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      <name>CartLocalPlanner</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>af0b079fd17efb0baf2239a1403f413ea</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>computeVelocityCommands</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>ad6d59f8e764ddf24a7754237666611a8</anchor>
      <arglist>(geometry_msgs::Twist &amp;cmd_vel)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>initialize</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a542bbf03893617e6650e173256eec369</anchor>
      <arglist>(std::string name, tf::TransformListener *tf, costmap_2d::Costmap2DROS *costmap_ros)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isGoalReached</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>ab026d298865b86c74130566c524f49b7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>setPlan</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>ae1da0c10a88cf1452d52798383d97a7a</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;global_plan)</arglist>
    </member>
    <member kind="enumeration">
      <name>CONTROL_MODE</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a6cae4b67a7a60a3a85d50288c21c6b7f</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>REGULAR</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a6cae4b67a7a60a3a85d50288c21c6b7fadba9e4ef905110a2ccad7e594ffd1f31</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumeration">
      <name>FILTER_OPTIONS</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a9a631ac5860441a7697110637b15ded7</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>GLOBAL_SCALING</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a9a631ac5860441a7697110637b15ded7a790e7014807f1d302a5113debce65035</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>CART_ERR_SCALING</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a9a631ac5860441a7697110637b15ded7aadaa0938110156b20103e780e2950420</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ALL</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a9a631ac5860441a7697110637b15ded7aab07a7f0db2861d43402c628ca62f392</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type>double</type>
      <name>baseTwistFromError</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>ae6f98f855e6bf7a5965cb1f76e5def5a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>double</type>
      <name>cartTwistFromError</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a8eb97f9de18765e8b1bee263fcbe3fb7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>checkTrajectoryMonotonic</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>afede49b2c5630aea9dac31a45e0399c0</anchor>
      <arglist>(const std::vector&lt; unsigned int &gt; &amp;indices)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>checkTwists</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a80792e94c57c9246374cbbefd03c6826</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>checkTwistsMonotonic</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>ac1a6083f4d034162b7306bb29e84bb77</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>controlModeAction</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a59ac3a960ab5737bdf7442bf53ed78db</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>filterTwistsCombined</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>ac5322215990d575d8ce466fdafa3a5a2</anchor>
      <arglist>(int filter_options)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>freeze</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>aef951afd45ae55a30dbd3d8c7694f5b4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>getNextFewWaypointsIndices</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>aa828a92617b6af7c8cb571b2e9365fb6</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;current_plan, const int &amp;current_waypoint_index, const int &amp;max_num_waypoints, const double &amp;max_translation, const double &amp;max_rotation, std::vector&lt; unsigned int &gt; &amp;waypoint_indices)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>initialization_extras</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>ac3db176b6c9823d109615a31d3e0dcb8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>invalidPoseCallback</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>ad17dad2ace9c89f0f870418fcd15acdc</anchor>
      <arglist>(const std_msgs::Empty::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>geometry_msgs::Twist</type>
      <name>mapBaseTwistToCart</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a2b26b2fef15589e4bef1b6df47d39343</anchor>
      <arglist>(const geometry_msgs::Twist &amp;twist_base)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>odomCallback</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a836577915494b4fbbdb962385808bfb2</anchor>
      <arglist>(const nav_msgs::Odometry::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>publishDebugPose</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a0aaa0d86daea1e085c3a3bd27dbc4b8d</anchor>
      <arglist>(geometry_msgs::Pose &amp;p)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>publishDebugPose</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a8e8d4fbf1ae056af03c7a2c5b4e4faf7</anchor>
      <arglist>(tf::Pose &amp;p)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>publishDebugTwist</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a88801a9e2ee04460555d19d6a623d03c</anchor>
      <arglist>(geometry_msgs::Twist &amp;t)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>int</type>
      <name>setCartGoalFromWaypoint</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a134d789c5137206ef7e1e0796e7e9fc7</anchor>
      <arglist>(double min_dist, double min_x_component)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>setCartPoseGoal</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a6c040f0e5299d8f1049a5301d02f69a4</anchor>
      <arglist>(const tf::Stamped&lt; tf::Pose &gt; &amp;goal)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>setControlMode</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>aaa87a39c65c0ee3d4884e99c83809ac7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>setGoalPoses</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>aa1c92da49cbb4a3dc935cb7b6484e12d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>setRobotPoseGoal</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>af65a2424fe275bb2c685409a522a40d1</anchor>
      <arglist>(const tf::Stamped&lt; tf::Pose &gt; &amp;goal)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>setYawFromVec</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>acc7a8d3ee1e715a9d18d3c074651c816</anchor>
      <arglist>(const tf::Pose &amp;pose1, const tf::Pose &amp;pose2, tf::Pose &amp;res)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>std::vector&lt; geometry_msgs::Point &gt;</type>
