>pushBackVertex</name>
      <anchorfile>classteb__local__planner_1_1PolygonObstacle.html</anchorfile>
      <anchor>a7e5792cd0ccd34827330bde3f9fbb206</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::Vector2d &gt; &amp;vertex)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>pushBackVertex</name>
      <anchorfile>classteb__local__planner_1_1PolygonObstacle.html</anchorfile>
      <anchor>a72f8b38d74b5b89b3f35d32e646c7229</anchor>
      <arglist>(double x, double y)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>finalizePolygon</name>
      <anchorfile>classteb__local__planner_1_1PolygonObstacle.html</anchorfile>
      <anchor>a244240eb114108c8de4fd712f2d9f9c1</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>clearVertices</name>
      <anchorfile>classteb__local__planner_1_1PolygonObstacle.html</anchorfile>
      <anchor>ae51600295c7817e58c2fe0fdb1306399</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>size_t</type>
      <name>noVertices</name>
      <anchorfile>classteb__local__planner_1_1PolygonObstacle.html</anchorfile>
      <anchor>a5478f308b83f7b0a3497df6a40e40118</anchor>
      <arglist>() const </arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
      <name>calcCentroid</name>
      <anchorfile>classteb__local__planner_1_1PolygonObstacle.html</anchorfile>
      <anchor>aa0c64e3679a5b2f16addeaa90d2a1962</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
      <name>fixPolygonClosure</name>
      <anchorfile>classteb__local__planner_1_1PolygonObstacle.html</anchorfile>
      <anchor>aea5407f4e08d93eaaf4d25eff9c44ffe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Eigen::Vector2d</type>
      <name>centroid_</name>
      <anchorfile>classteb__local__planner_1_1PolygonObstacle.html</anchorfile>
      <anchor>a22569c9ed8f5fd34276789fd6df38627</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>finalized_</name>
      <anchorfile>classteb__local__planner_1_1PolygonObstacle.html</anchorfile>
      <anchor>a231156349a2ed9e930cd726df152bf53</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>Point2dContainer</type>
      <name>vertices_</name>
      <anchorfile>classteb__local__planner_1_1PolygonObstacle.html</anchorfile>
      <anchor>ad0d71707e44f7cf2ab3b9743f9c5ce0f</anchor>
      <arglist></arglist>
    </member>
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  <compound kind="class">
    <name>teb_local_planner::PolygonRobotFootprint</name>
    <filename>classteb__local__planner_1_1PolygonRobotFootprint.html</filename>
    <base>teb_local_planner::BaseRobotFootprintModel</base>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>calculateDistance</name>
      <anchorfile>classteb__local__planner_1_1PolygonRobotFootprint.html</anchorfile>
      <anchor>acaa1664e9515b4dbf05f62a31e219403</anchor>
      <arglist>(const PoseSE2 &amp;current_pose, const Obstacle *obstacle) const </arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PolygonRobotFootprint</name>
      <anchorfile>classteb__local__planner_1_1PolygonRobotFootprint.html</anchorfile>
      <anchor>a5f845eea12b8dc4fe86dbe2c76a0e67a</anchor>
      <arglist>(const Point2dContainer &amp;vertices)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setVertices</name>
      <anchorfile>classteb__local__planner_1_1PolygonRobotFootprint.html</anchorfile>
      <anchor>a54543b4ecf9a71c6ed985e38ee6ba2d3</anchor>
      <arglist>(const Point2dContainer &amp;vertices)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>visualizeRobot</name>
      <anchorfile>classteb__local__planner_1_1PolygonRobotFootprint.html</anchorfile>
      <anchor>adb8cc04b68f397c352cd5b87343e27ea</anchor>
      <arglist>(const PoseSE2 &amp;current_pose, std::vector&lt; visualization_msgs::Marker &gt; &amp;markers) const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~PolygonRobotFootprint</name>
      <anchorfile>classteb__local__planner_1_1PolygonRobotFootprint.html</anchorfile>
      <anchor>a7d82d7481417f8b281dc319d7f2c8649</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Point2dContainer</type>
      <name>vertices_</name>
      <anchorfile>classteb__local__planner_1_1PolygonRobotFootprint.html</anchorfile>
      <anchor>a8b8722913344db0532b4e052480f6cfd</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>teb_local_planner::PoseSE2</name>
    <filename>classteb__local__planner_1_1PoseSE2.html</filename>
    <member kind="function">
      <type></type>
      <name>~PoseSE2</name>
      <anchorfile>classteb__local__planner_1_1PoseSE2.html</anchorfile>
      <anchor>ad42d8fbf6ed274974b1a7cf8fdbac913</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PoseSE2</name>
      <anchorfile>classteb__local__planner_1_1PoseSE2.html</anchorfile>
      <anchor>a31e51f12e4bda8732cd7d78b886709e4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PoseSE2</name>
      <anchorfile>classteb__local__planner_1_1PoseSE2.html</anchorfile>
