<?xml version='1.0' encoding='ISO-8859-1' standalone='yes' ?>
<tagfile>
  <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_poseslam/</path>
    <filename>mainpage_8dox</filename>
  </compound>
  <compound kind="file">
    <name>poseslam_alg.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_poseslam/src/</path>
    <filename>poseslam__alg_8cpp</filename>
    <includes id="poseslam__alg_8h" name="poseslam_alg.h" local="yes" imported="no">poseslam_alg.h</includes>
  </compound>
  <compound kind="file">
    <name>poseslam_alg.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_poseslam/include/</path>
    <filename>poseslam__alg_8h</filename>
    <class kind="class">PoseslamAlgorithm</class>
  </compound>
  <compound kind="file">
    <name>poseslam_alg_node.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_poseslam/src/</path>
    <filename>poseslam__alg__node_8cpp</filename>
    <includes id="poseslam__alg__node_8h" name="poseslam_alg_node.h" local="yes" imported="no">poseslam_alg_node.h</includes>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>poseslam__alg__node_8cpp.html</anchorfile>
      <anchor>a0ddf1224851353fc92bfbff6f499fa97</anchor>
      <arglist>(int argc, char *argv[])</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>poseslam_alg_node.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_poseslam/include/</path>
    <filename>poseslam__alg__node_8h</filename>
    <includes id="poseslam__alg_8h" name="poseslam_alg.h" local="yes" imported="no">poseslam_alg.h</includes>
    <class kind="class">PoseslamAlgNode</class>
  </compound>
  <compound kind="file">
    <name>PoseslamConfig-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_poseslam/docs/</path>
    <filename>PoseslamConfig-usage_8dox</filename>
  </compound>
  <compound kind="file">
    <name>PoseslamConfig.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_poseslam/docs/</path>
    <filename>PoseslamConfig_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>PoseslamConfig_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>PoseslamConfig_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>~loop_rate</name>
      <anchorfile>PoseslamConfig_8dox.html</anchorfile>
      <anchor>a1021c37a1c570fb4caa308157d7e1434</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>scans_2_odom_alg.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_poseslam/src/</path>
    <filename>scans__2__odom__alg_8cpp</filename>
    <includes id="scans__2__odom__alg_8h" name="scans_2_odom_alg.h" local="yes" imported="no">scans_2_odom_alg.h</includes>
  </compound>
  <compound kind="file">
    <name>scans_2_odom_alg.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_poseslam/include/</path>
    <filename>scans__2__odom__alg_8h</filename>
    <class kind="class">Scans2OdomAlgorithm</class>
  </compound>
  <compound kind="file">
    <name>scans_2_odom_alg_node.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_poseslam/src/</path>
    <filename>scans__2__odom__alg__node_8cpp</filename>
    <includes id="scans__2__odom__alg__node_8h" name="scans_2_odom_alg_node.h" local="yes" imported="no">scans_2_odom_alg_node.h</includes>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>scans__2__odom__alg__node_8cpp.html</anchorfile>
      <anchor>a0ddf1224851353fc92bfbff6f499fa97</anchor>
      <arglist>(int argc, char *argv[])</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>scans_2_odom_alg_node.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_poseslam/include/</path>
    <filename>scans__2__odom__alg__node_8h</filename>
    <includes id="scans__2__odom__alg_8h" name="scans_2_odom_alg.h" local="yes" imported="no">scans_2_odom_alg.h</includes>
    <class kind="class">Scans2OdomAlgNode</class>
  </compound>
  <compound kind="file">
    <name>sensors_2_link_alg.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_poseslam/src/</path>
    <filename>sensors__2__link__alg_8cpp</filename>
    <includes id="sensors__2__link__alg_8h" name="sensors_2_link_alg.h" local="yes" imported="no">sensors_2_link_alg.h</includes>
  </compound>
  <compound kind="file">
    <name>sensors_2_link_alg.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_poseslam/include/</path>
    <filename>sensors__2__link__alg_8h</filename>
    <class kind="class">Sensors2LinkAlgorithm</class>
  </compound>
  <compound kind="file">
    <name>sensors_2_link_alg_node.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_poseslam/src/</path>
    <filename>sensors__2__link__alg__node_8cpp</filename>
    <includes id="sensors__2__link__alg__node_8h" name="sensors_2_link_alg_node.h" local="yes" imported="no">sensors_2_link_alg_node.h</includes>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>sensors__2__link__alg__node_8cpp.html</anchorfile>
      <anchor>a0ddf1224851353fc92bfbff6f499fa97</anchor>
      <arglist>(int argc, char *argv[])</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>sensors_2_link_alg_node.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_poseslam/include/</path>
    <filename>sensors__2__link__alg__node_8h</filename>
    <includes id="sensors__2__link__alg_8h" name="sensors_2_link_alg.h" local="yes" imported="no">sensors_2_link_alg.h</includes>
    <class kind="class">Sensors2LinkAlgNode</class>
  </compound>
  <compound kind="file">
    <name>trajectory_2_markers_alg.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_poseslam/src/</path>
    <filename>trajectory__2__markers__alg_8cpp</filename>
    <includes id="trajectory__2__markers__alg_8h" name="trajectory_2_markers_alg.h" local="yes" imported="no">trajectory_2_markers_alg.h</includes>
  </compound>
  <compound kind="file">
    <name>trajectory_2_markers_alg.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_poseslam/include/</path>
    <filename>trajectory__2__markers__alg_8h</filename>
    <class kind="class">Trajectory2MarkersAlgorithm</class>
  </compound>
  <compound kind="file">
    <name>trajectory_2_markers_alg_node.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_poseslam/src/</path>
    <filename>trajectory__2__markers__alg__node_8cpp</filename>
    <includes id="trajectory__2__markers__alg__node_8h" name="trajectory_2_markers_alg_node.h" local="yes" imported="no">trajectory_2_markers_alg_node.h</includes>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>trajectory__2__markers__alg__node_8cpp.html</anchorfile>
      <anchor>a0ddf1224851353fc92bfbff6f499fa97</anchor>
      <arglist>(int argc, char *argv[])</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>trajectory_2_markers_alg_node.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_poseslam/include/</path>
    <filename>trajectory__2__markers__alg__node_8h</filename>
    <includes id="trajectory__2__markers__alg_8h" name="trajectory_2_markers_alg.h" local="yes" imported="no">trajectory_2_markers_alg.h</includes>
    <class kind="class">Trajectory2MarkersAlgNode</class>
  </compound>
  <compound kind="file">
    <name>trajectory_3Dscans_2_pointcloud_alg.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_poseslam/src/</path>
