<?xml version='1.0' encoding='ISO-8859-1' standalone='yes' ?>
<tagfile>
  <compound kind="file">
    <name>__init__.py</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-all-iri-ros.pub/doc_stacks/2013-12-06_19-37-16.229269/iri_navigation/iri_ackermann_local_planner/src/iri_ackermann_local_planner/</path>
    <filename>____init_____8py</filename>
    <namespace>iri_ackermann_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>msg/__init__.py</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-all-iri-ros.pub/doc_stacks/2013-12-06_19-37-16.229269/iri_navigation/iri_ackermann_local_planner/src/iri_ackermann_local_planner/msg/</path>
    <filename>msg_2____init_____8py</filename>
    <namespace>iri_ackermann_local_planner::msg</namespace>
  </compound>
  <compound kind="file">
    <name>_Position2DInt.py</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-all-iri-ros.pub/doc_stacks/2013-12-06_19-37-16.229269/iri_navigation/iri_ackermann_local_planner/src/iri_ackermann_local_planner/msg/</path>
    <filename>__Position2DInt_8py</filename>
    <class kind="class">iri_ackermann_local_planner::msg::_Position2DInt::Position2DInt</class>
    <namespace>iri_ackermann_local_planner::msg::_Position2DInt</namespace>
    <member kind="variable">
      <type>tuple</type>
      <name>_struct_2q</name>
      <anchorfile>namespaceiri__ackermann__local__planner_1_1msg_1_1__Position2DInt.html</anchorfile>
      <anchor>ad7eb1735188fe748c819cca2da71ab03</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>_struct_I</name>
      <anchorfile>namespaceiri__ackermann__local__planner_1_1msg_1_1__Position2DInt.html</anchorfile>
      <anchor>aa4101eb0c6afaa5e09aef7bde9bc5305</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>python3</name>
      <anchorfile>namespaceiri__ackermann__local__planner_1_1msg_1_1__Position2DInt.html</anchorfile>
      <anchor>aaf3890c6d474e964c658632adf061abd</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>AckermannLocalPlannerConfig-usage.dox</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-all-iri-ros.pub/doc_stacks/2013-12-06_19-37-16.229269/iri_navigation/iri_ackermann_local_planner/docs/</path>
    <filename>AckermannLocalPlannerConfig-usage_8dox</filename>
  </compound>
  <compound kind="file">
    <name>AckermannLocalPlannerConfig.dox</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-all-iri-ros.pub/doc_stacks/2013-12-06_19-37-16.229269/iri_navigation/iri_ackermann_local_planner/docs/</path>
    <filename>AckermannLocalPlannerConfig_8dox</filename>
    <member kind="variable">
      <type>subsubsection parameters ROS parameters Reads and maintains the following parameters on the ROS server b</type>
      <name>default</name>
      <anchorfile>AckermannLocalPlannerConfig_8dox.html</anchorfile>
      <anchor>a94d02332ecf13e7845f06fe8c343e101</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>subsubsection parameters ROS parameters Reads and maintains the following parameters on the ROS server b</type>
      <name>max</name>
      <anchorfile>AckermannLocalPlannerConfig_8dox.html</anchorfile>
      <anchor>a55c9de72d9f3630abdf51bfe39c191dd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>subsubsection parameters ROS parameters Reads and maintains the following parameters on the ROS server b</type>
      <name>~ack_vel_max</name>
      <anchorfile>AckermannLocalPlannerConfig_8dox.html</anchorfile>
      <anchor>a2547df896f8417b1db8f883d4d64c211</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>costmap_model.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-all-iri-ros.pub/doc_stacks/2013-12-06_19-37-16.229269/iri_navigation/iri_ackermann_local_planner/src/</path>
    <filename>costmap__model_8cpp</filename>
    <namespace>iri_ackermann_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>costmap_model.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-all-iri-ros.pub/doc_stacks/2013-12-06_19-37-16.229269/iri_navigation/iri_ackermann_local_planner/include/</path>
    <filename>costmap__model_8h</filename>
    <includes id="world__model_8h" name="world_model.h" local="no" imported="no">world_model.h</includes>
    <class kind="class">iri_ackermann_local_planner::CostmapModel</class>
    <namespace>iri_ackermann_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>goal_functions.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-all-iri-ros.pub/doc_stacks/2013-12-06_19-37-16.229269/iri_navigation/iri_ackermann_local_planner/src/</path>
    <filename>goal__functions_8cpp</filename>
    <namespace>iri_ackermann_local_planner</namespace>
    <member kind="function">
      <type>double</type>
      <name>distance</name>
      <anchorfile>namespaceiri__ackermann__local__planner.html</anchorfile>
      <anchor>a848e9f1bfba3d2bbb926fdd95e44ed01</anchor>
      <arglist>(double x1, double y1, double x2, double y2)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>goalOrientationReached</name>
      <anchorfile>namespaceiri__ackermann__local__planner.html</anchorfile>
      <anchor>a91a8fe405b94ae19f67077db67675279</anchor>
      <arglist>(const tf::Stamped&lt; tf::Pose &gt; &amp;global_pose, double goal_th, double yaw_goal_tolerance)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>goalPositionReached</name>
      <anchorfile>namespaceiri__ackermann__local__planner.html</anchorfile>
      <anchor>a4219a13a13e7669c03634b86352acbab</anchor>
      <arglist>(const tf::Stamped&lt; tf::Pose &gt; &amp;global_pose, double goal_x, double goal_y, double xy_goal_tolerance)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isGoalReached</name>
      <anchorfile>namespaceiri__ackermann__local__planner.html</anchorfile>
      <anchor>ab9a5646a134a49daabf4793a287f03de</anchor>
      <arglist>(const tf::TransformListener &amp;tf, const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;global_plan, const costmap_2d::Costmap2DROS &amp;costmap_ros, const std::string &amp;global_frame, const nav_msgs::Odometry &amp;base_odom, double rot_stopped_vel, double trans_stopped_vel, double xy_goal_tolerance, double yaw_goal_tolerance)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>prunePlan</name>
      <anchorfile>namespaceiri__ackermann__local__planner.html</anchorfile>
      <anchor>a426dc97327b6a269d37266b2f82e76ab</anchor>
      <arglist>(const tf::Stamped&lt; tf::Pose &gt; &amp;global_pose, std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;plan, std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;global_plan)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>publishPlan</name>
      <anchorfile>namespaceiri__ackermann__local__planner.html</anchorfile>
      <anchor>af44287eead599172900ba186fb6d8f78</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;path, const ros::Publisher &amp;pub, double r, double g, double b, double a)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>stopped</name>
      <anchorfile>namespaceiri__ackermann__local__planner.html</anchorfile>
      <anchor>a309295425da2bb32770efc7d63fd7351</anchor>
      <arglist>(const nav_msgs::Odometry &amp;base_odom, const double &amp;rot_stopped_velocity, const double &amp;trans_stopped_velocity)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>transformGlobalPlan</name>
      <anchorfile>namespaceiri__ackermann__local__planner.html</anchorfile>
      <anchor>a113fbf2a82d91ca8be84f72c8900bc67</anchor>
      <arglist>(const tf::TransformListener &amp;tf, const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;global_plan, const costmap_2d::Costmap2DROS &amp;costmap, const std::string &amp;global_frame, std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;transformed_plan)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>goal_functions.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-all-iri-ros.pub/doc_stacks/2013-12-06_19-37-16.229269/iri_navigation/iri_ackermann_local_planner/include/</path>
    <filename>goal__functions_8h</filename>
    <namespace>iri_ackermann_local_planner</namespace>
    <member kind="function">
      <type>double</type>
      <name>distance</name>
      <anchorfile>namespaceiri__ackermann__local__planner.html</anchorfile>
      <anchor>a848e9f1bfba3d2bbb926fdd95e44ed01</anchor>
      <arglist>(double x1, double y1, double x2, double y2)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>goalOrientationReached</name>
      <anchorfile>namespaceiri__ackermann__local__planner.html</anchorfile>
      <anchor>a91a8fe405b94ae19f67077db67675279</anchor>
      <arglist>(const tf::Stamped&lt; tf::Pose &gt; &amp;global_pose, double goal_th, double yaw_goal_tolerance)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>goalPositionReached</name>
      <anchorfile>namespaceiri__ackermann__local__planner.html</anchorfile>
      <anchor>a4219a13a13e7669c03634b86352acbab</anchor>
      <arglist>(const tf::Stamped&lt; tf::Pose &gt; &amp;global_pose, double goal_x, double goal_y, double xy_goal_tolerance)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isGoalReached</name>
      <anchorfile>namespaceiri__ackermann__local__planner.html</anchorfile>
      <anchor>ab9a5646a134a49daabf4793a287f03de</anchor>
      <arglist>(const tf::TransformListener &amp;tf, const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;global_plan, const costmap_2d::Costmap2DROS &amp;costmap_ros, const std::string &amp;global_frame, const nav_msgs::Odometry &amp;base_odom, double rot_stopped_vel, double trans_stopped_vel, double xy_goal_tolerance, double yaw_goal_tolerance)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>prunePlan</name>
      <anchorfile>namespaceiri__ackermann__local__planner.html</anchorfile>
      <anchor>a426dc97327b6a269d37266b2f82e76ab</anchor>
      <arglist>(const tf::Stamped&lt; tf::Pose &gt; &amp;global_pose, std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;plan, std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;global_plan)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>publishPlan</name>
      <anchorfile>namespaceiri__ackermann__local__planner.html</anchorfile>
      <anchor>af44287eead599172900ba186fb6d8f78</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;path, const ros::Publisher &amp;pub, double r, double g, double b, double a)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>stopped</name>
      <anchorfile>namespaceiri__ackermann__local__planner.html</anchorfile>
      <anchor>a309295425da2bb32770efc7d63fd7351</anchor>
      <arglist>(const nav_msgs::Odometry &amp;base_odom, const double &amp;rot_stopped_velocity, const double &amp;trans_stopped_velocity)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>transformGlobalPlan</name>
      <anchorfile>namespaceiri__ackermann__local__planner.html</anchorfile>
      <anchor>a113fbf2a82d91ca8be84f72c8900bc67</anchor>
      <arglist>(const tf::TransformListener &amp;tf, const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;global_plan, const costmap_2d::Costmap2DROS &amp;costmap, const std::string &amp;global_frame, std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;transformed_plan)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>mainpage.dox</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-all-iri-ros.pub/doc_stacks/2013-12-06_19-37-16.229269/iri_navigation/iri_ackermann_local_planner/</path>
    <filename>mainpage_8dox</filename>
  </compound>
  <compound kind="file">
    <name>map_cell.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-all-iri-ros.pub/doc_stacks/2013-12-06_19-37-16.229269/iri_navigation/iri_ackermann_local_planner/src/</path>
    <filename>map__cell_8cpp</filename>
    <namespace>iri_ackermann_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>map_cell.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-all-iri-ros.pub/doc_stacks/2013-12-06_19-37-16.229269/iri_navigation/iri_ackermann_local_planner/include/</path>
    <filename>map__cell_8h</filename>
    <includes id="trajectory__inc_8h" name="trajectory_inc.h" local="no" imported="no">trajectory_inc.h</includes>
    <class kind="class">iri_ackermann_local_planner::MapCell</class>
    <namespace>iri_ackermann_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>map_grid.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-all-iri-ros.pub/doc_stacks/2013-12-06_19-37-16.229269/iri_navigation/iri_ackermann_local_planner/src/</path>
    <filename>map__grid_8cpp</filename>
    <namespace>iri_ackermann_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>map_grid.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-all-iri-ros.pub/doc_stacks/2013-12-06_19-37-16.229269/iri_navigation/iri_ackermann_local_planner/include/</path>