      <anchor>ac413011a1c3597529899eb7802bb0c19</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::Vector2d &gt; &amp;position, double theta)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PoseSE2</name>
      <anchorfile>classteb__local__planner_1_1PoseSE2.html</anchorfile>
      <anchor>af8e702a6d665f711d6f45cee9659f21c</anchor>
      <arglist>(double x, double y, double theta)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PoseSE2</name>
      <anchorfile>classteb__local__planner_1_1PoseSE2.html</anchorfile>
      <anchor>aaf8b08d0067a6af0f2dc8ec625e48818</anchor>
      <arglist>(const geometry_msgs::Pose &amp;pose)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PoseSE2</name>
      <anchorfile>classteb__local__planner_1_1PoseSE2.html</anchorfile>
      <anchor>afa90996d08e9647fde7307ddebd61887</anchor>
      <arglist>(const tf::Pose &amp;pose)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PoseSE2</name>
      <anchorfile>classteb__local__planner_1_1PoseSE2.html</anchorfile>
      <anchor>aa772df8b96c681106cf6f0cc49654cb9</anchor>
      <arglist>(const PoseSE2 &amp;pose)</arglist>
    </member>
    <member kind="function">
      <type>Eigen::Vector2d &amp;</type>
      <name>position</name>
      <anchorfile>classteb__local__planner_1_1PoseSE2.html</anchorfile>
      <anchor>ace95441452603c3b30f8e5cfe6a7e491</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const Eigen::Vector2d &amp;</type>
      <name>position</name>
      <anchorfile>classteb__local__planner_1_1PoseSE2.html</anchorfile>
      <anchor>a370d1405c39e03f5b6e34caee5f0ae74</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>double &amp;</type>
      <name>x</name>
      <anchorfile>classteb__local__planner_1_1PoseSE2.html</anchorfile>
      <anchor>af8bf1a6846fb12b168bb4f8e1fb1f2b6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const double &amp;</type>
      <name>x</name>
      <anchorfile>classteb__local__planner_1_1PoseSE2.html</anchorfile>
      <anchor>a15c574c81b4acb0b122c09b615d3fb18</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>double &amp;</type>
      <name>y</name>
      <anchorfile>classteb__local__planner_1_1PoseSE2.html</anchorfile>
      <anchor>a3fad831f48e070b8693408eb58ca2d3a</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>const double &amp;</type>
      <name>y</name>
      <anchorfile>classteb__local__planner_1_1PoseSE2.html</anchorfile>
      <anchor>a89189fe1da9e9c0a62b0df4618188739</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>double &amp;</type>
      <name>theta</name>
      <anchorfile>classteb__local__planner_1_1PoseSE2.html</anchorfile>
      <anchor>aee2f963dc9e88115f3979d1aa192efed</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const double &amp;</type>
      <name>theta</name>
      <anchorfile>classteb__local__planner_1_1PoseSE2.html</anchorfile>
      <anchor>a6ae1929a34641f330a0fd3504e97aa75</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setZero</name>
      <anchorfile>classteb__local__planner_1_1PoseSE2.html</anchorfile>
      <anchor>ad71f174d2dbf27cefc343040fe04c854</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>toPoseMsg</name>
      <anchorfile>classteb__local__planner_1_1PoseSE2.html</anchorfile>
      <anchor>a79fb2510418158b11b9d6c59a4ac1624</anchor>
      <arglist>(geometry_msgs::Pose &amp;pose) const </arglist>
    </member>
    <member kind="function">
      <type>Eigen::Vector2d</type>
      <name>orientationUnitVec</name>
      <anchorfile>classteb__local__planner_1_1PoseSE2.html</anchorfile>
      <anchor>a6d56e16cb1f06a637d57a27f33f1a92d</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Vector2d</type>
      <name>_position</name>
      <anchorfile>classteb__local__planner_1_1PoseSE2.html</anchorfile>
      <anchor>a385f39fcc5e689db0859bd6a526a8239</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>_theta</name>
      <anchorfile>classteb__local__planner_1_1PoseSE2.html</anchorfile>
      <anchor>a2232400e7d71a599976c2ac530a6f2f4</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>scale</name>
      <anchorfile>classteb__local__planner_1_1PoseSE2.html</anchorfile>
      <anchor>ac2ed43ac7455f584f465e72f16bf284f</anchor>
      <arglist>(double factor)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>plus</name>
      <anchorfile>classteb__local__planner_1_1PoseSE2.html</anchorfile>
      <anchor>ac1e93aa9e54eee6c5108f521e5a53e80</anchor>
      <arglist>(const double *pose_as_array)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>averageInPlace</name>
      <anchorfile>classteb__local__planner_1_1PoseSE2.html</anchorfile>
      <anchor>a9073884205b9dace6e7cf863b40a4c1c</anchor>
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      <anchorfile>classteb__local__planner_1_1TebLocalPlannerROS.html</anchorfile>
      <anchor>ad5529fa49ecf128526296d4097ca3086</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>robot_base_frame_</name>
      <anchorfile>classteb__local__planner_1_1TebLocalPlannerROS.html</anchorfile>