    <filename>trajectory__3Dscans__2__pointcloud__alg_8cpp</filename>
    <includes id="trajectory__3Dscans__2__pointcloud__alg_8h" name="trajectory_3Dscans_2_pointcloud_alg.h" local="yes" imported="no">trajectory_3Dscans_2_pointcloud_alg.h</includes>
  </compound>
  <compound kind="file">
    <name>trajectory_3Dscans_2_pointcloud_alg.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_poseslam/include/</path>
    <filename>trajectory__3Dscans__2__pointcloud__alg_8h</filename>
    <class kind="class">Trajectory3DScans2PointcloudAlgorithm</class>
  </compound>
  <compound kind="file">
    <name>trajectory_3Dscans_2_pointcloud_alg_node.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_poseslam/src/</path>
    <filename>trajectory__3Dscans__2__pointcloud__alg__node_8cpp</filename>
    <includes id="trajectory__3Dscans__2__pointcloud__alg__node_8h" name="trajectory_3Dscans_2_pointcloud_alg_node.h" local="yes" imported="no">trajectory_3Dscans_2_pointcloud_alg_node.h</includes>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>trajectory__3Dscans__2__pointcloud__alg__node_8cpp.html</anchorfile>
      <anchor>a0ddf1224851353fc92bfbff6f499fa97</anchor>
      <arglist>(int argc, char *argv[])</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>trajectory_3Dscans_2_pointcloud_alg_node.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_poseslam/include/</path>
    <filename>trajectory__3Dscans__2__pointcloud__alg__node_8h</filename>
    <includes id="trajectory__3Dscans__2__pointcloud__alg_8h" name="trajectory_3Dscans_2_pointcloud_alg.h" local="yes" imported="no">trajectory_3Dscans_2_pointcloud_alg.h</includes>
    <class kind="class">Trajectory3DScans2PointcloudAlgNode</class>
  </compound>
  <compound kind="file">
    <name>trajectory_broadcaster_alg.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_poseslam/src/</path>
    <filename>trajectory__broadcaster__alg_8cpp</filename>
    <includes id="trajectory__broadcaster__alg_8h" name="trajectory_broadcaster_alg.h" local="yes" imported="no">trajectory_broadcaster_alg.h</includes>
  </compound>
  <compound kind="file">
    <name>trajectory_broadcaster_alg.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_poseslam/include/</path>
    <filename>trajectory__broadcaster__alg_8h</filename>
    <class kind="class">TrajectoryBroadcasterAlgorithm</class>
  </compound>
  <compound kind="file">
    <name>trajectory_broadcaster_alg_node.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_poseslam/src/</path>
    <filename>trajectory__broadcaster__alg__node_8cpp</filename>
    <includes id="trajectory__broadcaster__alg__node_8h" name="trajectory_broadcaster_alg_node.h" local="yes" imported="no">trajectory_broadcaster_alg_node.h</includes>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>trajectory__broadcaster__alg__node_8cpp.html</anchorfile>
      <anchor>a0ddf1224851353fc92bfbff6f499fa97</anchor>
      <arglist>(int argc, char *argv[])</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>trajectory_broadcaster_alg_node.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_poseslam/include/</path>
    <filename>trajectory__broadcaster__alg__node_8h</filename>
    <includes id="trajectory__broadcaster__alg_8h" name="trajectory_broadcaster_alg.h" local="yes" imported="no">trajectory_broadcaster_alg.h</includes>
    <class kind="class">TrajectoryBroadcasterAlgNode</class>
  </compound>
  <compound kind="file">
    <name>trajectory_scans_2_pointcloud_alg.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_poseslam/src/</path>
    <filename>trajectory__scans__2__pointcloud__alg_8cpp</filename>
    <includes id="trajectory__scans__2__pointcloud__alg_8h" name="trajectory_scans_2_pointcloud_alg.h" local="yes" imported="no">trajectory_scans_2_pointcloud_alg.h</includes>
  </compound>
  <compound kind="file">
    <name>trajectory_scans_2_pointcloud_alg.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_poseslam/include/</path>
    <filename>trajectory__scans__2__pointcloud__alg_8h</filename>
    <class kind="class">TrajectoryScans2PointcloudAlgorithm</class>
  </compound>
  <compound kind="file">
    <name>trajectory_scans_2_pointcloud_alg_node.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_poseslam/src/</path>
    <filename>trajectory__scans__2__pointcloud__alg__node_8cpp</filename>
    <includes id="trajectory__scans__2__pointcloud__alg__node_8h" name="trajectory_scans_2_pointcloud_alg_node.h" local="yes" imported="no">trajectory_scans_2_pointcloud_alg_node.h</includes>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>trajectory__scans__2__pointcloud__alg__node_8cpp.html</anchorfile>
      <anchor>a0ddf1224851353fc92bfbff6f499fa97</anchor>
      <arglist>(int argc, char *argv[])</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>trajectory_scans_2_pointcloud_alg_node.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_poseslam/include/</path>
    <filename>trajectory__scans__2__pointcloud__alg__node_8h</filename>
    <includes id="trajectory__scans__2__pointcloud__alg_8h" name="trajectory_scans_2_pointcloud_alg.h" local="yes" imported="no">trajectory_scans_2_pointcloud_alg.h</includes>
    <class kind="class">TrajectoryScans2PointcloudAlgNode</class>
  </compound>
  <compound kind="class">
    <name>PoseslamAlgNode</name>
    <filename>classPoseslamAlgNode.html</filename>
    <base>IriBaseAlgorithm&lt; PoseslamAlgorithm &gt;</base>
    <member kind="function">
      <type></type>
      <name>PoseslamAlgNode</name>
      <anchorfile>classPoseslamAlgNode.html</anchorfile>
      <anchor>a0a925969cf34f995146ca90835bbfc06</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~PoseslamAlgNode</name>
      <anchorfile>classPoseslamAlgNode.html</anchorfile>
      <anchor>ab6e62013132d4e5dd8fdbe97b427aa31</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>addNodeDiagnostics</name>
      <anchorfile>classPoseslamAlgNode.html</anchorfile>
      <anchor>add8d6f4f1edbd1ab1025564492ed0bd1</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>double</type>
      <name>angle_between_2D_vectors</name>
      <anchorfile>classPoseslamAlgNode.html</anchorfile>
      <anchor>a65883ec945c580dc5da18922b7d16490</anchor>
      <arglist>(const Vector2d &amp;v, const Vector2d &amp;w) const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>augment_trajectories</name>
      <anchorfile>classPoseslamAlgNode.html</anchorfile>
      <anchor>a25eff204e839bdffa9f8ccca094c3cc9</anchor>
      <arglist>(const std_msgs::Header &amp;header)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>geometry_msgs::PoseWithCovariance</type>
      <name>create_PoseWithCovariance</name>
      <anchorfile>classPoseslamAlgNode.html</anchorfile>
      <anchor>a60430e13bfa1158e81926954af70f661</anchor>
      <arglist>(const VectorXd &amp;last_pose, const std::vector&lt; double &gt; &amp;last_cov)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>geometry_msgs::PoseWithCovarianceStamped</type>
      <name>create_PoseWithCovarianceStamped</name>