    <filename>map__grid_8h</filename>
    <includes id="trajectory__inc_8h" name="trajectory_inc.h" local="no" imported="no">trajectory_inc.h</includes>
    <includes id="map__cell_8h" name="map_cell.h" local="no" imported="no">map_cell.h</includes>
    <class kind="class">iri_ackermann_local_planner::MapGrid</class>
    <namespace>iri_ackermann_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>map_grid_cost_point.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-all-iri-ros.pub/doc_stacks/2013-12-06_19-37-16.229269/iri_navigation/iri_ackermann_local_planner/include/</path>
    <filename>map__grid__cost__point_8h</filename>
    <class kind="struct">iri_ackermann_local_planner::MapGridCostPoint</class>
    <namespace>iri_ackermann_local_planner</namespace>
    <member kind="function">
      <type></type>
      <name>POINT_CLOUD_REGISTER_POINT_STRUCT</name>
      <anchorfile>map__grid__cost__point_8h.html</anchorfile>
      <anchor>a46c98c3a0ec849d9bdda1cf842714d82</anchor>
      <arglist>(iri_ackermann_local_planner::MapGridCostPoint,(float, x, x)(float, y, y)(float, z, z)(float, path_cost, path_cost)(float, goal_cost, goal_cost)(float, occ_cost, occ_cost)(float, total_cost, total_cost))</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>map_grid_visualizer.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-all-iri-ros.pub/doc_stacks/2013-12-06_19-37-16.229269/iri_navigation/iri_ackermann_local_planner/src/</path>
    <filename>map__grid__visualizer_8cpp</filename>
    <namespace>iri_ackermann_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>map_grid_visualizer.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-all-iri-ros.pub/doc_stacks/2013-12-06_19-37-16.229269/iri_navigation/iri_ackermann_local_planner/include/</path>
    <filename>map__grid__visualizer_8h</filename>
    <includes id="map__grid_8h" name="map_grid.h" local="no" imported="no">map_grid.h</includes>
    <includes id="map__grid__cost__point_8h" name="map_grid_cost_point.h" local="no" imported="no">map_grid_cost_point.h</includes>
    <class kind="class">iri_ackermann_local_planner::MapGridVisualizer</class>
    <namespace>iri_ackermann_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>planar_laser_scan.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-all-iri-ros.pub/doc_stacks/2013-12-06_19-37-16.229269/iri_navigation/iri_ackermann_local_planner/include/</path>
    <filename>planar__laser__scan_8h</filename>
    <class kind="class">iri_ackermann_local_planner::PlanarLaserScan</class>
    <namespace>iri_ackermann_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>point_grid.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-all-iri-ros.pub/doc_stacks/2013-12-06_19-37-16.229269/iri_navigation/iri_ackermann_local_planner/src/</path>
    <filename>point__grid_8cpp</filename>
    <namespace>iri_ackermann_local_planner</namespace>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>point__grid_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>printPoint</name>
      <anchorfile>point__grid_8cpp.html</anchorfile>
      <anchor>a80ac6030d788494b8a2c4fc78579622c</anchor>
      <arglist>(pcl::PointXYZ pt)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>printPolygonPS</name>
      <anchorfile>point__grid_8cpp.html</anchorfile>
      <anchor>a2619109b7ac647d6f494cba25158c90a</anchor>
      <arglist>(const vector&lt; geometry_msgs::Point &gt; &amp;poly, double line_width)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>printPSFooter</name>
      <anchorfile>point__grid_8cpp.html</anchorfile>
      <anchor>adf610c05fd957ba8e8c427f46726c2ae</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>printPSHeader</name>
      <anchorfile>point__grid_8cpp.html</anchorfile>
      <anchor>a05c3d95c815b1443c5b7d7bf4fa4def3</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>point_grid.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-all-iri-ros.pub/doc_stacks/2013-12-06_19-37-16.229269/iri_navigation/iri_ackermann_local_planner/include/</path>
    <filename>point__grid_8h</filename>
    <includes id="world__model_8h" name="world_model.h" local="no" imported="no">world_model.h</includes>
    <class kind="class">iri_ackermann_local_planner::PointGrid</class>
    <namespace>iri_ackermann_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>Position2DInt.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-all-iri-ros.pub/doc_stacks/2013-12-06_19-37-16.229269/iri_navigation/iri_ackermann_local_planner/msg_gen/cpp/include/iri_ackermann_local_planner/</path>
    <filename>Position2DInt_8h</filename>
    <class kind="struct">ros::message_traits::DataType&lt; ::iri_ackermann_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &gt;</class>
    <class kind="struct">ros::message_traits::Definition&lt; ::iri_ackermann_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &gt;</class>
    <class kind="struct">ros::message_traits::IsFixedSize&lt; ::iri_ackermann_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &gt;</class>
    <class kind="struct">ros::message_traits::IsMessage&lt; ::iri_ackermann_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &gt;</class>
    <class kind="struct">ros::message_traits::IsMessage&lt; ::iri_ackermann_local_planner::Position2DInt_&lt; ContainerAllocator &gt;const  &gt;</class>
    <class kind="struct">ros::message_traits::MD5Sum&lt; ::iri_ackermann_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &gt;</class>
    <class kind="struct">iri_ackermann_local_planner::Position2DInt_</class>
    <class kind="struct">ros::message_operations::Printer&lt; ::iri_ackermann_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &gt;</class>
    <class kind="struct">ros::serialization::Serializer&lt; ::iri_ackermann_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &gt;</class>
    <namespace>iri_ackermann_local_planner</namespace>
    <member kind="typedef">
      <type>::iri_ackermann_local_planner::Position2DInt_&lt; std::allocator&lt; void &gt; &gt;</type>
      <name>Position2DInt</name>
      <anchorfile>namespaceiri__ackermann__local__planner.html</anchorfile>
      <anchor>ae5f0e61b4483edb68c58471915966257</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; ::iri_ackermann_local_planner::Position2DInt const  &gt;</type>
      <name>Position2DIntConstPtr</name>
      <anchorfile>namespaceiri__ackermann__local__planner.html</anchorfile>
      <anchor>a11c484c6ef7b579d3dffea0d80cbafba</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; ::iri_ackermann_local_planner::Position2DInt &gt;</type>
      <name>Position2DIntPtr</name>
      <anchorfile>namespaceiri__ackermann__local__planner.html</anchorfile>
      <anchor>ad2af70dd306f911989fc5b7d4920df7d</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>namespaceiri__ackermann__local__planner.html</anchorfile>
      <anchor>a762285704398ec1bcfc20e6d3dcbf812</anchor>
      <arglist>(std::ostream &amp;s, const ::iri_ackermann_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &amp;v)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>trajectory.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-all-iri-ros.pub/doc_stacks/2013-12-06_19-37-16.229269/iri_navigation/iri_ackermann_local_planner/src/</path>
    <filename>trajectory_8cpp</filename>
    <namespace>iri_ackermann_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>trajectory.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-all-iri-ros.pub/doc_stacks/2013-12-06_19-37-16.229269/iri_navigation/iri_ackermann_local_planner/include/</path>
    <filename>trajectory_8h</filename>
    <class kind="class">iri_ackermann_local_planner::Trajectory</class>
    <namespace>iri_ackermann_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>trajectory_inc.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-all-iri-ros.pub/doc_stacks/2013-12-06_19-37-16.229269/iri_navigation/iri_ackermann_local_planner/include/</path>
    <filename>trajectory__inc_8h</filename>
    <member kind="define">
      <type>#define</type>
      <name>DBL_MAX</name>
      <anchorfile>trajectory__inc_8h.html</anchorfile>
      <anchor>af78670ee54c1203d613f8fb0e022d214</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>DBL_MIN</name>
      <anchorfile>trajectory__inc_8h.html</anchorfile>
      <anchor>ab5f2d2630bc132bca0a4c9733164e91a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>trajectory_planner.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-all-iri-ros.pub/doc_stacks/2013-12-06_19-37-16.229269/iri_navigation/iri_ackermann_local_planner/src/</path>
    <filename>trajectory__planner_8cpp</filename>
    <namespace>iri_ackermann_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>trajectory_planner.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-all-iri-ros.pub/doc_stacks/2013-12-06_19-37-16.229269/iri_navigation/iri_ackermann_local_planner/include/</path>
    <filename>trajectory__planner_8h</filename>
    <includes id="map__cell_8h" name="map_cell.h" local="no" imported="no">map_cell.h</includes>
    <includes id="map__grid_8h" name="map_grid.h" local="no" imported="no">map_grid.h</includes>
    <includes id="world__model_8h" name="world_model.h" local="no" imported="no">world_model.h</includes>
    <includes id="trajectory_8h" name="trajectory.h" local="no" imported="no">trajectory.h</includes>
    <includes id="Position2DInt_8h" name="Position2DInt.h" local="no" imported="no">iri_ackermann_local_planner/Position2DInt.h</includes>
    <class kind="class">iri_ackermann_local_planner::TrajectoryPlanner</class>
    <namespace>iri_ackermann_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>trajectory_planner_ros.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-all-iri-ros.pub/doc_stacks/2013-12-06_19-37-16.229269/iri_navigation/iri_ackermann_local_planner/src/</path>
    <filename>trajectory__planner__ros_8cpp</filename>
    <namespace>iri_ackermann_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>trajectory_planner_ros.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-all-iri-ros.pub/doc_stacks/2013-12-06_19-37-16.229269/iri_navigation/iri_ackermann_local_planner/include/</path>
    <filename>trajectory__planner__ros_8h</filename>
    <includes id="world__model_8h" name="world_model.h" local="no" imported="no">world_model.h</includes>
    <includes id="point__grid_8h" name="point_grid.h" local="no" imported="no">point_grid.h</includes>
    <includes id="costmap__model_8h" name="costmap_model.h" local="no" imported="no">costmap_model.h</includes>
    <includes id="voxel__grid__model_8h" name="voxel_grid_model.h" local="no" imported="no">voxel_grid_model.h</includes>
    <includes id="trajectory__planner_8h" name="trajectory_planner.h" local="no" imported="no">trajectory_planner.h</includes>
    <includes id="map__grid__visualizer_8h" name="map_grid_visualizer.h" local="no" imported="no">map_grid_visualizer.h</includes>
    <includes id="planar__laser__scan_8h" name="planar_laser_scan.h" local="no" imported="no">planar_laser_scan.h</includes>
    <class kind="class">iri_ackermann_local_planner::TrajectoryPlannerROS</class>
    <namespace>iri_ackermann_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>voxel_grid_model.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-all-iri-ros.pub/doc_stacks/2013-12-06_19-37-16.229269/iri_navigation/iri_ackermann_local_planner/src/</path>
    <filename>voxel__grid__model_8cpp</filename>
    <namespace>iri_ackermann_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>voxel_grid_model.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-all-iri-ros.pub/doc_stacks/2013-12-06_19-37-16.229269/iri_navigation/iri_ackermann_local_planner/include/</path>
    <filename>voxel__grid__model_8h</filename>
    <includes id="world__model_8h" name="world_model.h" local="no" imported="no">world_model.h</includes>
    <class kind="class">iri_ackermann_local_planner::VoxelGridModel</class>
    <namespace>iri_ackermann_local_planner</namespace>
  </compound>
  <compound kind="file">
    <name>world_model.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-fuerte-all-iri-ros.pub/doc_stacks/2013-12-06_19-37-16.229269/iri_navigation/iri_ackermann_local_planner/include/</path>
    <filename>world__model_8h</filename>
    <includes id="planar__laser__scan_8h" name="planar_laser_scan.h" local="no" imported="no">planar_laser_scan.h</includes>
    <class kind="class">iri_ackermann_local_planner::WorldModel</class>