      <anchor>aaad8a1bc89ebf49140b26e9b01c66193</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
      <name>robot_circumscribed_radius</name>
      <anchorfile>classteb__local__planner_1_1TebLocalPlannerROS.html</anchorfile>
      <anchor>a746f6415aff0b7b4a8f57ff779d92628</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>PoseSE2</type>
      <name>robot_goal_</name>
      <anchorfile>classteb__local__planner_1_1TebLocalPlannerROS.html</anchorfile>
      <anchor>a21e7659105d09d70a5c3234c519c5b72</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
      <name>robot_inscribed_radius_</name>
      <anchorfile>classteb__local__planner_1_1TebLocalPlannerROS.html</anchorfile>
      <anchor>a0516a7180847a7c96968b42c77ec0819</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>PoseSE2</type>
      <name>robot_pose_</name>
      <anchorfile>classteb__local__planner_1_1TebLocalPlannerROS.html</anchorfile>
      <anchor>aed0aaf5571aa793322569b9f3f392bac</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Eigen::Vector2d</type>
      <name>robot_vel_</name>
      <anchorfile>classteb__local__planner_1_1TebLocalPlannerROS.html</anchorfile>
      <anchor>af0578bd35e42a07c32e838bd904bf021</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>tf::TransformListener *</type>
      <name>tf_</name>
      <anchorfile>classteb__local__planner_1_1TebLocalPlannerROS.html</anchorfile>
      <anchor>a56667654bd183bea06d7c1a0d00d7a16</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>ViaPointContainer</type>
      <name>via_points_</name>
      <anchorfile>classteb__local__planner_1_1TebLocalPlannerROS.html</anchorfile>
      <anchor>ab1faf033276be1996465cfb9baeaa50f</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>TebVisualizationPtr</type>
      <name>visualization_</name>
      <anchorfile>classteb__local__planner_1_1TebLocalPlannerROS.html</anchorfile>
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      <arglist></arglist>
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  </compound>
  <compound kind="class">
    <name>teb_local_planner::TebOptimalPlanner</name>
    <filename>classteb__local__planner_1_1TebOptimalPlanner.html</filename>
    <base>teb_local_planner::PlannerInterface</base>
    <member kind="function">
      <type>void</type>
      <name>initialize</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
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      <arglist>(const TebConfig &amp;cfg, ObstContainer *obstacles=NULL, RobotFootprintModelPtr robot_model=boost::make_shared&lt; PointRobotFootprint &gt;(), TebVisualizationPtr visual=TebVisualizationPtr(), const ViaPointContainer *via_points=NULL)</arglist>
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    <member kind="function">
      <type></type>
      <name>TebOptimalPlanner</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>a0ba04283a62fcb7c529606c2f9b7c803</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>TebOptimalPlanner</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>a9f6766218fd9b01629195513fc3db499</anchor>
      <arglist>(const TebConfig &amp;cfg, ObstContainer *obstacles=NULL, RobotFootprintModelPtr robot_model=boost::make_shared&lt; PointRobotFootprint &gt;(), TebVisualizationPtr visual=TebVisualizationPtr(), const ViaPointContainer *via_points=NULL)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~TebOptimalPlanner</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>a6f5d26a7423261b9475b0f0dd05d04ca</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>plan</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>af128aaab95c32af3fdb3356e8b5cd77b</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;initial_plan, const geometry_msgs::Twist *start_vel=NULL, bool free_goal_vel=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>plan</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>a6ec56cc5e2b5ceafcb0f781c2b0dc6cf</anchor>
      <arglist>(const tf::Pose &amp;start, const tf::Pose &amp;goal, const geometry_msgs::Twist *start_vel=NULL, bool free_goal_vel=false)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>plan</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>a78dc68fb0507f13e046a64ba94fe399a</anchor>
      <arglist>(const PoseSE2 &amp;start, const PoseSE2 &amp;goal, const Eigen::Vector2d &amp;start_vel, bool free_goal_vel=false)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>getVelocityCommand</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>ab2a03b44b159484bf8259802ed362a82</anchor>
      <arglist>(double &amp;v, double &amp;omega) const </arglist>
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    <member kind="function">
      <type>bool</type>
      <name>optimizeTEB</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>acc562cf8361d4c7d791d9063430f96fa</anchor>
      <arglist>(unsigned int iterations_innerloop, unsigned int iterations_outerloop, bool compute_cost_afterwards=false, double obst_cost_scale=1.0, double viapoint_cost_scale=1.0, bool alternative_time_cost=false)</arglist>