      <anchorfile>classPoseslamAlgNode.html</anchorfile>
      <anchor>af0cf6721a15ad77eaae627ca934581e2</anchor>
      <arglist>(const std_msgs::Header &amp;header, const VectorXd &amp;last_pose, const std::vector&lt; double &gt; &amp;last_cov)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>mainNodeThread</name>
      <anchorfile>classPoseslamAlgNode.html</anchorfile>
      <anchor>ae208f7f98566d38d79993d0b2b50e036</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>node_config_update</name>
      <anchorfile>classPoseslamAlgNode.html</anchorfile>
      <anchor>a2e75d7c697aa6523d0a6ddb3ddb8177e</anchor>
      <arglist>(Config &amp;config, uint32_t level)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>double</type>
      <name>pi_2_pi</name>
      <anchorfile>classPoseslamAlgNode.html</anchorfile>
      <anchor>a31b23795e5d7496a289c1844a37f4f87</anchor>
      <arglist>(const double &amp;angle) const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>print_results</name>
      <anchorfile>classPoseslamAlgNode.html</anchorfile>
      <anchor>a09f8c2de0694c728f222555c52b9d4cd</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>std::vector&lt; VectorXd &gt;</type>
      <name>recompute_segment</name>
      <anchorfile>classPoseslamAlgNode.html</anchorfile>
      <anchor>afa9bc0742f44cf53a1342af695cdc775</anchor>
      <arglist>(const VectorXd &amp;new_initial_pose, const VectorXd &amp;new_final_pose, const int &amp;initial_step, const int &amp;final_step)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>recompute_trajectory</name>
      <anchorfile>classPoseslamAlgNode.html</anchorfile>
      <anchor>ab84f5030b075f9f8bff5f4734fe3806c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>MatrixXd</type>
      <name>rotation_matrix</name>
      <anchorfile>classPoseslamAlgNode.html</anchorfile>
      <anchor>ae52273c5381c0972fe510d1133f4dbd5</anchor>
      <arglist>(const double &amp;alpha) const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>update_trajectories</name>
      <anchorfile>classPoseslamAlgNode.html</anchorfile>
      <anchor>a00e63e0e6f64b0972e3b18d1b3597a9a</anchor>
      <arglist>(const bool &amp;LoopClosed)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>dz_footprint_2_base_</name>
      <anchorfile>classPoseslamAlgNode.html</anchorfile>
      <anchor>a637265aeb40486b1086e5ebaf201e0a3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>uint</type>
      <name>ended</name>
      <anchorfile>classPoseslamAlgNode.html</anchorfile>
      <anchor>a7506ee94693a1618b7a7c0e445a91874</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::ServiceClient</type>
      <name>get_link_client_</name>
      <anchorfile>classPoseslamAlgNode.html</anchorfile>
      <anchor>a185ab9c77d3916723f68e178285c539b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>iri_poseslam::GetLink</type>
      <name>get_link_srv_</name>
      <anchorfile>classPoseslamAlgNode.html</anchorfile>
      <anchor>a184fc9e503921f670cff45292ea750c8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; uint &gt;</type>
      <name>loops_</name>
      <anchorfile>classPoseslamAlgNode.html</anchorfile>
      <anchor>a4970910b4eeb217ce81adef9f1455dba</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Publisher</type>
      <name>no_loops_trajectory_publisher_</name>
      <anchorfile>classPoseslamAlgNode.html</anchorfile>
      <anchor>a29e0229f6917028a3403da859b2cda82</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>uint</type>
      <name>step_</name>
      <anchorfile>classPoseslamAlgNode.html</anchorfile>
      <anchor>a5e2cda7c1dcb2fdf897a4dd18352f097</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>iri_poseslam::Trajectory</type>
      <name>Trajectory_msg_</name>
      <anchorfile>classPoseslamAlgNode.html</anchorfile>
      <anchor>aee5025c442ce2d09f3f5809ec69846bf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>iri_poseslam::Trajectory</type>
      <name>Trajectory_msg_no_loops_</name>
      <anchorfile>classPoseslamAlgNode.html</anchorfile>
      <anchor>abe9f433149c998dca0a4345e11de8ff5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; VectorXd &gt;</type>
      <name>Trajectory_poses_</name>
      <anchorfile>classPoseslamAlgNode.html</anchorfile>
      <anchor>af5f9dd967fff58b405801ad8c219a6c8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Publisher</type>
      <name>trajectory_publisher_</name>
      <anchorfile>classPoseslamAlgNode.html</anchorfile>
      <anchor>a27fa5111e6e7e1c7115be68bdee236dd</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>PoseslamAlgorithm</name>
    <filename>classPoseslamAlgorithm.html</filename>
    <member kind="typedef">
      <type>iri_poseslam::PoseslamConfig</type>
      <name>Config</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>a04ed5b6404c483fc1df1b128163f0c2d</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>any_candidate</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>a4cd898ae0c79e8a3497fd5a86e64d92c</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>augmentation</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>a84707e8eb7922d0634eb4db328bb0e13</anchor>
      <arglist>(const uint &amp;step, const geometry_msgs::PoseWithCovarianceStamped &amp;odom)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>config_update</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>a30cf1161475542802732743a1617798f</anchor>
      <arglist>(Config &amp;new_cfg, uint32_t level=0)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>create_candidates_list</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>acad9ad224d46a6b9e25069456e0d52ad</anchor>
      <arglist>(const bool &amp;realOdometryCov)</arglist>
    </member>
    <member kind="function">
      <type>geometry_msgs::Pose</type>
      <name>get_candidate_d</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>a04d28fa1ea3495449544cde58d41d1a5</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>get_candidate_ig</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>ac6aee28c485324d6dc760bae13561955</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>uint</type>
      <name>get_candidate_step</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>ae247e467c1a1d540f6b161bd57739094</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>get_last_covariance</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>a092777bf87d89af1243d905195a5ca06</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; double &gt;</type>
      <name>get_last_covariance_no_loops</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>afe4eac90327beea41eca8d198743a976</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>VectorXd</type>
      <name>get_last_pose</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>a97d7fb6a3f8bfde37f1e9ff7afa6cb7b</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>VectorXd</type>
      <name>get_last_pose_no_loops</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>aef04c9b5212c57f0d824272a6b0f38e9</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>uint</type>