    <namespace>iri_ackermann_local_planner</namespace>
  </compound>
  <compound kind="namespace">
    <name>iri_ackermann_local_planner</name>
    <filename>namespaceiri__ackermann__local__planner.html</filename>
    <namespace>iri_ackermann_local_planner::msg</namespace>
    <class kind="class">iri_ackermann_local_planner::CostmapModel</class>
    <class kind="class">iri_ackermann_local_planner::MapCell</class>
    <class kind="class">iri_ackermann_local_planner::MapGrid</class>
    <class kind="struct">iri_ackermann_local_planner::MapGridCostPoint</class>
    <class kind="class">iri_ackermann_local_planner::MapGridVisualizer</class>
    <class kind="class">iri_ackermann_local_planner::PlanarLaserScan</class>
    <class kind="class">iri_ackermann_local_planner::PointGrid</class>
    <class kind="struct">iri_ackermann_local_planner::Position2DInt_</class>
    <class kind="class">iri_ackermann_local_planner::Trajectory</class>
    <class kind="class">iri_ackermann_local_planner::TrajectoryPlanner</class>
    <class kind="class">iri_ackermann_local_planner::TrajectoryPlannerROS</class>
    <class kind="class">iri_ackermann_local_planner::VoxelGridModel</class>
    <class kind="class">iri_ackermann_local_planner::WorldModel</class>
    <member kind="typedef">
      <type>::iri_ackermann_local_planner::Position2DInt_&lt; std::allocator&lt; void &gt; &gt;</type>
      <name>Position2DInt</name>
      <anchorfile>namespaceiri__ackermann__local__planner.html</anchorfile>
      <anchor>ae5f0e61b4483edb68c58471915966257</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; ::iri_ackermann_local_planner::Position2DInt const  &gt;</type>
      <name>Position2DIntConstPtr</name>
      <anchorfile>namespaceiri__ackermann__local__planner.html</anchorfile>
      <anchor>a11c484c6ef7b579d3dffea0d80cbafba</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; ::iri_ackermann_local_planner::Position2DInt &gt;</type>
      <name>Position2DIntPtr</name>
      <anchorfile>namespaceiri__ackermann__local__planner.html</anchorfile>
      <anchor>ad2af70dd306f911989fc5b7d4920df7d</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>distance</name>
      <anchorfile>namespaceiri__ackermann__local__planner.html</anchorfile>
      <anchor>a848e9f1bfba3d2bbb926fdd95e44ed01</anchor>
      <arglist>(double x1, double y1, double x2, double y2)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>goalOrientationReached</name>
      <anchorfile>namespaceiri__ackermann__local__planner.html</anchorfile>
      <anchor>a91a8fe405b94ae19f67077db67675279</anchor>
      <arglist>(const tf::Stamped&lt; tf::Pose &gt; &amp;global_pose, double goal_th, double yaw_goal_tolerance)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>goalPositionReached</name>
      <anchorfile>namespaceiri__ackermann__local__planner.html</anchorfile>
      <anchor>a4219a13a13e7669c03634b86352acbab</anchor>
      <arglist>(const tf::Stamped&lt; tf::Pose &gt; &amp;global_pose, double goal_x, double goal_y, double xy_goal_tolerance)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isGoalReached</name>
      <anchorfile>namespaceiri__ackermann__local__planner.html</anchorfile>
      <anchor>ab9a5646a134a49daabf4793a287f03de</anchor>
      <arglist>(const tf::TransformListener &amp;tf, const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;global_plan, const costmap_2d::Costmap2DROS &amp;costmap_ros, const std::string &amp;global_frame, const nav_msgs::Odometry &amp;base_odom, double rot_stopped_vel, double trans_stopped_vel, double xy_goal_tolerance, double yaw_goal_tolerance)</arglist>
    </member>
    <member kind="function">
      <type>std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>namespaceiri__ackermann__local__planner.html</anchorfile>
      <anchor>a762285704398ec1bcfc20e6d3dcbf812</anchor>
      <arglist>(std::ostream &amp;s, const ::iri_ackermann_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &amp;v)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>prunePlan</name>
      <anchorfile>namespaceiri__ackermann__local__planner.html</anchorfile>
      <anchor>a426dc97327b6a269d37266b2f82e76ab</anchor>
      <arglist>(const tf::Stamped&lt; tf::Pose &gt; &amp;global_pose, std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;plan, std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;global_plan)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>publishPlan</name>
      <anchorfile>namespaceiri__ackermann__local__planner.html</anchorfile>
      <anchor>af44287eead599172900ba186fb6d8f78</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;path, const ros::Publisher &amp;pub, double r, double g, double b, double a)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>stopped</name>
      <anchorfile>namespaceiri__ackermann__local__planner.html</anchorfile>
      <anchor>a309295425da2bb32770efc7d63fd7351</anchor>
      <arglist>(const nav_msgs::Odometry &amp;base_odom, const double &amp;rot_stopped_velocity, const double &amp;trans_stopped_velocity)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>transformGlobalPlan</name>
      <anchorfile>namespaceiri__ackermann__local__planner.html</anchorfile>
      <anchor>a113fbf2a82d91ca8be84f72c8900bc67</anchor>
      <arglist>(const tf::TransformListener &amp;tf, const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;global_plan, const costmap_2d::Costmap2DROS &amp;costmap, const std::string &amp;global_frame, std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;transformed_plan)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>iri_ackermann_local_planner::CostmapModel</name>
    <filename>classiri__ackermann__local__planner_1_1CostmapModel.html</filename>
    <base>iri_ackermann_local_planner::WorldModel</base>
    <member kind="function">
      <type></type>
      <name>CostmapModel</name>
      <anchorfile>classiri__ackermann__local__planner_1_1CostmapModel.html</anchorfile>
      <anchor>ab9b3eeb67a60c5ab37a8118c103bf9fd</anchor>
      <arglist>(const costmap_2d::Costmap2D &amp;costmap)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>footprintCost</name>
      <anchorfile>classiri__ackermann__local__planner_1_1CostmapModel.html</anchorfile>
      <anchor>aed4fbb1e24a7a9ada133b3e4c59a54d4</anchor>
      <arglist>(const geometry_msgs::Point &amp;position, const std::vector&lt; geometry_msgs::Point &gt; &amp;footprint, double inscribed_radius, double circumscribed_radius)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~CostmapModel</name>
      <anchorfile>classiri__ackermann__local__planner_1_1CostmapModel.html</anchorfile>
      <anchor>afa8e425fa6b29e4711dd2423ef10b553</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>lineCost</name>
      <anchorfile>classiri__ackermann__local__planner_1_1CostmapModel.html</anchorfile>
      <anchor>a060d985f93ae479b1ecaa80e001257d3</anchor>
      <arglist>(int x0, int x1, int y0, int y1)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>pointCost</name>
      <anchorfile>classiri__ackermann__local__planner_1_1CostmapModel.html</anchorfile>
      <anchor>a97b7f980a1dbda9b58c4c779da435ce3</anchor>
      <arglist>(int x, int y)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const costmap_2d::Costmap2D &amp;</type>
      <name>costmap_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1CostmapModel.html</anchorfile>
      <anchor>a7ab91f4c1c41adac0046c942822aebab</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>iri_ackermann_local_planner::MapCell</name>
    <filename>classiri__ackermann__local__planner_1_1MapCell.html</filename>
    <member kind="function">
      <type></type>
      <name>MapCell</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapCell.html</anchorfile>
      <anchor>ac4245b700f3cd285a82b719051870cdf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MapCell</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapCell.html</anchorfile>
      <anchor>a340c29f601b1fe939b62e4ba16cf59c4</anchor>
      <arglist>(const MapCell &amp;mc)</arglist>
    </member>
    <member kind="variable">
      <type>unsigned int</type>
      <name>cx</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapCell.html</anchorfile>
      <anchor>a92dfbf5ceb982c46aac58d368406e003</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>unsigned int</type>
      <name>cy</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapCell.html</anchorfile>
      <anchor>a3da461098a2d29975bce9adfcc0aec86</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>goal_dist</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapCell.html</anchorfile>
      <anchor>ae2baa268511c400716a183cddf584ecd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>goal_mark</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapCell.html</anchorfile>
      <anchor>a157cb24f7bbf095f9883af895b866838</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>occ_dist</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapCell.html</anchorfile>
      <anchor>af5e3e6bdbd692157926545bb8b9ae910</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>occ_state</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapCell.html</anchorfile>
      <anchor>a4e90fecc36cd6eb2b4971695791eb8b3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>path_dist</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapCell.html</anchorfile>
      <anchor>a7ab1b2131b42b9922da934d14f1450ad</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>path_mark</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapCell.html</anchorfile>
      <anchor>ad5aa4ab58f065577a9e19816a70cec8e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>within_robot</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapCell.html</anchorfile>
      <anchor>a6a949d2a477db2e0f194668fa1052ec8</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>iri_ackermann_local_planner::MapGrid</name>
    <filename>classiri__ackermann__local__planner_1_1MapGrid.html</filename>
    <member kind="function">
      <type>void</type>
      <name>commonInit</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>ab9b1c50961baf53adac8f9bc3a4c7147</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeGoalDistance</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>a150a9f8c2574b994f888a1af9f17bb09</anchor>
      <arglist>(std::queue&lt; MapCell * &gt; &amp;dist_queue, const costmap_2d::Costmap2D &amp;costmap)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computePathDistance</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>ac40ec0d98af9061c1c77060d1c68c06b</anchor>
      <arglist>(std::queue&lt; MapCell * &gt; &amp;dist_queue, const costmap_2d::Costmap2D &amp;costmap)</arglist>
    </member>
    <member kind="function">
      <type>MapCell &amp;</type>
      <name>getCell</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>a744e60f0e02bb53b9be3498dcad54e4f</anchor>
      <arglist>(unsigned int x, unsigned int y)</arglist>
    </member>
    <member kind="function">
      <type>size_t</type>
      <name>getIndex</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>aada95dbfc38b3038cdbec07e23d59d49</anchor>
      <arglist>(int x, int y)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MapGrid</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>ab704805360e5ff5a5027b84ebfc771ad</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MapGrid</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>ae144da76902b02073d40cfd9d6d856ff</anchor>
      <arglist>(unsigned int size_x, unsigned int size_y)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MapGrid</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>ade3832cd0b6b238722f169c77af73a8d</anchor>
      <arglist>(unsigned int size_x, unsigned int size_y, double scale, double x, double y)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MapGrid</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>ac550aa513d5a1909ff84a333e4ebca6c</anchor>
      <arglist>(const MapGrid &amp;mg)</arglist>
    </member>
    <member kind="function">
      <type>MapCell &amp;</type>
      <name>operator()</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>aca87d76172e7dfad3cacf1b7201cc80e</anchor>
      <arglist>(unsigned int x, unsigned int y)</arglist>
    </member>
    <member kind="function">
      <type>MapCell</type>
      <name>operator()</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>a4fd7d599c0c1eee5ab7d4d5f5aa09a6c</anchor>
      <arglist>(unsigned int x, unsigned int y) const </arglist>