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      <type>void</type>
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      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>a88943ee0ef2e6d9123d996d875e0af0e</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::Vector2d &gt; &amp;vel_start)</arglist>
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      <type>void</type>
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      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>ab121ccfc26b010915bf81e4c367c4b68</anchor>
      <arglist>(const geometry_msgs::Twist &amp;vel_start)</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>a352a2de74bcc7b183330023f15a5a0d3</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::Vector2d &gt; &amp;vel_goal)</arglist>
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      <type>void</type>
      <name>setVelocityGoalFree</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>a7f8fcd3c73563ede8f4e300d65c02a63</anchor>
      <arglist>()</arglist>
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      <type>void</type>
      <name>setObstVector</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>a9e23e475b8c0c6175129cc9333fd9396</anchor>
      <arglist>(ObstContainer *obst_vector)</arglist>
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      <type>const ObstContainer &amp;</type>
      <name>getObstVector</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>acce25c7136bdfe6f49bf49dc08e537c4</anchor>
      <arglist>() const </arglist>
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      <type>void</type>
      <name>setViaPoints</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>a2912d5630763073946c4993be5255d2d</anchor>
      <arglist>(const ViaPointContainer *via_points)</arglist>
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      <type>const ViaPointContainer &amp;</type>
      <name>getViaPoints</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>a7aab54a6543395e00f27443eae949b3a</anchor>
      <arglist>() const </arglist>
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      <type>void</type>
      <name>setVisualization</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>ad7d2a6a5baf060b2501fbda38d4fefea</anchor>
      <arglist>(TebVisualizationPtr visualization)</arglist>
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      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>a75d128c0803b8dc867d6b5a33a8fbe20</anchor>
      <arglist>()</arglist>
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      <type>boost::shared_ptr&lt; g2o::SparseOptimizer &gt;</type>
      <name>initOptimizer</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>a5592ec9df6c958465e7b6e3b03500f13</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected">
      <type>bool</type>
      <name>buildGraph</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>a5fb9ffcb14e67c0213f3a7b466e48bad</anchor>
      <arglist>()</arglist>
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      <type>bool</type>
      <name>optimizeGraph</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>ae991fe9022fb0c823a1e313669882cc5</anchor>
      <arglist>(int no_iterations, bool clear_after=true)</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
      <name>clearGraph</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>ae6793ab24a3714cd6fd297a5ebc38631</anchor>
      <arglist>()</arglist>
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      <type>void</type>
      <name>AddTEBVertices</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>a90337a5bf178e33a33aa6147ebf7a8ef</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
      <name>AddEdgesVelocity</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>a472b1e7242f295eae693e428861bbfc1</anchor>
      <arglist>()</arglist>
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      <type>void</type>
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      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>a69e605f23128c2f5e824dd074fb2c826</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
      <name>AddEdgesTimeOptimal</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>af23eb93b4e4ff117e18bb60e37eec02c</anchor>
      <arglist>()</arglist>
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      <type>void</type>
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      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>a3cc34add4d2dfdf64c3247b655b3e4e5</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
      <name>AddEdgesInflatedObstacles</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>a0af499d8b9573a8ca4dbb63d52ff1cc6</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
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      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>a3f3b5a2cfe4ef2bb35a6d940cb6ba343</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