      <name>get_last_step</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>a68d037a55cf9e3f50ecc7378d5cafcb3</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>uint</type>
      <name>get_nStates</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>a67f4c68d230a957789ebd6a74b47d295</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; VectorXd &gt;</type>
      <name>get_trajectory</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>a99b0c328fb200b5594a33b53c788f965</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; std::vector&lt; double &gt; &gt;</type>
      <name>get_trajectory_covariance</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>af64b52c6aa92fd27eeff56874201dde4</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; std::vector&lt; double &gt; &gt;</type>
      <name>get_trajectory_covariance_no_loops</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>a0d33c4e8634a4f688235ae6e136c4c92</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; VectorXd &gt;</type>
      <name>get_trajectory_no_loops</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>aed42a57d0f94d1d43902e67ac48a5213</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; uint &gt;</type>
      <name>get_trajectory_steps</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>a0dd676ea87147ada3c511076c2c0e5d9</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>is_redundant</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>a718f3f19a66b805dd07904aabf1498b8</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>lock</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>a46cb97367a60eae397de181b9c888948</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>loop_closure_requeriments</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>aaf48c6f362777bc2497329f1eb7eca3c</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PoseslamAlgorithm</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>add3426c5addfba32d982aac5eefde41a</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>print_matrix_in_file</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>a1088c401e5811508b4617b8f8b1eb55b</anchor>
      <arglist>(const MatrixXd &amp;M, std::fstream &amp;file) const </arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>print_time_file</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>ae464e3443c93585d98afb37e700680ad</anchor>
      <arglist>(std::fstream &amp;file) const </arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>print_vector_in_file</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>a1b3774916efbd6d9cb46528bbcb2506c</anchor>
      <arglist>(const std::vector&lt; double &gt; &amp;v, std::fstream &amp;file) const </arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>print_vector_in_file</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>a79cff0932c31fa90224fc3b80b000e59</anchor>
      <arglist>(const std::vector&lt; uint &gt; &amp;v, std::fstream &amp;file) const </arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>redundant_evaluation</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>a034c0beb732e2dc18ddcb3dae9c2b893</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>select_best_candidate</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>a388949a4948e651104a4a4ee5f22fee6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>try_enter</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>a2f55b9058c9a43e72df899bab0baeb4a</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>try_loop_closure</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>a2fc61a23392a1da0191dd699e4120ea8</anchor>
      <arglist>(const geometry_msgs::PoseWithCovarianceStamped &amp;odom)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>unlock</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>a432a6ed274a0089773e1642d055c02e4</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>update_candidates_list</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>aa037e33f9338c89a33a9c2c3f6b96614</anchor>
      <arglist>(const bool LoopClosure, const bool &amp;realOdometryCov)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~PoseslamAlgorithm</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>ad2974a0fe77f1b6ca0bd12f174243b91</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="variable">
      <type>Config</type>
      <name>config_</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>a47230425db6ae45e906e19abe93adc90</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; Eigen::VectorXd &gt;</type>
      <name>d_aug_</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>a538ede901a746179f1e4151021d6a031</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; Eigen::VectorXd &gt;</type>
      <name>d_loop_</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>aae12e83a59b9e5632d51220d158c232b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>inicialitzat_</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>a2924174e3f0e5ddcebade1b7be5dcbe3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>CPoseSLAM *</type>
      <name>pose_SLAM_</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>aa05911176747af9611e90ac30e52e070</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>CPoseSLAM *</type>
      <name>pose_SLAM_noLoops_</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>a0f408362543dd8754e906dd70e9e47dc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; Eigen::MatrixXd &gt;</type>
      <name>Q_aug_</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>af17688b426fec288d9f9476c954eb87b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; Eigen::MatrixXd &gt;</type>
      <name>Q_loop_</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>a722e499d3cbda4706c8e716398d77cee</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Eigen::MatrixXd</type>
      <name>Q_odom_</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>a8b401bf42299b965804bae09c985f961</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; bool &gt;</type>
      <name>success_loop_</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>aff5d4d025855c769b7c8b625fe5c2d10</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; double &gt;</type>
      <name>timePub</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>a95aaebb4e910c20138a0d09f8d069ee7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; double &gt;</type>
      <name>timeSensClose</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>aee7b23eb864c7c57dfc677920107ce48</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; double &gt;</type>
      <name>timeSensOpen</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>a01d81f1b682221e0910b197a1d30fb67</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>tPub</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>ae85110926446dba4a42eab2f45626aec</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>tSens</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>aabcc4bc6752c2dce63eae3c61b9d931f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>CMutex</type>