    </member>
    <member kind="function">
      <type>MapGrid &amp;</type>
      <name>operator=</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>abb8be96cb31da03ec5e9373439acf61a</anchor>
      <arglist>(const MapGrid &amp;mg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>resetPathDist</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>a960594bfb95a68dd93fe5eea7cb056c8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setPathCells</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>acaf9d2a14d3e83d2251808b1cc91b889</anchor>
      <arglist>(const costmap_2d::Costmap2D &amp;costmap, const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;global_plan)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>sizeCheck</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>aa9a50d922d450a59d3a85e824937618c</anchor>
      <arglist>(unsigned int size_x, unsigned int size_y, double o_x, double o_y)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>updateGoalCell</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>a6e43f755d5a63e5cc46bed804b853447</anchor>
      <arglist>(MapCell *current_cell, MapCell *check_cell, std::queue&lt; MapCell * &gt; &amp;dist_queue, const costmap_2d::Costmap2D &amp;costmap)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>updatePathCell</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>a72f3c264d60b31448539954aa1d7726b</anchor>
      <arglist>(MapCell *current_cell, MapCell *check_cell, std::queue&lt; MapCell * &gt; &amp;dist_queue, const costmap_2d::Costmap2D &amp;costmap)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~MapGrid</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>a66945c00dd1c424ca527964b33d846cc</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>goal_x_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>a06b306b47ff7765576d4e2e6cce6dfce</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>goal_y_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>aff544e3c1f21c90519d984dd07b4e9d9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; MapCell &gt;</type>
      <name>map_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>a9ac2a29e7bf1cdf909d7051fe54f3291</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>origin_x</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>af35c13cc34f3398a959ff7268e5042c8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>origin_y</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>a7a9e840c73ad48f032ec2884c41868b9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>scale</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>a31f2f2baab2494bc2a866750af30001a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>unsigned int</type>
      <name>size_x_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>afc0de2b29a4b323575c8ff715c27ccc8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>unsigned int</type>
      <name>size_y_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGrid.html</anchorfile>
      <anchor>a4da9deccc3bd28e91ddb9ddbaf1f186c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>iri_ackermann_local_planner::MapGridCostPoint</name>
    <filename>structiri__ackermann__local__planner_1_1MapGridCostPoint.html</filename>
    <member kind="variable">
      <type>float</type>
      <name>goal_cost</name>
      <anchorfile>structiri__ackermann__local__planner_1_1MapGridCostPoint.html</anchorfile>
      <anchor>ab0cd91643b73ad423f1b754849397ed1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>occ_cost</name>
      <anchorfile>structiri__ackermann__local__planner_1_1MapGridCostPoint.html</anchorfile>
      <anchor>a9effb0e46f24b392149517d58c7a48f8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>path_cost</name>
      <anchorfile>structiri__ackermann__local__planner_1_1MapGridCostPoint.html</anchorfile>
      <anchor>ae988aa7b173ca048dfa1f20f8e7533dd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>total_cost</name>
      <anchorfile>structiri__ackermann__local__planner_1_1MapGridCostPoint.html</anchorfile>
      <anchor>a70848925b5d4138a32fc7da16dd00109</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>x</name>
      <anchorfile>structiri__ackermann__local__planner_1_1MapGridCostPoint.html</anchorfile>
      <anchor>ad5094e5b700b3ddf6eb719f1ad1257b4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>y</name>
      <anchorfile>structiri__ackermann__local__planner_1_1MapGridCostPoint.html</anchorfile>
      <anchor>a54fd7434483b86d71bfd2e8d5dbe1715</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>z</name>
      <anchorfile>structiri__ackermann__local__planner_1_1MapGridCostPoint.html</anchorfile>
      <anchor>a53bd164259b88413e67b858a59ca4b84</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>iri_ackermann_local_planner::MapGridVisualizer</name>
    <filename>classiri__ackermann__local__planner_1_1MapGridVisualizer.html</filename>
    <member kind="function">
      <type>void</type>
      <name>initialize</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGridVisualizer.html</anchorfile>
      <anchor>afdcd47799798048d9b9d09229cc592a3</anchor>
      <arglist>(const std::string &amp;name, const costmap_2d::Costmap2D *costmap, boost::function&lt; bool(int cx, int cy, float &amp;path_cost, float &amp;goal_cost, float &amp;occ_cost, float &amp;total_cost)&gt; cost_function)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MapGridVisualizer</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGridVisualizer.html</anchorfile>
      <anchor>a9e4737676b211f84dda05153c1a8d957</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>publishCostCloud</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGridVisualizer.html</anchorfile>
      <anchor>aff08e29980597bf6169d8dac61c89351</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~MapGridVisualizer</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGridVisualizer.html</anchorfile>
      <anchor>a4279e416b28a0d409ddd8543378b502d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>pcl::PointCloud&lt; MapGridCostPoint &gt;</type>
      <name>cost_cloud_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGridVisualizer.html</anchorfile>
      <anchor>ae98a813df8f1e8485b7a852b47f6f4e4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>boost::function&lt; bool(int cx, int cy, float &amp;path_cost, float &amp;goal_cost, float &amp;occ_cost, float &amp;total_cost)&gt;</type>
      <name>cost_function_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGridVisualizer.html</anchorfile>
      <anchor>a3e8b9a9e6efd9318d25e35d00bb16ce1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const costmap_2d::Costmap2D *</type>
      <name>costmap_p_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGridVisualizer.html</anchorfile>
      <anchor>a87298216b30949815f1be1847bfcb131</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>frame_id_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGridVisualizer.html</anchorfile>
      <anchor>ad71a39922350d2661d4e8f6914b6eafd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>name_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGridVisualizer.html</anchorfile>
      <anchor>a21dce2963763ded1e8ff4cc05111b396</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::NodeHandle</type>
      <name>ns_nh_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGridVisualizer.html</anchorfile>
      <anchor>a12f6f17f9da6eea9f1dc79193d6b2f7b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>pcl_ros::Publisher&lt; MapGridCostPoint &gt;</type>
      <name>pub_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGridVisualizer.html</anchorfile>
      <anchor>a706b233c591fd35d63450232b100f5e5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>publish_cost_grid_pc_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1MapGridVisualizer.html</anchorfile>
      <anchor>a997c184325285e7f3c790fa43ff746c9</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>iri_ackermann_local_planner::PlanarLaserScan</name>
    <filename>classiri__ackermann__local__planner_1_1PlanarLaserScan.html</filename>
    <member kind="function">
      <type></type>
      <name>PlanarLaserScan</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PlanarLaserScan.html</anchorfile>
      <anchor>a540980891c85dad44937106a971e9839</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>angle_increment</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PlanarLaserScan.html</anchorfile>
      <anchor>a7af81455a8f5c023e49bb7e85a61bfdc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>angle_max</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PlanarLaserScan.html</anchorfile>
      <anchor>a40b87ce0d0836393d55df13596ed7cdc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>angle_min</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PlanarLaserScan.html</anchorfile>
      <anchor>ac4c6c974ec17e52380c2e489be07fa2a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>sensor_msgs::PointCloud</type>
      <name>cloud</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PlanarLaserScan.html</anchorfile>
      <anchor>a1ea149c8089d74cd45f6fa95d7428ce8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>geometry_msgs::Point32</type>
      <name>origin</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PlanarLaserScan.html</anchorfile>
      <anchor>aa7d3944a03a00227d92fc76f622f2828</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>iri_ackermann_local_planner::PointGrid</name>
    <filename>classiri__ackermann__local__planner_1_1PointGrid.html</filename>
    <base>iri_ackermann_local_planner::WorldModel</base>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>footprintCost</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a3c376bbe3f8210b95a3508427d94f472</anchor>
      <arglist>(const geometry_msgs::Point &amp;position, const std::vector&lt; geometry_msgs::Point &gt; &amp;footprint, double inscribed_radius, double circumscribed_radius)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getCellBounds</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>ad68d23ceaf8bf16d98587c876c2221a7</anchor>
      <arglist>(unsigned int gx, unsigned int gy, geometry_msgs::Point &amp;lower_left, geometry_msgs::Point &amp;upper_right) const </arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getNearestInCell</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>adac42aa50f3b00ec0be715a0cb6dffc8</anchor>
      <arglist>(pcl::PointXYZ &amp;pt, unsigned int gx, unsigned int gy)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getPoints</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a361cb94be53af36bf69043e2daa7d5f9</anchor>
      <arglist>(pcl::PointCloud&lt; pcl::PointXYZ &gt; &amp;cloud)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getPointsInRange</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>ace3ec31bf38a86d07a01b5ebc03d950c</anchor>
      <arglist>(const geometry_msgs::Point &amp;lower_left, const geometry_msgs::Point &amp;upper_right, std::vector&lt; std::list&lt; pcl::PointXYZ &gt; * &gt; &amp;points)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>gridCoords</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>ac2dc2514ac86de9b0638ce57346ac815</anchor>
      <arglist>(geometry_msgs::Point pt, unsigned int &amp;gx, unsigned int &amp;gy) const </arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>gridCoords</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a647dd3080544a61fcafa4225a2a62088</anchor>
      <arglist>(pcl::PointXYZ pt, unsigned int &amp;gx, unsigned int &amp;gy) const </arglist>
    </member>
    <member kind="function">
      <type>unsigned int</type>
      <name>gridIndex</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a2a446aae6c0edbd2ec84a90a670fabb0</anchor>
      <arglist>(unsigned int gx, unsigned int gy) const </arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>insert</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>af163a47c4bed38b02364aad3397c5590</anchor>
      <arglist>(pcl::PointXYZ pt)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>intersectionPoint</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a8dcc2738b820bafcdb0a7a4ffd0c5f47</anchor>
      <arglist>(const geometry_msgs::Point &amp;v1, const geometry_msgs::Point &amp;v2, const geometry_msgs::Point &amp;u1, const geometry_msgs::Point &amp;u2, geometry_msgs::Point &amp;result)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>nearestNeighborDistance</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a46bdbaf7ba5790316b65c675cb0c1078</anchor>