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      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>aaec7be0d8aeac96d050ea6597a62a371</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
      <name>AddEdgesKinematicsDiffDrive</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>ab79bc03a4d6833462aa86f779bfa0a96</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
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      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>a7a3ade5bc750a68b96a46e88802898d0</anchor>
      <arglist>()</arglist>
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    <member kind="variable" protection="protected">
      <type>const TebConfig *</type>
      <name>cfg_</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>a8455e6300b1b02d0a16ce3174ce9f673</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
      <name>cost_</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>a841d6785ed5c68d1ef00218697987e58</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>initialized_</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>a64906f916610fb60eb7a6128f97f0094</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ObstContainer *</type>
      <name>obstacles_</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>aa9e885d06c3effab5c129687c3d77953</anchor>
      <arglist></arglist>
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      <type>bool</type>
      <name>optimized_</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>a5bf0e611c4f633d96e3f848a5a90f236</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>boost::shared_ptr&lt; g2o::SparseOptimizer &gt;</type>
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      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>a50b43b65c9427ddb7d210830ed34fe49</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>RobotFootprintModelPtr</type>
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      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>ac4080b9d944dd849f818be2ffb197c6d</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>TimedElasticBand</type>
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      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>a801394856b20e94b3f81dc8d60cf9e14</anchor>
      <arglist></arglist>
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      <type>std::pair&lt; bool, Eigen::Vector2d &gt;</type>
      <name>vel_goal_</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>a520f3a2f0d6bd19e0006dea270e2a793</anchor>
      <arglist></arglist>
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      <type>std::pair&lt; bool, Eigen::Vector2d &gt;</type>
      <name>vel_start_</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>a996bfe4af277574a39f7e42692efa5f2</anchor>
      <arglist></arglist>
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      <type>const ViaPointContainer *</type>
      <name>via_points_</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>aaceedc4c110d45e895509e14b083540b</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>TebVisualizationPtr</type>
      <name>visualization_</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>ae6c0e9ab32c5c4b51c5e603fc607407d</anchor>
      <arglist></arglist>
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    <member kind="function" virtualness="virtual">
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      <name>clearPlanner</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>a3f28e3eaabb07fcf641fa4bd32108709</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>TimedElasticBand &amp;</type>
      <name>teb</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>ad64a76a129fc5804862d3af4ad177337</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>const TimedElasticBand &amp;</type>
      <name>teb</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>a5a0d4ab13dea819f424364c63f0af4e8</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>boost::shared_ptr&lt; g2o::SparseOptimizer &gt;</type>
      <name>optimizer</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>a47ab876d763e8732821ae3dac56f0d59</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>boost::shared_ptr&lt; const g2o::SparseOptimizer &gt;</type>
      <name>optimizer</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>ad285948d33748a1d2e1eb0d99a5c0ddb</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>bool</type>
      <name>isOptimized</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>aa56a47299418ffb581a439d70c0b0d35</anchor>
      <arglist>() const </arglist>
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      <type>void</type>
      <name>computeCurrentCost</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>af1821ce3262ce2c607d482b40eccaa57</anchor>
      <arglist>(double obst_cost_scale=1.0, double viapoint_cost_scale=1.0, bool alternative_time_cost=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>computeCurrentCost</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>a7811a28ae0551d44dd0d529e68a6e57f</anchor>