      <name>alg_mutex_</name>
      <anchorfile>classPoseslamAlgorithm.html</anchorfile>
      <anchor>a5d49febfb9b0d0450d1819356bee3bb2</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>Scans2OdomAlgNode</name>
    <filename>classScans2OdomAlgNode.html</filename>
    <base>IriBaseAlgorithm&lt; Scans2OdomAlgorithm &gt;</base>
    <member kind="function">
      <type></type>
      <name>Scans2OdomAlgNode</name>
      <anchorfile>classScans2OdomAlgNode.html</anchorfile>
      <anchor>aad9f550f2a158028196f25091833360a</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~Scans2OdomAlgNode</name>
      <anchorfile>classScans2OdomAlgNode.html</anchorfile>
      <anchor>a42b766ece5669514ad5a5f7bd3f5e3b2</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>addNodeDiagnostics</name>
      <anchorfile>classScans2OdomAlgNode.html</anchorfile>
      <anchor>a150fcdba52c5874cc2a6ab818212fda9</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>change_2_base_footprint_frame</name>
      <anchorfile>classScans2OdomAlgNode.html</anchorfile>
      <anchor>a11129514fb7846373f8dfbdcc88f2577</anchor>
      <arglist>(Vector3d &amp;odom_ICP, Matrix3d &amp;odom_ICP_cov)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>Matrix3d</type>
      <name>covariance_2_matrix</name>
      <anchorfile>classScans2OdomAlgNode.html</anchorfile>
      <anchor>a6c183d0e6d207e838de084e687edcd0b</anchor>
      <arglist>(const geometry_msgs::PoseWithCovariance &amp;pose) const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>geometry_msgs::PoseWithCovariance</type>
      <name>eigen_2_posewithcovariance</name>
      <anchorfile>classScans2OdomAlgNode.html</anchorfile>
      <anchor>ab476044caf1f83b3b0138bc23d89fd03</anchor>
      <arglist>(const Vector3d &amp;p, const Matrix3d &amp;cov) const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>mainNodeThread</name>
      <anchorfile>classScans2OdomAlgNode.html</anchorfile>
      <anchor>a5cd3fcafee613ddb892ff82e071fd269</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>node_config_update</name>
      <anchorfile>classScans2OdomAlgNode.html</anchorfile>
      <anchor>a503b5a996a60b93a469425a2ffe8f9a2</anchor>
      <arglist>(Config &amp;config, uint32_t level)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>Vector3d</type>
      <name>pose_2_vector</name>
      <anchorfile>classScans2OdomAlgNode.html</anchorfile>
      <anchor>a29de95be46458d78860b99e514d58c22</anchor>
      <arglist>(const geometry_msgs::Pose &amp;pose) const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>Matrix3d</type>
      <name>rotation_matrix</name>
      <anchorfile>classScans2OdomAlgNode.html</anchorfile>
      <anchor>a28679dd8e78de31329a2d0e641d3169a</anchor>
      <arglist>(const double &amp;alpha) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>get_linkCallback</name>
      <anchorfile>classScans2OdomAlgNode.html</anchorfile>
      <anchor>aa08aacacff619b3b2663e329ffe708a2</anchor>
      <arglist>(iri_poseslam::GetLink::Request &amp;req, iri_poseslam::GetLink::Response &amp;res)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>scan_callback</name>
      <anchorfile>classScans2OdomAlgNode.html</anchorfile>
      <anchor>a442d330d672cd752bad5fbd097bf3a5f</anchor>
      <arglist>(const sensor_msgs::LaserScan::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>bad_cov_thres</name>
      <anchorfile>classScans2OdomAlgNode.html</anchorfile>
      <anchor>a03590fa2307b929fd5224e6d7857a422</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vector3d</type>
      <name>d_base_2_laser</name>
      <anchorfile>classScans2OdomAlgNode.html</anchorfile>
      <anchor>aaea55e7bf04bbc8641a71b9de1aa0483</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; sensor_msgs::LaserScan &gt;</type>
      <name>discarded_laser_scan_buffer_</name>
      <anchorfile>classScans2OdomAlgNode.html</anchorfile>
      <anchor>a23bd6dd34a87be88f5c4cb211950c39b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::ServiceServer</type>
      <name>get_link_server_</name>
      <anchorfile>classScans2OdomAlgNode.html</anchorfile>
      <anchor>a6d97c31c3b52438d9f7ce9963a0eb961</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::ServiceClient</type>
      <name>get_relative_pose_client_</name>
      <anchorfile>classScans2OdomAlgNode.html</anchorfile>
      <anchor>abc253ee9dcdfa5606b17b98951f2555b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>iri_laser_icp::GetRelativePose</type>
      <name>get_relative_pose_srv_</name>
      <anchorfile>classScans2OdomAlgNode.html</anchorfile>
      <anchor>ad66eda83c479416dc977e8ca82c2ea84</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>ICP_covariance_correction_factor</name>
      <anchorfile>classScans2OdomAlgNode.html</anchorfile>
      <anchor>ae9ee4d1bfd99edf202f8ccd1830cc5ef</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; sensor_msgs::LaserScan &gt;</type>
      <name>laser_scan_buffer_</name>
      <anchorfile>classScans2OdomAlgNode.html</anchorfile>
      <anchor>a4e06062d30e1948f348e73d7690a379a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>online_mode</name>
      <anchorfile>classScans2OdomAlgNode.html</anchorfile>
      <anchor>a105d2ab6a93da53dab04342fccdb48d2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>scan_subscriber_</name>
      <anchorfile>classScans2OdomAlgNode.html</anchorfile>
      <anchor>abdfd0d8c112ceb5a1aa8f55f7e792e71</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>Scans2OdomAlgorithm</name>
    <filename>classScans2OdomAlgorithm.html</filename>
    <member kind="typedef">
      <type>iri_poseslam::PoseslamConfig</type>
      <name>Config</name>
      <anchorfile>classScans2OdomAlgorithm.html</anchorfile>
      <anchor>a78a8db114f1613b93a47bef7f7fc4848</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>config_update</name>
      <anchorfile>classScans2OdomAlgorithm.html</anchorfile>
      <anchor>af296040305feaadfc2d2fa295e0a1bbd</anchor>
      <arglist>(Config &amp;new_cfg, uint32_t level=0)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>lock</name>
      <anchorfile>classScans2OdomAlgorithm.html</anchorfile>
      <anchor>ac42e7b0dee47368886f1b9bdb55a34f9</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Scans2OdomAlgorithm</name>
      <anchorfile>classScans2OdomAlgorithm.html</anchorfile>
      <anchor>abc5df6eef07fd337697590b1d5ad3a52</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>try_enter</name>
      <anchorfile>classScans2OdomAlgorithm.html</anchorfile>
      <anchor>a3039be57bf1a93283cb2a7daad6b0b45</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>unlock</name>
      <anchorfile>classScans2OdomAlgorithm.html</anchorfile>
      <anchor>a0f049ceb04857fc6998eefbb53ce73d3</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~Scans2OdomAlgorithm</name>
      <anchorfile>classScans2OdomAlgorithm.html</anchorfile>
      <anchor>a5e9855075f7317acf2153db5394ba01e</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>CMutex</type>
      <name>alg_mutex_</name>