      <arglist>(pcl::PointXYZ &amp;pt)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>orient</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>adf7f72573c77c5138bb5ed4e426207ed</anchor>
      <arglist>(const geometry_msgs::Point &amp;a, const geometry_msgs::Point &amp;b, const pcl::PointXYZ &amp;c)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>orient</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a5b97b37a47c43409bd64b83b67fba70b</anchor>
      <arglist>(const geometry_msgs::Point32 &amp;a, const geometry_msgs::Point32 &amp;b, const pcl::PointXYZ &amp;c)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>orient</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a4da744dce3d646641db6450b11d23637</anchor>
      <arglist>(const geometry_msgs::Point &amp;a, const geometry_msgs::Point &amp;b, const geometry_msgs::Point &amp;c)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>orient</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>afab5516f61f6d5edfc2100313b578441</anchor>
      <arglist>(const pcl::PointXYZ &amp;a, const pcl::PointXYZ &amp;b, const pcl::PointXYZ &amp;c)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PointGrid</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a9370ccf8fef9d9b650168bf7707e110d</anchor>
      <arglist>(double width, double height, double resolution, geometry_msgs::Point origin, double max_z, double obstacle_range, double min_separation)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>ptInPolygon</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>aac6bb32bdbd6cd4d0026dfa59f9fb27c</anchor>
      <arglist>(const pcl::PointXYZ &amp;pt, const std::vector&lt; geometry_msgs::Point &gt; &amp;poly)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>ptInScan</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a4a5f6767705716c65ee742748da1c8ce</anchor>
      <arglist>(const pcl::PointXYZ &amp;pt, const PlanarLaserScan &amp;laser_scan)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>removePointsInPolygon</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>aacf0269027282ac1fc3df5c97df09296</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::Point &gt; poly)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>removePointsInScanBoundry</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a30dfc4d2cbb376cdfe72300b6241a723</anchor>
      <arglist>(const PlanarLaserScan &amp;laser_scan)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>segIntersect</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>acbe146ece88af7cb3e61d85f11347eac</anchor>
      <arglist>(const pcl::PointXYZ &amp;v1, const pcl::PointXYZ &amp;v2, const pcl::PointXYZ &amp;u1, const pcl::PointXYZ &amp;u2)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>sq_distance</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a20ba1180f1d969e82e477899a1cc9fe6</anchor>
      <arglist>(pcl::PointXYZ &amp;pt1, pcl::PointXYZ &amp;pt2)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>updateWorld</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>ac7abc9f875c8895760ce69dd877c7f6d</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::Point &gt; &amp;footprint, const std::vector&lt; costmap_2d::Observation &gt; &amp;observations, const std::vector&lt; PlanarLaserScan &gt; &amp;laser_scans)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~PointGrid</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>ab7cfafbad52ff5652efbff291112b9ca</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; std::list&lt; pcl::PointXYZ &gt; &gt;</type>
      <name>cells_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a37ee8f24ec160c4a523061898e785aef</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>height_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a190b7757906345275a87951e6861651a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>max_z_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a35106d63f6174aabe2f6ba5d8de2b346</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>geometry_msgs::Point</type>
      <name>origin_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>adf9cbec4bb572fa40c1196bb4fafd4be</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; std::list&lt; pcl::PointXYZ &gt; * &gt;</type>
      <name>points_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a42b670488e03d6c991cb34e94cca8ac4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>resolution_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a2bf46a8fa0c2c0c1d101c7f39f8ecb96</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>sq_min_separation_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>a5b9b46732ab00b330c832ef666e57180</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>sq_obstacle_range_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>ae52ab6e985b10d2aed46538700946719</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>width_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1PointGrid.html</anchorfile>
      <anchor>aba0143ca27ec2a89991c79e295e9ff03</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>iri_ackermann_local_planner::Position2DInt_</name>
    <filename>structiri__ackermann__local__planner_1_1Position2DInt__.html</filename>
    <templarg></templarg>
    <member kind="typedef">
      <type>int64_t</type>
      <name>_x_type</name>
      <anchorfile>structiri__ackermann__local__planner_1_1Position2DInt__.html</anchorfile>
      <anchor>a50da034a1d446c53f1d1772ef97fbc14</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>int64_t</type>
      <name>_y_type</name>
      <anchorfile>structiri__ackermann__local__planner_1_1Position2DInt__.html</anchorfile>
      <anchor>a9cc0122171cc3df69f186951f1817641</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; ::iri_ackermann_local_planner::Position2DInt_&lt; ContainerAllocator &gt; const  &gt;</type>
      <name>ConstPtr</name>
      <anchorfile>structiri__ackermann__local__planner_1_1Position2DInt__.html</anchorfile>
      <anchor>ab7a6ea30a7e823691ca8fe8230e737cb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; ::iri_ackermann_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &gt;</type>
      <name>Ptr</name>
      <anchorfile>structiri__ackermann__local__planner_1_1Position2DInt__.html</anchorfile>
      <anchor>a9e84dbb1eef033a300399394a2668e1c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Position2DInt_&lt; ContainerAllocator &gt;</type>
      <name>Type</name>
      <anchorfile>structiri__ackermann__local__planner_1_1Position2DInt__.html</anchorfile>
      <anchor>a9204191dc7adbcc7df7aed9ebcbcfc9e</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Position2DInt_</name>
      <anchorfile>structiri__ackermann__local__planner_1_1Position2DInt__.html</anchorfile>
      <anchor>a777907524cc5675f841b5d26681264c3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Position2DInt_</name>
      <anchorfile>structiri__ackermann__local__planner_1_1Position2DInt__.html</anchorfile>
      <anchor>a2d109b6ac0bb7610dbd228c5eccae873</anchor>
      <arglist>(const ContainerAllocator &amp;_alloc)</arglist>
    </member>
    <member kind="variable">
      <type>boost::shared_ptr&lt; std::map&lt; std::string, std::string &gt; &gt;</type>
      <name>__connection_header</name>
      <anchorfile>structiri__ackermann__local__planner_1_1Position2DInt__.html</anchorfile>
      <anchor>a15223a773a0f72550de3254f1a8df605</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int64_t</type>
      <name>x</name>
      <anchorfile>structiri__ackermann__local__planner_1_1Position2DInt__.html</anchorfile>
      <anchor>a257403379e3634c828928c3f6f14cc64</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int64_t</type>
      <name>y</name>
      <anchorfile>structiri__ackermann__local__planner_1_1Position2DInt__.html</anchorfile>
      <anchor>a3bf5bb7b965991f10f37e87cfef85d85</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>iri_ackermann_local_planner::Trajectory</name>
    <filename>classiri__ackermann__local__planner_1_1Trajectory.html</filename>
    <member kind="function">
      <type>void</type>
      <name>addPoint</name>
      <anchorfile>classiri__ackermann__local__planner_1_1Trajectory.html</anchorfile>
      <anchor>a84b682be89faffbc47181598a37e8005</anchor>
      <arglist>(double x, double y, double th)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getEndpoint</name>
      <anchorfile>classiri__ackermann__local__planner_1_1Trajectory.html</anchorfile>
      <anchor>af4c83b617d9fc4034a77e365212f9ec2</anchor>
      <arglist>(double &amp;x, double &amp;y, double &amp;th)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getPoint</name>
      <anchorfile>classiri__ackermann__local__planner_1_1Trajectory.html</anchorfile>
      <anchor>ada5a4a6ac9899b3020c733ac836c31d5</anchor>
      <arglist>(unsigned int index, double &amp;x, double &amp;y, double &amp;th)</arglist>
    </member>
    <member kind="function">
      <type>unsigned int</type>
      <name>getPointsSize</name>
      <anchorfile>classiri__ackermann__local__planner_1_1Trajectory.html</anchorfile>
      <anchor>a6608871c2e2929aeced913ed87aae1d8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>resetPoints</name>
      <anchorfile>classiri__ackermann__local__planner_1_1Trajectory.html</anchorfile>
      <anchor>ae626ca771c31287cbab9488453a7f73b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setPoint</name>
      <anchorfile>classiri__ackermann__local__planner_1_1Trajectory.html</anchorfile>
      <anchor>a1343154a76948bf0832ccc211afc2d97</anchor>
      <arglist>(unsigned int index, double x, double y, double th)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Trajectory</name>
      <anchorfile>classiri__ackermann__local__planner_1_1Trajectory.html</anchorfile>
      <anchor>a307d2d0909038e683148d6c8747d978a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Trajectory</name>
      <anchorfile>classiri__ackermann__local__planner_1_1Trajectory.html</anchorfile>
      <anchor>a875041002e0251c4f9bbd4dc9552bb2e</anchor>
      <arglist>(double xv, double yv, double thetav, unsigned int num_pts)</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>cost_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1Trajectory.html</anchorfile>
      <anchor>ac894a7b8bb4ce6e0064043676cf8e9b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>thetav_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1Trajectory.html</anchorfile>
      <anchor>a6bf4af26d22c48d520c8a47edd0356b0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>xv_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1Trajectory.html</anchorfile>
      <anchor>a9db6ced0da07a5bcce11453436b1bb62</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>yv_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1Trajectory.html</anchorfile>
      <anchor>a924a874d354d2186bc963cca618ce3a2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; double &gt;</type>
      <name>th_pts_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1Trajectory.html</anchorfile>
      <anchor>a196e3cd3d27c8b59920d2564da55f505</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; double &gt;</type>
      <name>x_pts_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1Trajectory.html</anchorfile>
      <anchor>aa709ed49b73ca2d89db96a91ddda8053</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; double &gt;</type>
      <name>y_pts_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1Trajectory.html</anchorfile>
      <anchor>adced6cc6fb974b3aacf51b7cea2090f6</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>iri_ackermann_local_planner::TrajectoryPlanner</name>
    <filename>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</filename>
    <member kind="function">
      <type>bool</type>
      <name>checkTrajectory</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a59c5d78179f43eebf67cb021cfc26363</anchor>
      <arglist>(double x, double y, double theta, double vx, double vy, double vtheta, double vx_samp, double vy_samp, double vtheta_samp)</arglist>
    </member>
    <member kind="function">
      <type>Trajectory</type>
      <name>findBestPath</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>adb2f4ef16f54563e59a8bb19582f247a</anchor>
      <arglist>(tf::Stamped&lt; tf::Pose &gt; global_pose, tf::Stamped&lt; tf::Pose &gt; global_vel, tf::Stamped&lt; tf::Pose &gt; &amp;drive_velocities, geometry_msgs::Twist &amp;ackermann_state)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getCellCosts</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>ae0fc54f50c0f9c39e96dd7c61fc7a5e3</anchor>