      <arglist>(std::vector&lt; double &gt; &amp;cost, double obst_cost_scale=1.0, double viapoint_cost_scale=1.0, bool alternative_time_cost=false)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getCurrentCost</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>ac162ffda22bae50fcf6e11d3f19f7810</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>a71116a2b6939fe87210650c373df3e13</anchor>
      <arglist>(const PoseSE2 &amp;pose1, const PoseSE2 &amp;pose2, double dt, double &amp;v, double &amp;omega) const </arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getVelocityProfile</name>
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      <anchor>a69633996de0ff4d6b991bde430b671f1</anchor>
      <arglist>(std::vector&lt; geometry_msgs::Twist &gt; &amp;velocity_profile) const </arglist>
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      <type>void</type>
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      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
      <anchor>aac0e729cdd7ad166280131435a331e6e</anchor>
      <arglist>(std::vector&lt; TrajectoryPointMsg &gt; &amp;trajectory) const </arglist>
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      <anchor>a3eb23c9bb6aba070c9655f728ab15197</anchor>
      <arglist>(base_local_planner::CostmapModel *costmap_model, const std::vector&lt; geometry_msgs::Point &gt; &amp;footprint_spec, double inscribed_radius=0.0, double circumscribed_radius=0.0, int look_ahead_idx=-1)</arglist>
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    <member kind="function" virtualness="virtual">
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      <name>isHorizonReductionAppropriate</name>
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      <arglist>(const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;initial_plan) const </arglist>
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      <name>registerG2OTypes</name>
      <anchorfile>classteb__local__planner_1_1TebOptimalPlanner.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classteb__local__planner_1_1TebVisualization.html</anchorfile>
      <anchor>a49d1739f756c17f4f496810da33614fe</anchor>
      <arglist>(ros::NodeHandle &amp;nh, const TebConfig &amp;cfg)</arglist>
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    <member kind="function">
      <type></type>
      <name>TebVisualization</name>
      <anchorfile>classteb__local__planner_1_1TebVisualization.html</anchorfile>
      <anchor>aef5a9cd43d591e0783c76583c8c8c6fd</anchor>
      <arglist>()</arglist>
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      <anchorfile>classteb__local__planner_1_1TebVisualization.html</anchorfile>
      <anchor>a65ccb482184b59aca0873299d3127d19</anchor>
      <arglist>(ros::NodeHandle &amp;nh, const TebConfig &amp;cfg)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>publishGlobalPlan</name>
      <anchorfile>classteb__local__planner_1_1TebVisualization.html</anchorfile>
      <anchor>a15e4889ab91d06df21096800284bb6d5</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;global_plan) const </arglist>
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      <type>void</type>
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      <anchorfile>classteb__local__planner_1_1TebVisualization.html</anchorfile>
      <anchor>ad7538f4694619445a4bfbf3fc42e6b69</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;local_plan) const </arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classteb__local__planner_1_1TebVisualization.html</anchorfile>
      <anchor>a34046c8f80ccbc67b4eb9f17474efc3b</anchor>
      <arglist>(const TimedElasticBand &amp;teb) const </arglist>
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      <name>publishRobotFootprintModel</name>
      <anchorfile>classteb__local__planner_1_1TebVisualization.html</anchorfile>
      <anchor>afde84072b9b1475bea24b38d7d713a2a</anchor>
      <arglist>(const PoseSE2 &amp;current_pose, const BaseRobotFootprintModel &amp;robot_model, const std::string &amp;ns=&quot;RobotFootprintModel&quot;)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>publishObstacles</name>
      <anchorfile>classteb__local__planner_1_1TebVisualization.html</anchorfile>
      <anchor>ac18b7cc89b1132746efbbd0b60570bed</anchor>
      <arglist>(const ObstContainer &amp;obstacles) const </arglist>
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      <type>void</type>
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      <anchorfile>classteb__local__planner_1_1TebVisualization.html</anchorfile>
      <anchor>ab959954036699c52bc0a04b7b353f281</anchor>
      <arglist>(const std::vector&lt; Eigen::Vector2d, Eigen::aligned_allocator&lt; Eigen::Vector2d &gt; &gt; &amp;via_points, const std::string &amp;ns=&quot;ViaPoints&quot;) const </arglist>