      <name>transformFootprint</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a4b169463fa772bad44682b50ead97297</anchor>
      <arglist>(const geometry_msgs::PolygonStamped &amp;poly) const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>transformGlobalPlan</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a4ab6bd15a157801acbed5086d931fe92</anchor>
      <arglist>(const tf::TransformListener &amp;tf, const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;global_plan, const costmap_2d::Costmap2DROS &amp;costmap, const std::string &amp;global_frame, std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;transformed_plan)</arglist>
    </member>
    <member kind="function" protection="protected" static="yes">
      <type>static void</type>
      <name>scaleTwist2D</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a781b40ce97c15d8ed46a09a0eb5e303f</anchor>
      <arglist>(geometry_msgs::Twist &amp;t, double scale)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>nav_msgs::Odometry</type>
      <name>base_odom_</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>aa68d396259ba8e1811ff631b4c3ed7d4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>CostmapTrajectoryChecker</type>
      <name>cart_collision_checker_</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>ab55e84ad4a609b0c623407360801175d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>tf::Stamped&lt; tf::Pose &gt;</type>
      <name>cart_pose_actual_</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a446210b666f65a1ad7d5b405b030ced8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>geometry_msgs::Pose2D</type>
      <name>cart_pose_error_</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a086a7d889cf64e88c60925add4f98657</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>tf::Stamped&lt; tf::Pose &gt;</type>
      <name>cart_pose_goal_</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>aa44d953fdd271cf597987c2e3b17eb74</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>cart_pose_pub_</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>acd2758d7f3d2f8925f839cdf7b26e26a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>pose_range_2D</type>
      <name>cart_range</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a8c471e2208ce45839e1a835fbaac17ea</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>cart_twist_pub_</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a921d2cbd54de289bb7e789dedb6651f0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>enum CONTROL_MODE</type>
      <name>control_mode_</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a1d517bf93916bbd52910c63b644f7586</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>costmap_2d::Costmap2DROS *</type>
      <name>costmap_ros_</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>abfffcbda2ab8bdf103e7925da9e110ed</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>unsigned int</type>
      <name>current_waypoint_</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>ae40803c0de4791522406c980b4c7af1b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>debug_print_</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>acff3e9990e3c1eff60df0c844a2d645f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>dt_</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>ae5ffa628b373722ab23283f3e350467a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; geometry_msgs::PoseStamped &gt;</type>
      <name>global_plan_</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>ae6a3e40b63800ddf41502d72395f802e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Time</type>
      <name>goal_reached_time_</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a2e31077af03a65f153075d7926ff2133</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>initialized_</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>ab7975d3a8c51c0c771f6604a94dedd02</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::mutex</type>
      <name>invalid_pose_mutex_</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a56fc2bc8146cfe3844515798e41c2f85</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Subscriber</type>
      <name>invalid_pose_sub_</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a44c6d7b2119db6ab573763b54618fbea</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>K_rot_base_</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a334c09553df7d71db2e758cca5aa5cbf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>K_rot_cart_</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>ac7165b11035e70f9bcf792427af1d9ad</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>K_trans_base_</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a03a3d6870d2cd2daedfa258294cee6e4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>K_trans_cart_</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a937011e092a3761b6a087555f18347de</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Time</type>
      <name>last_invalid_pose_time_</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a0f1f37257edd3e45f86c11c48064ccd6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::NodeHandle</type>
      <name>nh_</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>ab58c747c1e7cf1b53287cdc01650bb04</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>num_traj_steps_</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a9ba55a6f0cb9be12aa72005c7378d3b4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::mutex</type>
      <name>odom_lock_</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a57e882ef47c5ae7976f3a3dd6dfc2e97</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Subscriber</type>
      <name>odom_sub_</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>ad6a7e240e4239ae6c5c02b85df64b721</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; geometry_msgs::PoseStamped &gt;</type>
      <name>original_global_plan_</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>aaa0ef11106235595223642b8df7e0407</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>pose2D_pub_</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a82ea20fb1876d6bb3845c0dd5db74c78</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>CostmapTrajectoryChecker</type>
      <name>robot_collision_checker_</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>a3714d8e9a5ecf5d0ec1437f8c31cf576</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>tf::Stamped&lt; tf::Pose &gt;</type>
      <name>robot_pose_actual_</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>ae73cab6b92dcf8758b99ccb6d342bd2e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>tf::Pose</type>
      <name>robot_pose_error_</name>
      <anchorfile>classcart__local__planner_1_1CartLocalPlanner.html</anchorfile>
      <anchor>ab8f21862626874f91eb3d29a8e6ab70a</anchor>
      <arglist></arglist>
    </member>
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