      <arglist>(int cx, int cy, float &amp;path_cost, float &amp;goal_cost, float &amp;occ_cost, float &amp;total_cost)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getLocalGoal</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>ae843b054a507784abf617b782430fb10</anchor>
      <arglist>(double &amp;x, double &amp;y)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>reconfigure</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a561a2b148f925bcc26f95f3388d95fe5</anchor>
      <arglist>(AckermannLocalPlannerConfig &amp;cfg)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>scoreTrajectory</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a458c12a79e71dfa79872537da605103f</anchor>
      <arglist>(double x, double y, double theta, double vx, double vy, double vtheta, double vx_samp, double vy_samp, double vtheta_samp)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TrajectoryPlanner</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>ae20bdfe61a51a9c69baf9b83069a2040</anchor>
      <arglist>(WorldModel &amp;world_model, const costmap_2d::Costmap2D &amp;costmap, std::vector&lt; geometry_msgs::Point &gt; footprint_spec, double max_acc=1.0, double max_vel=0.3, double min_vel=-0.3, double max_steer_acc=1.0, double max_steer_vel=0.5, double min_steer_vel=-0.5, double max_steer_angle=0.35, double min_steer_angle=-0.35, double axis_distance=1.65, double sim_time=10.0, double sim_granularity=0.025, int vx_samples=20, int vtheta_samples=20, double pdist_scale=0.6, double gdist_scale=0.8, double occdist_scale=0.01, double hdiff_scale=1.0, bool simple_attractor=false, double angular_sim_granularity=0.025, int heading_points=8, double xy_goal_tol=0.5)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>updatePlan</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>ae6ff6095916cbe1db1e3f2549d1015a1</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;new_plan, bool compute_dists=false)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~TrajectoryPlanner</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a0a82bebd1183d87065b220accb9190a0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>Trajectory</type>
      <name>createTrajectories</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>ae00d29927672e7f3d472504e7213ff7a</anchor>
      <arglist>(double x, double y, double theta, double vx, double vy, double vtheta, double acc_x, double acc_y, double acc_theta)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>footprintCost</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>aac6a1e5336711930c215ff51b6e32795</anchor>
      <arglist>(double x_i, double y_i, double theta_i)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>generateTrajectory</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a23e18447f1666a473d0e2f8c48fbee5f</anchor>
      <arglist>(double x, double y, double theta, double vx, double vy, double vtheta, double vx_samp, double vy_samp, double vtheta_samp, double acc_x, double acc_y, double acc_theta, double impossible_cost, Trajectory &amp;traj)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>getFillCells</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>acf9b4e6fc9f658ea34ca47c3df341e5f</anchor>
      <arglist>(std::vector&lt; iri_ackermann_local_planner::Position2DInt &gt; &amp;footprint)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>std::vector&lt; iri_ackermann_local_planner::Position2DInt &gt;</type>
      <name>getFootprintCells</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>ab3cf98db7dbf330bdc560a58ca80a04f</anchor>
      <arglist>(double x_i, double y_i, double theta_i, bool fill)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>getLineCells</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a6ec4757c3108fe507af74774da3a0a7c</anchor>
      <arglist>(int x0, int x1, int y0, int y1, std::vector&lt; iri_ackermann_local_planner::Position2DInt &gt; &amp;pts)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>headingDiff</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a1f056c8e11bcc82814feda4c6f6ccd13</anchor>
      <arglist>(int cell_x, int cell_y, double x, double y, double heading)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>lineCost</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a8654f632ea084a729ef5fd7b33867d19</anchor>
      <arglist>(int x0, int x1, int y0, int y1)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>pointCost</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>af5f3911d453299bdb502cf7100fbe592</anchor>
      <arglist>(int x, int y)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>ack_acc_max_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>ab2d38d5a17d5ea98d3c1d3ccb6299931</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>ack_axis_distance_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a82e89a3791352c53d8555e7d2a5ff289</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>ack_steer_acc_max_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>afaeeb78ab937cecdd8e69d25985792be</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>ack_steer_angle_max_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a23a07973c7d708155dd81ae6d8cc14c4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>ack_steer_angle_min_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a655920b61519ef796b8c381d0a7e0cb9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>ack_steer_speed_max_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>ac9ad07c6bea8fef0c327d1120a7c8c41</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>ack_steer_speed_min_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>af83f157715a06712eaae5b3889bf639b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>ack_vel_max_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a51dbedcb92a98baffc2bbb73555009f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>ack_vel_min_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a574413e0bcb992657f820aedc86b59cd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>angular_sim_granularity_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>aea79046d32ee92132acad3dab246b476</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>boost::mutex</type>
      <name>configuration_mutex_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a9e1818070a95b03aa4b92190c459143a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const costmap_2d::Costmap2D &amp;</type>
      <name>costmap_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a5e9f1133f821e6cb16833a7087692e62</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; geometry_msgs::Point &gt;</type>
      <name>footprint_spec_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>af016eaa83bbc36a5f2294d82c8a16b43</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>gdist_scale_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>ab930102cf9132a2e088d08861407de0c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; geometry_msgs::PoseStamped &gt;</type>
      <name>global_plan_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>aa46f6ec16b622dd6b98f69587231fcc3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>goal_x_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a5a194d2e1900350fe03ad1ccc4474313</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>goal_y_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>af5ce29395fd7708a770390713900e233</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>hdiff_scale_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>aa7869bb86656adeeec4041ac18803ecc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>heading_points_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a42ea47d392d6727cb7561b706fa691d0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>MapGrid</type>
      <name>map_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a91cd91f527ea25914dfcc7d28aafb377</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>occdist_scale_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>abb76e4c32584359693b0de7e75a1322a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>pdist_scale_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a2de40b6a2ae467953be76b883e4cbe5a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>sim_granularity_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a5b0b4a2da537bfce5df43fb4d81b78a1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>sim_time_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a5978d5051797d67e0d0c315cecd8111f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>simple_attractor_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a56fc06281bfa12e8376c17962ab5427f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>steering_speed_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>ab7f48318bd9d3ffa19f6d5c75c2379c5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Trajectory</type>
      <name>traj_one</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a0a1a43dab608382d577806630fb92951</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Trajectory</type>
      <name>traj_two</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a32aff92c51b8bbb80474c3276c42c1c4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>vtheta_samples_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>aae59cc043d0cb5ebdee6405760124436</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>vx_samples_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>aaaf080dc728a2b5072fb70a641815d64</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>WorldModel &amp;</type>
      <name>world_model_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a75446b336788eef8f8d4014c2c99f54c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>xy_goal_tol_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>ae89132c06ead53c4ef11dfab74779402</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend" protection="private">
      <type>friend class</type>
      <name>TrajectoryPlannerTest</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlanner.html</anchorfile>
      <anchor>a156887bf956f38e1462db6dfbbe523a1</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>iri_ackermann_local_planner::TrajectoryPlannerROS</name>
    <filename>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</filename>
    <base>nav_core::BaseLocalPlanner</base>
    <member kind="function">
      <type>bool</type>
      <name>checkTrajectory</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a8cb1c892d8c916cbd43ba45f3b916651</anchor>
      <arglist>(double vx_samp, double vy_samp, double vtheta_samp, bool update_map=true)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>computeVelocityCommands</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a1c7cf9a2417bf8c759f1e2c6709491af</anchor>
      <arglist>(geometry_msgs::Twist &amp;cmd_vel)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>initialize</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a6f72ae6d277bcb179b04d938af845c73</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>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>aadc9ae3f4034bd049d94d92c63aefc0f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>scoreTrajectory</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a50b80cb7d5ee3e9bed896c5a01b52f61</anchor>
      <arglist>(double vx_samp, double vy_samp, double vtheta_samp, bool update_map=true)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>setPlan</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>ad23ae44d9fb7266ba0837737e526ea01</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;orig_global_plan)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TrajectoryPlannerROS</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a584a5fee2c522ef488c0b7f23f2eea03</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TrajectoryPlannerROS</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a63b95f88c40b36d6883c570f2f5504e4</anchor>
      <arglist>(std::string name, tf::TransformListener *tf, costmap_2d::Costmap2DROS *costmap_ros)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~TrajectoryPlannerROS</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>ad965bd83099ca39ae1dcd6d973dd032d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>odomCallback</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>acd9003e0fd5a635b1282ae2dedd60852</anchor>