      <anchorfile>classScans2OdomAlgorithm.html</anchorfile>
      <anchor>a0797761a1a2478766e66a9d1a15593bb</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>Sensors2LinkAlgNode</name>
    <filename>classSensors2LinkAlgNode.html</filename>
    <base>IriBaseAlgorithm&lt; Sensors2LinkAlgorithm &gt;</base>
    <member kind="function">
      <type></type>
      <name>Sensors2LinkAlgNode</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>a5c1172f00781aaa4673b2845de9aa4b8</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~Sensors2LinkAlgNode</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>a248d33adada0b905ec4fad8770803f9b</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>addNodeDiagnostics</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>afa35dd3963c8b0a4090a287b4da68eed</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>base_2_laser_frame</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>ac90957fa700115541bd9fd235e9740c3</anchor>
      <arglist>(Vector3d &amp;prior_d)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>Matrix3d</type>
      <name>covariance_2_matrix</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>aa266d5d29329d8f51b5aaaea8192fdfd</anchor>
      <arglist>(const geometry_msgs::PoseWithCovariance &amp;pose) const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>geometry_msgs::PoseWithCovariance</type>
      <name>eigen_2_posewithcovariance</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>a9a1b78349d9bf40ad2bdef535dec880c</anchor>
      <arglist>(const Vector3d &amp;p, const Matrix3d &amp;cov) const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>std::pair&lt; Vector3d, Matrix3d &gt;</type>
      <name>interpolate_odom_rel</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>a3639f796711375ab51013b009fde2c59</anchor>
      <arglist>(const int &amp;odom_rel_idx, const ros::Time scan_stamp)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>laser_2_base_frame</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>a0a860e6319b76bbbe8138f26eee59d88</anchor>
      <arglist>(Vector3d &amp;odom_ICP, Matrix3d &amp;odom_ICP_cov)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>mainNodeThread</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>a7ee332facc6a0a6ef961df72408dd9cd</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>node_config_update</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>a6cc0a60045b08f66d386d99001e6f0cf</anchor>
      <arglist>(Config &amp;config, uint32_t level)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>geometry_msgs::PoseWithCovarianceStamped</type>
      <name>odometry_fusion</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>a6dabd2ea2889e799a8e5687cea1686bb</anchor>
      <arglist>(const sensor_msgs::LaserScan &amp;laser_scan, const int &amp;odom_rel_idx)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>iri_poseslam::GetLink::Response</type>
      <name>offline_odometry</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>ac76d210db9e724feca69d88d40f21a88</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>iri_poseslam::GetLink::Response</type>
      <name>online_odometry</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>af319e0b178fc8aba86fde72876d80bb6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>Vector3d</type>
      <name>pose_2_vector</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>a5f4b0940e3a6a755c19143044f0517b4</anchor>
      <arglist>(const geometry_msgs::Pose &amp;pose) const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>Matrix3d</type>
      <name>rotation_matrix</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>a96938406018c6ad6bbecec55de10bef4</anchor>
      <arglist>(const double &amp;alpha) const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>geometry_msgs::Pose</type>
      <name>vector_2_pose</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>a94a56be7bc22faec9c1e68bcdf2988c2</anchor>
      <arglist>(const Vector3d &amp;p) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>cmd_vel_callback</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>a54cf226313c06cd30d03da01ce02533d</anchor>
      <arglist>(const geometry_msgs::Twist::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>get_linkCallback</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>a8b46610450baba477eed2bc5eb7287cb</anchor>
      <arglist>(iri_poseslam::GetLink::Request &amp;req, iri_poseslam::GetLink::Response &amp;res)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>odom_relative_callback</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>adb8757d91acc2a7abd18399e7de2ebf3</anchor>
      <arglist>(const nav_msgs::Odometry::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>scan_callback</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>a8d2b6f1676bad99a7d6d4149252ee124</anchor>
      <arglist>(const sensor_msgs::LaserScan::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>cmd_vel_subscriber_</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>a0b1b2fb24a61dec8ea3e373444af6309</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>currently_stopped</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>a3180ff7ef49cbdfbfa6492c52a190763</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vector3d</type>
      <name>d_base_2_laser</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>aa2685cb4d3d4a6152f5926192c45ce2e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vector3d</type>
      <name>d_local</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>a9dbfe5a3ae81e049fb1e8b4ec4f19d8a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>fusion_ready_</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>a3fc83e8438bfe852f6dae661c02f7adf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::ServiceServer</type>
      <name>get_link_server_</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>a0e9db7f27aca20c4d4af7f6eb981c268</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::ServiceClient</type>
      <name>get_relative_pose_client_</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>a79950a652745b3ca453e1f505829a038</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>iri_laser_icp::GetRelativePose</type>
      <name>get_relative_pose_srv_</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>a76a195a3f5a06a9e9b4ee90cd61dfba6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>ICP_covariance_correction_factor</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>a77d10c7302f916bb8967b7eaad84057a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Matrix3d</type>
      <name>Jd</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>a162dc1b807cca1e3f0ceb7cb3624b531</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Matrix3d</type>
      <name>Jp</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>a465ee3a9ccc8b2b975c8236f84d85dbd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; sensor_msgs::LaserScan &gt;</type>