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      <name>publishGraph</name>
      <anchorfile>classteb__local__planner_1_1TebVisualization.html</anchorfile>
      <anchor>aca55fb9b7dc2f134d72623e94f924bfd</anchor>
      <arglist>(const GraphType &amp;graph, const std::string &amp;ns_prefix=&quot;Graph&quot;)</arglist>
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      <anchor>adf03c35c9cb3a3962f84f9f23821b699</anchor>
      <arglist>(BidirIter first, BidirIter last, const std::string &amp;ns=&quot;PathContainer&quot;)</arglist>
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      <anchorfile>classteb__local__planner_1_1TebVisualization.html</anchorfile>
      <anchor>a946a4976f93d94b15bf9dad8ab740f31</anchor>
      <arglist>(const std::vector&lt; boost::shared_ptr&lt; TebOptimalPlanner &gt; &gt; &amp;teb_planner, const std::string &amp;ns=&quot;TebContainer&quot;)</arglist>
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      <anchorfile>classteb__local__planner_1_1TebVisualization.html</anchorfile>
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      <arglist>(const std::vector&lt; boost::shared_ptr&lt; TebOptimalPlanner &gt; &gt; &amp;teb_planners, unsigned int selected_trajectory_idx, const ObstContainer &amp;obstacles)</arglist>
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      <type>void</type>
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      <anchorfile>classteb__local__planner_1_1TebVisualization.html</anchorfile>
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      <arglist>(const TebOptimalPlanner &amp;teb_planner, const ObstContainer &amp;obstacles)</arglist>
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      <type>bool</type>
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      <anchorfile>classteb__local__planner_1_1TebVisualization.html</anchorfile>
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      <arglist>() const </arglist>
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      <arglist></arglist>
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      <type>ros::Publisher</type>
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      <anchorfile>classteb__local__planner_1_1TebVisualization.html</anchorfile>
      <anchor>a03084fdde86ced7a6883ef33140bb391</anchor>
      <arglist></arglist>
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      <type>ros::Publisher</type>
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      <anchorfile>classteb__local__planner_1_1TebVisualization.html</anchorfile>
      <anchor>ab6bb0e00af25ffd4400c6487cd682707</anchor>
      <arglist></arglist>
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      <anchorfile>classteb__local__planner_1_1TebVisualization.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classteb__local__planner_1_1TebVisualization.html</anchorfile>
      <anchor>a2a1e9119bed78330fec1129a861ab224</anchor>
      <arglist></arglist>
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      <anchorfile>classteb__local__planner_1_1TebVisualization.html</anchorfile>
      <anchor>a205463ef81981df3ab3effa6d113d4da</anchor>
      <arglist></arglist>
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      <type>ros::Publisher</type>
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      <anchorfile>classteb__local__planner_1_1TebVisualization.html</anchorfile>
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      <arglist></arglist>
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      <type></type>
      <name>TimedElasticBand</name>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>PoseSequence &amp;</type>
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      <anchorfile>classteb__local__planner_1_1TimedElasticBand.html</anchorfile>
      <anchor>ab65df05f563de4e1820ae0fcb191ec4d</anchor>
      <arglist>()</arglist>
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      <type>const PoseSequence &amp;</type>
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      <anchorfile>classteb__local__planner_1_1TimedElasticBand.html</anchorfile>
      <anchor>a5ac74519fccb2b6455bc25fd9186bb43</anchor>
      <arglist>() const </arglist>
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      <type>TimeDiffSequence &amp;</type>
      <name>timediffs</name>
      <anchorfile>classteb__local__planner_1_1TimedElasticBand.html</anchorfile>
      <anchor>a9852268ff781b9bfac3e71d0dfacc8bb</anchor>
      <arglist>()</arglist>
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      <type>const TimeDiffSequence &amp;</type>
      <name>timediffs</name>
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      <arglist>() const </arglist>
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      <type>double &amp;</type>
      <name>TimeDiff</name>
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      <arglist>(unsigned int index)</arglist>
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      <arglist>(unsigned int index) const </arglist>