      <arglist>(const nav_msgs::Odometry::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>reconfigureCB</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>aa5ae89d8248e54cb81621e31ea75dc0c</anchor>
      <arglist>(AckermannLocalPlannerConfig &amp;config, uint32_t level)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>sign</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a752d6eb3e2a7a8ffac070c4f808635a7</anchor>
      <arglist>(double x)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>geometry_msgs::Twist</type>
      <name>ackermann_state_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a5439142e8088ef0a14115bb7dbd2ac45</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>nav_msgs::Odometry</type>
      <name>base_odom_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>aaca2d1d8abbf15843aa25c7ceb704cb4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>costmap_2d::Costmap2D</type>
      <name>costmap_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a5b9b6bc6fc785e7691cdbc0e93b7d2be</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>costmap_2d::Costmap2DROS *</type>
      <name>costmap_ros_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>aabade63847714809b21f2e915c9fbbaa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>iri_ackermann_local_planner::AckermannLocalPlannerConfig</type>
      <name>default_config_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a2815c406859f8efccd1185fa28613f7f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>dynamic_reconfigure::Server&lt; AckermannLocalPlannerConfig &gt; *</type>
      <name>dsrv_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a2657e07c25aa74fc2dca543ad2c40929</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Publisher</type>
      <name>g_plan_pub_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>ab0cde0e7f957af0c5ece8c829d81b2ca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>global_frame_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>aee61aa4fb47833da2e8d10859a5476ca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; geometry_msgs::PoseStamped &gt;</type>
      <name>global_plan_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a3b7b497137e3e13d6747be8607233118</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>inflation_radius_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>aece3eaac9e2ff902972f7fce8f5e9fe8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>initialized_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>af13a0e98dd5d679faf5a0f392248deeb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Publisher</type>
      <name>l_plan_pub_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a57393d2b58d32427ed321fa1dd70320c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>latch_xy_goal_tolerance_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a2411ac9314235936be5e09d31878dc27</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>MapGridVisualizer</type>
      <name>map_viz_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a42ff22cd66ccb3bece346b62543ff46d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>max_sensor_range_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a3d532aa1fc185b8b16a11a97de5b961d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>boost::recursive_mutex</type>
      <name>odom_lock_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a807de537d3b6220f265a1ed6f16fd7c3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>odom_sub_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>ab153421e2e9042ce84eec19a768969d3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>prune_plan_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a989ea87f0139aa914a227763e3fd36c9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>robot_base_frame_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a37d00ec74f5401aa66826991a029ccd4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>rot_stopped_velocity_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>ad0b4cb461846a97f985dfb0e6e336695</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>rotating_to_goal_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a995798e9cfcf51c2597b69ff7a11e19c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>setup_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a740b8f526236b657c39b6168eacaa142</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; geometry_msgs::PoseStamped &gt;</type>
      <name>subPath</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a41ae3f6072658923bff9fce7c2fbb407</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>subPathIndex</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>ae39cfc06fdf8b08167036a63629e7420</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; std::vector&lt; geometry_msgs::PoseStamped &gt; &gt;</type>
      <name>subPathList</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a3636419ab0ca733a9280fd02366560d4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>TrajectoryPlanner *</type>
      <name>tc_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a7bee0143be3b9c346ce024e359255dc3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>tf::TransformListener *</type>
      <name>tf_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a52c4fe05f2ac7fc57733df914f629246</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>trans_stopped_velocity_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>ae906a261e9564da43086779af944a176</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>WorldModel *</type>
      <name>world_model_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a86c85c34694bb9c1497e7a39ac115088</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>xy_goal_tolerance_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a00a89a1f2fb74c2dc8ebc45915bb232d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>xy_tolerance_latch_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a7c136a717ff65ba790ae3228c3505751</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>yaw_goal_tolerance_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1TrajectoryPlannerROS.html</anchorfile>
      <anchor>a101b1fc70e78cd3d02f4a47364f59696</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>iri_ackermann_local_planner::VoxelGridModel</name>
    <filename>classiri__ackermann__local__planner_1_1VoxelGridModel.html</filename>
    <base>iri_ackermann_local_planner::WorldModel</base>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>footprintCost</name>
      <anchorfile>classiri__ackermann__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>a80af35a55008b4cc881012f35797aa8f</anchor>
      <arglist>(const geometry_msgs::Point &amp;position, const std::vector&lt; geometry_msgs::Point &gt; &amp;footprint, double inscribed_radius, double circumscribed_radius)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getPoints</name>
      <anchorfile>classiri__ackermann__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>a33280995115d3e0a67f715d3059a2fe4</anchor>
      <arglist>(pcl::PointCloud&lt; pcl::PointXYZ &gt; &amp;cloud)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>updateWorld</name>
      <anchorfile>classiri__ackermann__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>acd01cb02a9f5a9e8d2f96c73e7258ecf</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::Point &gt; &amp;footprint, const std::vector&lt; costmap_2d::Observation &gt; &amp;observations, const std::vector&lt; PlanarLaserScan &gt; &amp;laser_scans)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>VoxelGridModel</name>
      <anchorfile>classiri__ackermann__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>a14f6fc220f162566d8ab616d832406c7</anchor>
      <arglist>(double size_x, double size_y, double size_z, double xy_resolution, double z_resolution, double origin_x, double origin_y, double origin_z, double max_z, double obstacle_range)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~VoxelGridModel</name>
      <anchorfile>classiri__ackermann__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>aece6f21912e1eb5868c5090b7e2b7d1e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>dist</name>
      <anchorfile>classiri__ackermann__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>ad1191720dabef2f9828e29bb79f326a9</anchor>
      <arglist>(double x0, double y0, double z0, double x1, double y1, double z1)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>insert</name>
      <anchorfile>classiri__ackermann__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>a6adf320a51bc229585b074441a3e9e43</anchor>
      <arglist>(pcl::PointXYZ pt)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>lineCost</name>
      <anchorfile>classiri__ackermann__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>a26aeb1212d618b88f9a4aa27e3653249</anchor>
      <arglist>(int x0, int x1, int y0, int y1)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>mapToWorld2D</name>
      <anchorfile>classiri__ackermann__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>ac0855973e292ba9432c284ca288ad6ef</anchor>
      <arglist>(unsigned int mx, unsigned int my, double &amp;wx, double &amp;wy)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>mapToWorld3D</name>
      <anchorfile>classiri__ackermann__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>a4b651ea8e40c5833898a5bddb5779ab3</anchor>
      <arglist>(unsigned int mx, unsigned int my, unsigned int mz, double &amp;wx, double &amp;wy, double &amp;wz)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>pointCost</name>
      <anchorfile>classiri__ackermann__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>a8e6d38736ed5c648a0c8d6478adcad05</anchor>
      <arglist>(int x, int y)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>removePointsInScanBoundry</name>
      <anchorfile>classiri__ackermann__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>ad408ddcefd6879c183cbebd5b552a359</anchor>
      <arglist>(const PlanarLaserScan &amp;laser_scan, double raytrace_range)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>worldToMap2D</name>
      <anchorfile>classiri__ackermann__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>a70301e2ac1f3145b91418323201f2eb5</anchor>
      <arglist>(double wx, double wy, unsigned int &amp;mx, unsigned int &amp;my)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>worldToMap3D</name>
      <anchorfile>classiri__ackermann__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>ae6dbabf78e2c524fecf7e0ce842a81cd</anchor>
      <arglist>(double wx, double wy, double wz, unsigned int &amp;mx, unsigned int &amp;my, unsigned int &amp;mz)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>max_z_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>a1bab3656df20e63ce9e8ee3c3d84d83a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>voxel_grid::VoxelGrid</type>
      <name>obstacle_grid_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>af62c0cdde34a3b538ddf2a3a259a560b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>origin_x_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>adf9c4490ff33bc7643367bee2e5984d4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>origin_y_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>abce24cb2622eda4ff2e234a0456078d3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>origin_z_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>a0b1383617af0093dc4556675361f4295</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>sq_obstacle_range_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>a5d716a66930ec2fc2b8cd9ae2237cb8f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>xy_resolution_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>ad049f8f1d00b55e4e2e753dcb2fc39f2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>z_resolution_</name>
      <anchorfile>classiri__ackermann__local__planner_1_1VoxelGridModel.html</anchorfile>
      <anchor>a2e4720c1ba6baab7f8e0268eb2d01bb4</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>iri_ackermann_local_planner::WorldModel</name>
    <filename>classiri__ackermann__local__planner_1_1WorldModel.html</filename>
    <member kind="function" virtualness="pure">
      <type>virtual double</type>
      <name>footprintCost</name>
      <anchorfile>classiri__ackermann__local__planner_1_1WorldModel.html</anchorfile>
      <anchor>aa98c628140ab1a5e564ce8ef1e895052</anchor>