      <name>laser_scan_buffer_</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>af6a431eb5de2b60b34a79bbc2ed8255b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>sensor_msgs::LaserScan</type>
      <name>last_laser_scan_</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>a1d6b41c51e8597255b6ece24192272c7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>new_laser_scan_</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>a5893d681344d19a7fd3ce1c23daf79f0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; geometry_msgs::PoseWithCovarianceStamped &gt;</type>
      <name>odom_buffer_</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>ae8546ad04d235019ea821d806afbb567</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vector3d</type>
      <name>odom_rel_</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>aa3381239787c5fbb3432efe0e579e34e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; Vector3d &gt;</type>
      <name>odom_rel_buffer_</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>aeac605dc86df29f3cb15a1cc0d9c50f4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Matrix3d</type>
      <name>odom_rel_cov_</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>a13066dbd1f7a96c0ee0266a42e98c939</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; Matrix3d &gt;</type>
      <name>odom_rel_cov_buffer_</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>ab4590d07a22bf4a781862fd3100b0c1e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Time</type>
      <name>odom_rel_time_</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>a125a65819950db79d0c336e3d0a0e35d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; ros::Time &gt;</type>
      <name>odom_rel_time_buffer_</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>a21b41cd9a943c9f084d931c5b6640c7a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>odom_relative_subscriber_</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>abcd23bc381e29d11be06c1962584fa9c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>online_mode</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>acb75f310a67b9201fae9e37ffb67972d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>uint</type>
      <name>prev_seq</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>a3e89ec51fb5c546b00894be300e7f47c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Matrix3d</type>
      <name>Q</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>a19a676470634c41e55ba35520c508e76</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>sensor_msgs::LaserScan</type>
      <name>ready_laser_scan_</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>abf858ddf514d955641e2d12e1e059029</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>uint</type>
      <name>ready_odom_id_</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>a088063b42efb98a979b24ec086f0b888</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>scan_subscriber_</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>a0c8c7b00743eb2c6617a9364dac0a12d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>stopped_since_last_odom</name>
      <anchorfile>classSensors2LinkAlgNode.html</anchorfile>
      <anchor>a8ffc58e1336ee776bd2f8ce3e424461d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>Sensors2LinkAlgorithm</name>
    <filename>classSensors2LinkAlgorithm.html</filename>
    <member kind="typedef">
      <type>iri_poseslam::PoseslamConfig</type>
      <name>Config</name>
      <anchorfile>classSensors2LinkAlgorithm.html</anchorfile>
      <anchor>a2e85cd52035aada6d7960ecbc6e96452</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>config_update</name>
      <anchorfile>classSensors2LinkAlgorithm.html</anchorfile>
      <anchor>ab9d4eaa9d00e3626c1d9d0f1629af534</anchor>
      <arglist>(Config &amp;new_cfg, uint32_t level=0)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>lock</name>
      <anchorfile>classSensors2LinkAlgorithm.html</anchorfile>
      <anchor>a7a62f877a02bb9376eeccaaf830ae01c</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Sensors2LinkAlgorithm</name>
      <anchorfile>classSensors2LinkAlgorithm.html</anchorfile>
      <anchor>a590267110739ce619f8e438a1531ec22</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>try_enter</name>
      <anchorfile>classSensors2LinkAlgorithm.html</anchorfile>
      <anchor>a6c7db0ec5324556b97bd7cb7a2393277</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>unlock</name>
      <anchorfile>classSensors2LinkAlgorithm.html</anchorfile>
      <anchor>aeff15bb162275b86357482a8e1d7472a</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~Sensors2LinkAlgorithm</name>
      <anchorfile>classSensors2LinkAlgorithm.html</anchorfile>
      <anchor>a36fab194ebbde28c697b0acbf0c44bbb</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>CMutex</type>
      <name>alg_mutex_</name>
      <anchorfile>classSensors2LinkAlgorithm.html</anchorfile>
      <anchor>aa45ce43125a48933efaf0afff1aef388</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>Trajectory2MarkersAlgNode</name>
    <filename>classTrajectory2MarkersAlgNode.html</filename>
    <base>IriBaseAlgorithm&lt; Trajectory2MarkersAlgorithm &gt;</base>
    <member kind="function">
      <type></type>
      <name>Trajectory2MarkersAlgNode</name>
      <anchorfile>classTrajectory2MarkersAlgNode.html</anchorfile>
      <anchor>ad78ef47adf8b8a12e4ee1a4c228ac887</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~Trajectory2MarkersAlgNode</name>
      <anchorfile>classTrajectory2MarkersAlgNode.html</anchorfile>
      <anchor>a4a28a3c9f5104c8b61821694df8a69ac</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>addNodeDiagnostics</name>
      <anchorfile>classTrajectory2MarkersAlgNode.html</anchorfile>
      <anchor>a2912d75d9baea0fa335f6eb0d0ea4e98</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>change_actual_marker</name>
      <anchorfile>classTrajectory2MarkersAlgNode.html</anchorfile>
      <anchor>a125dac38808450d7e89f0e7be04923f3</anchor>
      <arglist>(const Eigen::Matrix2d &amp;covs, const double &amp;theta_cov, const geometry_msgs::Point &amp;position, const bool &amp;loopClosure)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>visualization_msgs::Marker</type>
      <name>create_marker</name>
      <anchorfile>classTrajectory2MarkersAlgNode.html</anchorfile>
      <anchor>aa42bef15fa13d510f798e8f935917815</anchor>
      <arglist>(const uint &amp;id, const std_msgs::Header &amp;header, const Eigen::Matrix2d &amp;covs, const double &amp;theta_cov, const geometry_msgs::Point &amp;position, const bool &amp;loopClosure) const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>drawTrajectory</name>
      <anchorfile>classTrajectory2MarkersAlgNode.html</anchorfile>
      <anchor>a8155964c40b8415bae53809f60d1ac6a</anchor>
      <arglist>(const iri_poseslam::Trajectory &amp;msg)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>visualization_msgs::Marker</type>
      <name>get_actual_marker</name>
      <anchorfile>classTrajectory2MarkersAlgNode.html</anchorfile>
      <anchor>ac6925646976078a43db6393cda654b78</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>visualization_msgs::MarkerArray</type>