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      <type>PoseSE2 &amp;</type>
      <name>Pose</name>
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      <arglist>(unsigned int index)</arglist>
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      <type>const PoseSE2 &amp;</type>
      <name>Pose</name>
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      <anchor>a7e9507ac09f653e273ed104af4c45185</anchor>
      <arglist>(unsigned int index) const </arglist>
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      <type>PoseSE2 &amp;</type>
      <name>BackPose</name>
      <anchorfile>classteb__local__planner_1_1TimedElasticBand.html</anchorfile>
      <anchor>afe87f06b1e503fe5bd7491433e23ebcf</anchor>
      <arglist>()</arglist>
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      <type>const PoseSE2 &amp;</type>
      <name>BackPose</name>
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      <arglist>() const </arglist>
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      <arglist>()</arglist>
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      <arglist>() const </arglist>
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      <arglist>(unsigned int index)</arglist>
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      <arglist>(unsigned int index)</arglist>
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      <arglist>(const PoseSE2 &amp;pose, bool fixed=false)</arglist>
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      <anchor>a55c7d2e403207c4af122c0cdf6ae2f3a</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::Vector2d &gt; &amp;position, double theta, bool fixed=false)</arglist>
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      <arglist>(double x, double y, double theta, bool fixed=false)</arglist>
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      <arglist>(double dt, bool fixed=false)</arglist>
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      <arglist>(const PoseSE2 &amp;pose, double dt)</arglist>
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      <anchor>a36032d2e8a0e15db1026c9e2452a8226</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::Vector2d &gt; &amp;position, double theta, double dt)</arglist>
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      <arglist>(double x, double y, double theta, double dt)</arglist>
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      <arglist>(unsigned int index, const PoseSE2 &amp;pose)</arglist>
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      <anchor>a66dde518bbc2dc7d7a3052bd03479df8</anchor>
      <arglist>(unsigned int index, const Eigen::Ref&lt; const Eigen::Vector2d &gt; &amp;position, double theta)</arglist>
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      <arglist>(unsigned int index, double x, double y, double theta)</arglist>
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      <arglist>(unsigned int index, double dt)</arglist>
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      <arglist>(unsigned int index)</arglist>
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      <arglist>(unsigned int index, unsigned int number)</arglist>
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      <arglist>(unsigned int index)</arglist>
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      <arglist>(unsigned int index, unsigned int number)</arglist>
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      <anchorfile>classteb__local__planner_1_1TimedElasticBand.html</anchorfile>
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      <arglist>(const PoseSE2 &amp;start, const PoseSE2 &amp;goal, double diststep=0, double timestep=1, int min_samples=3)</arglist>
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      <arglist>(BidirIter path_start, BidirIter path_end, Fun fun_position, double max_vel_x, double max_vel_theta, boost::optional&lt; double &gt; max_acc_x, boost::optional&lt; double &gt; max_acc_theta, boost::optional&lt; double &gt; start_orientation, boost::optional&lt; double &gt; goal_orientation, int min_samples=3)</arglist>
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      <arglist>(const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;plan, double dt, bool estimate_orient=false, int min_samples=3)</arglist>
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      <anchor>adae6e7423ed1583f5daedac57562384e</anchor>
      <arglist>(boost::optional&lt; const PoseSE2 &amp; &gt; new_start, boost::optional&lt; const PoseSE2 &amp; &gt; new_goal, int min_samples=3)</arglist>
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      <anchorfile>classteb__local__planner_1_1TimedElasticBand.html</anchorfile>
      <anchor>ae5d894d889f903d6c6a786331f822ca1</anchor>
      <arglist>(double dt_ref, double dt_hysteresis, int min_samples=3)</arglist>
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