      <arglist>(const geometry_msgs::Point &amp;position, const std::vector&lt; geometry_msgs::Point &gt; &amp;footprint, double inscribed_radius, double circumscribed_radius)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~WorldModel</name>
      <anchorfile>classiri__ackermann__local__planner_1_1WorldModel.html</anchorfile>
      <anchor>abac71c7a5f640d3abe5b77d2f896a0d9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>WorldModel</name>
      <anchorfile>classiri__ackermann__local__planner_1_1WorldModel.html</anchorfile>
      <anchor>adffea5280fdfbbd5a46ae3a75210e6c3</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>iri_ackermann_local_planner::msg</name>
    <filename>namespaceiri__ackermann__local__planner_1_1msg.html</filename>
    <namespace>iri_ackermann_local_planner::msg::_Position2DInt</namespace>
  </compound>
  <compound kind="namespace">
    <name>iri_ackermann_local_planner::msg::_Position2DInt</name>
    <filename>namespaceiri__ackermann__local__planner_1_1msg_1_1__Position2DInt.html</filename>
    <class kind="class">iri_ackermann_local_planner::msg::_Position2DInt::Position2DInt</class>
    <member kind="variable">
      <type>tuple</type>
      <name>_struct_2q</name>
      <anchorfile>namespaceiri__ackermann__local__planner_1_1msg_1_1__Position2DInt.html</anchorfile>
      <anchor>ad7eb1735188fe748c819cca2da71ab03</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>_struct_I</name>
      <anchorfile>namespaceiri__ackermann__local__planner_1_1msg_1_1__Position2DInt.html</anchorfile>
      <anchor>aa4101eb0c6afaa5e09aef7bde9bc5305</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>python3</name>
      <anchorfile>namespaceiri__ackermann__local__planner_1_1msg_1_1__Position2DInt.html</anchorfile>
      <anchor>aaf3890c6d474e964c658632adf061abd</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>iri_ackermann_local_planner::msg::_Position2DInt::Position2DInt</name>
    <filename>classiri__ackermann__local__planner_1_1msg_1_1__Position2DInt_1_1Position2DInt.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classiri__ackermann__local__planner_1_1msg_1_1__Position2DInt_1_1Position2DInt.html</anchorfile>
      <anchor>a59b9a53f0261da9a71333db1b411abba</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>deserialize</name>
      <anchorfile>classiri__ackermann__local__planner_1_1msg_1_1__Position2DInt_1_1Position2DInt.html</anchorfile>
      <anchor>a3f40f6c7fc6acfedd4f3da01c49bffd6</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>deserialize_numpy</name>
      <anchorfile>classiri__ackermann__local__planner_1_1msg_1_1__Position2DInt_1_1Position2DInt.html</anchorfile>
      <anchor>acbb33af7c134da863ca3386c4e1e47e5</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>serialize</name>
      <anchorfile>classiri__ackermann__local__planner_1_1msg_1_1__Position2DInt_1_1Position2DInt.html</anchorfile>
      <anchor>a0b33d33c04eb2f81993ff8f0d4561c2a</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>serialize_numpy</name>
      <anchorfile>classiri__ackermann__local__planner_1_1msg_1_1__Position2DInt_1_1Position2DInt.html</anchorfile>
      <anchor>a7680a47d20a60fc0344bf4810c9ebc74</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>x</name>
      <anchorfile>classiri__ackermann__local__planner_1_1msg_1_1__Position2DInt_1_1Position2DInt.html</anchorfile>
      <anchor>abf0f0b8baea478852b813ec7590035f3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>y</name>
      <anchorfile>classiri__ackermann__local__planner_1_1msg_1_1__Position2DInt_1_1Position2DInt.html</anchorfile>
      <anchor>a763fe2cfe96c4f55229d3bebe2bd0dab</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="private">
      <type>def</type>
      <name>_get_types</name>
      <anchorfile>classiri__ackermann__local__planner_1_1msg_1_1__Position2DInt_1_1Position2DInt.html</anchorfile>
      <anchor>ae625c6256dcbfe4a6edd9d15ea675848</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type>list</type>
      <name>__slots__</name>
      <anchorfile>classiri__ackermann__local__planner_1_1msg_1_1__Position2DInt_1_1Position2DInt.html</anchorfile>
      <anchor>a844d3a895ff14eb6e9afb607cb6ef1eb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type>string</type>
      <name>_full_text</name>
      <anchorfile>classiri__ackermann__local__planner_1_1msg_1_1__Position2DInt_1_1Position2DInt.html</anchorfile>
      <anchor>a23ec73bd311ed7a798118a8e64715cee</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type></type>
      <name>_has_header</name>
      <anchorfile>classiri__ackermann__local__planner_1_1msg_1_1__Position2DInt_1_1Position2DInt.html</anchorfile>
      <anchor>a92d1b3c8a049c75e069e9859e19de6dd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type>string</type>
      <name>_md5sum</name>
      <anchorfile>classiri__ackermann__local__planner_1_1msg_1_1__Position2DInt_1_1Position2DInt.html</anchorfile>
      <anchor>ac6b4ddcaed79adda949a5ba3915ec153</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type>list</type>
      <name>_slot_types</name>
      <anchorfile>classiri__ackermann__local__planner_1_1msg_1_1__Position2DInt_1_1Position2DInt.html</anchorfile>
      <anchor>a529c5fd3c40cfb722037bcc5e60b8cae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type>string</type>
      <name>_type</name>
      <anchorfile>classiri__ackermann__local__planner_1_1msg_1_1__Position2DInt_1_1Position2DInt.html</anchorfile>
      <anchor>a0dcfb08dd06a5332659583c313746249</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>ros::message_operations::Printer&lt; ::iri_ackermann_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &gt;</name>
    <filename>structros_1_1message__operations_1_1Printer_3_01_1_1iri__ackermann__local__planner_1_1Position2Dbb7fb4662007b24c4374a090cea0d857.html</filename>
    <templarg></templarg>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>stream</name>
      <anchorfile>structros_1_1message__operations_1_1Printer_3_01_1_1iri__ackermann__local__planner_1_1Position2Dbb7fb4662007b24c4374a090cea0d857.html</anchorfile>
      <anchor>acab39da67bc9e91f6464bf9d831fdadb</anchor>
      <arglist>(Stream &amp;s, const std::string &amp;indent, const ::iri_ackermann_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &amp;v)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>ros::message_traits::DataType&lt; ::iri_ackermann_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &gt;</name>
    <filename>structros_1_1message__traits_1_1DataType_3_01_1_1iri__ackermann__local__planner_1_1Position2DIntdea9196a274a10792d29b474ae826e0c.html</filename>
    <templarg></templarg>
    <member kind="function" static="yes">
      <type>static const char *</type>
      <name>value</name>
      <anchorfile>structros_1_1message__traits_1_1DataType_3_01_1_1iri__ackermann__local__planner_1_1Position2DIntdea9196a274a10792d29b474ae826e0c.html</anchorfile>
      <anchor>a6aa04b6f579939faecfbba614cda6bf2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const char *</type>
      <name>value</name>
      <anchorfile>structros_1_1message__traits_1_1DataType_3_01_1_1iri__ackermann__local__planner_1_1Position2DIntdea9196a274a10792d29b474ae826e0c.html</anchorfile>
      <anchor>afd9cdddb29ca76c9496952d7da9b13de</anchor>
      <arglist>(const ::iri_ackermann_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &amp;)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>ros::message_traits::Definition&lt; ::iri_ackermann_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &gt;</name>
    <filename>structros_1_1message__traits_1_1Definition_3_01_1_1iri__ackermann__local__planner_1_1Position2DI0c95c17f86b90f55340cd563739d55dc.html</filename>
    <templarg></templarg>
    <member kind="function" static="yes">
      <type>static const char *</type>
      <name>value</name>
      <anchorfile>structros_1_1message__traits_1_1Definition_3_01_1_1iri__ackermann__local__planner_1_1Position2DI0c95c17f86b90f55340cd563739d55dc.html</anchorfile>
      <anchor>a26cc151e077b64ea787498c2eef67b51</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const char *</type>
      <name>value</name>
      <anchorfile>structros_1_1message__traits_1_1Definition_3_01_1_1iri__ackermann__local__planner_1_1Position2DI0c95c17f86b90f55340cd563739d55dc.html</anchorfile>
      <anchor>affe6e1965a151f2b60806696499b20dd</anchor>
      <arglist>(const ::iri_ackermann_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &amp;)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>ros::message_traits::IsFixedSize&lt; ::iri_ackermann_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &gt;</name>
    <filename>structros_1_1message__traits_1_1IsFixedSize_3_01_1_1iri__ackermann__local__planner_1_1Position2Da1191da49838aae364aed2b3099592b6.html</filename>
    <templarg></templarg>
    <base>ros::message_traits::TrueType</base>
  </compound>
  <compound kind="struct">
    <name>ros::message_traits::IsMessage&lt; ::iri_ackermann_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &gt;</name>
    <filename>structros_1_1message__traits_1_1IsMessage_3_01_1_1iri__ackermann__local__planner_1_1Position2DIn772782e919124dfa5a4d5bf2b365c95b.html</filename>
    <templarg></templarg>
    <base>ros::message_traits::TrueType</base>
  </compound>
  <compound kind="struct">
    <name>ros::message_traits::IsMessage&lt; ::iri_ackermann_local_planner::Position2DInt_&lt; ContainerAllocator &gt;const  &gt;</name>
    <filename>structros_1_1message__traits_1_1IsMessage_3_01_1_1iri__ackermann__local__planner_1_1Position2DIn5f73e1147290614fc639a3ae73358d34.html</filename>
    <templarg></templarg>
    <base>ros::message_traits::TrueType</base>
  </compound>
  <compound kind="struct">
    <name>ros::message_traits::MD5Sum&lt; ::iri_ackermann_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &gt;</name>
    <filename>structros_1_1message__traits_1_1MD5Sum_3_01_1_1iri__ackermann__local__planner_1_1Position2DInt__e965e450ac3259add48dad162a756550.html</filename>
    <templarg></templarg>
    <member kind="function" static="yes">
      <type>static const char *</type>
      <name>value</name>
      <anchorfile>structros_1_1message__traits_1_1MD5Sum_3_01_1_1iri__ackermann__local__planner_1_1Position2DInt__e965e450ac3259add48dad162a756550.html</anchorfile>
      <anchor>a881247a3c14241c65aac305b1d870b3f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static const char *</type>
      <name>value</name>
      <anchorfile>structros_1_1message__traits_1_1MD5Sum_3_01_1_1iri__ackermann__local__planner_1_1Position2DInt__e965e450ac3259add48dad162a756550.html</anchorfile>
      <anchor>a3516dc5913990dbf3be2410cca7e3e48</anchor>
      <arglist>(const ::iri_ackermann_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &amp;)</arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const uint64_t</type>
      <name>static_value1</name>
      <anchorfile>structros_1_1message__traits_1_1MD5Sum_3_01_1_1iri__ackermann__local__planner_1_1Position2DInt__e965e450ac3259add48dad162a756550.html</anchorfile>
      <anchor>af7d3d5cf047998983c09ec48eeea566d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const uint64_t</type>
      <name>static_value2</name>
      <anchorfile>structros_1_1message__traits_1_1MD5Sum_3_01_1_1iri__ackermann__local__planner_1_1Position2DInt__e965e450ac3259add48dad162a756550.html</anchorfile>
      <anchor>a53d4e2f45edeb8cf96f77671c82aa980</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>ros::serialization::Serializer&lt; ::iri_ackermann_local_planner::Position2DInt_&lt; ContainerAllocator &gt; &gt;</name>
    <filename>structros_1_1serialization_1_1Serializer_3_01_1_1iri__ackermann__local__planner_1_1Position2DIntf76fe3fa5a2c4639ddf4f3c5bb44c08a.html</filename>
    <templarg></templarg>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>allInOne</name>
      <anchorfile>structros_1_1serialization_1_1Serializer_3_01_1_1iri__ackermann__local__planner_1_1Position2DIntf76fe3fa5a2c4639ddf4f3c5bb44c08a.html</anchorfile>
      <anchor>af1f1a6c65529d8f5cebce30d99a78c7e</anchor>
      <arglist>(Stream &amp;stream, T m)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ROS_DECLARE_ALLINONE_SERIALIZER</name>
      <anchorfile>structros_1_1serialization_1_1Serializer_3_01_1_1iri__ackermann__local__planner_1_1Position2DIntf76fe3fa5a2c4639ddf4f3c5bb44c08a.html</anchorfile>
      <anchor>a7b72914c1f6e72fc3ad2a23165922009</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="page">
    <name>index</name>
    <title></title>
    <filename>index</filename>
  </compound>
</tagfile>