      <name>get_covariance_markers</name>
      <anchorfile>classTrajectory2MarkersAlgNode.html</anchorfile>
      <anchor>a3382c7708def9290c6daced58223aaba</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>Eigen::Matrix2d</type>
      <name>get_ith_cov</name>
      <anchorfile>classTrajectory2MarkersAlgNode.html</anchorfile>
      <anchor>a8282be16e7ba90b1c010cbc0d7accb76</anchor>
      <arglist>(const iri_poseslam::Trajectory &amp;msg, const uint i) const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>double</type>
      <name>get_ith_theta_cov</name>
      <anchorfile>classTrajectory2MarkersAlgNode.html</anchorfile>
      <anchor>a617b2e21e4196e59855a898d100faf19</anchor>
      <arglist>(const iri_poseslam::Trajectory &amp;msg, const uint i) const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>visualization_msgs::MarkerArray</type>
      <name>get_trajectory_marker</name>
      <anchorfile>classTrajectory2MarkersAlgNode.html</anchorfile>
      <anchor>a4f343d381746d5733d82d407e333529d</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>initialize_markers</name>
      <anchorfile>classTrajectory2MarkersAlgNode.html</anchorfile>
      <anchor>a69ae83c271668087276df8d4fae2f602</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>mainNodeThread</name>
      <anchorfile>classTrajectory2MarkersAlgNode.html</anchorfile>
      <anchor>a35c43c0eeb596d2972f3b83d06a4fdb9</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>node_config_update</name>
      <anchorfile>classTrajectory2MarkersAlgNode.html</anchorfile>
      <anchor>a72e21d4d138c21492bd9c16667f241f5</anchor>
      <arglist>(Config &amp;config, uint32_t level)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>trajectory_callback</name>
      <anchorfile>classTrajectory2MarkersAlgNode.html</anchorfile>
      <anchor>a65f1802186531f6c9430ae7dbeab9ebb</anchor>
      <arglist>(const iri_poseslam::Trajectory::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>visualization_msgs::Marker</type>
      <name>actual_marker_</name>
      <anchorfile>classTrajectory2MarkersAlgNode.html</anchorfile>
      <anchor>ac4c6660997a9ba6c4be57999ae112335</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Publisher</type>
      <name>ActualPoseMarker_publisher_</name>
      <anchorfile>classTrajectory2MarkersAlgNode.html</anchorfile>
      <anchor>a72e4130b610bae3e858e4c0700ebb6b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Config</type>
      <name>config_</name>
      <anchorfile>classTrajectory2MarkersAlgNode.html</anchorfile>
      <anchor>a21d88c6b40e25aea2802df11d8d28893</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>visualization_msgs::MarkerArray</type>
      <name>covariance_markers_</name>
      <anchorfile>classTrajectory2MarkersAlgNode.html</anchorfile>
      <anchor>ab39cbc77997a6eab901d3078cc137e37</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Publisher</type>
      <name>CovarianceMarkers_publisher_</name>
      <anchorfile>classTrajectory2MarkersAlgNode.html</anchorfile>
      <anchor>ad7f0522c71ef5b7606cd46f916c47b6a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; bool &gt;</type>
      <name>loop_step_</name>
      <anchorfile>classTrajectory2MarkersAlgNode.html</anchorfile>
      <anchor>a1cfa1f425f41cde9bc8163dc83507cca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>visualization_msgs::Marker</type>
      <name>loops_marker_</name>
      <anchorfile>classTrajectory2MarkersAlgNode.html</anchorfile>
      <anchor>a421e6b7c65e4ddf506d844e726c39b26</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>uint</type>
      <name>nLoops_</name>
      <anchorfile>classTrajectory2MarkersAlgNode.html</anchorfile>
      <anchor>a4c481cec2dbf6aeef196ccb1f956cc15</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>visualization_msgs::Marker</type>
      <name>trajectory_marker_</name>
      <anchorfile>classTrajectory2MarkersAlgNode.html</anchorfile>
      <anchor>a3f94b935c766d6e2cb9db24e7cebf4e2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>trajectory_subscriber_</name>
      <anchorfile>classTrajectory2MarkersAlgNode.html</anchorfile>
      <anchor>aa00fbec0cbcaf34a02df95ae38e09c15</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Publisher</type>
      <name>TrajectoryMarkers_publisher_</name>
      <anchorfile>classTrajectory2MarkersAlgNode.html</anchorfile>
      <anchor>aff06819edc7312a3c2c5084789f669e6</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>Trajectory2MarkersAlgorithm</name>
    <filename>classTrajectory2MarkersAlgorithm.html</filename>
    <member kind="typedef">
      <type>iri_poseslam::PoseslamConfig</type>
      <name>Config</name>
      <anchorfile>classTrajectory2MarkersAlgorithm.html</anchorfile>
      <anchor>ae02dafacb7476992e363177726c8c8dd</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>config_update</name>
      <anchorfile>classTrajectory2MarkersAlgorithm.html</anchorfile>
      <anchor>a0c99f343c01ed0fb8037a384635f28e3</anchor>
      <arglist>(Config &amp;new_cfg, uint32_t level=0)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>lock</name>
      <anchorfile>classTrajectory2MarkersAlgorithm.html</anchorfile>
      <anchor>ae53770d32f546cb871d475c4323ddd93</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Trajectory2MarkersAlgorithm</name>
      <anchorfile>classTrajectory2MarkersAlgorithm.html</anchorfile>
      <anchor>a9747425d9efd651d529052f8ee2dc65f</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>try_enter</name>
      <anchorfile>classTrajectory2MarkersAlgorithm.html</anchorfile>
      <anchor>a9dc22895dbcde4ab250c8a63a3c81ee2</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>unlock</name>
      <anchorfile>classTrajectory2MarkersAlgorithm.html</anchorfile>
      <anchor>a572b3c3d4c6953e7b0fa9957abf584ab</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~Trajectory2MarkersAlgorithm</name>
      <anchorfile>classTrajectory2MarkersAlgorithm.html</anchorfile>
      <anchor>a14b9873e1c3ed3a6949fda43852af6ab</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>CMutex</type>
      <name>alg_mutex_</name>
      <anchorfile>classTrajectory2MarkersAlgorithm.html</anchorfile>
      <anchor>a108a8d98f6bc62d93545d8e33b177231</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>Trajectory3DScans2PointcloudAlgNode</name>
    <filename>classTrajectory3DScans2PointcloudAlgNode.html</filename>
    <base>IriBaseAlgorithm&lt; Trajectory3DScans2PointcloudAlgorithm &gt;</base>
    <member kind="function">
      <type></type>
      <name>Trajectory3DScans2PointcloudAlgNode</name>
      <anchorfile>classTrajectory3DScans2PointcloudAlgNode.html</anchorfile>
      <anchor>a9a709470509110ab7c8d4aede63ef7c0</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~Trajectory3DScans2PointcloudAlgNode</name>
      <anchorfile>classTrajectory3DScans2PointcloudAlgNode.html</anchorfile>
      <anchor>a1297a3729b6a4b8a47a86b5c2fbca364</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>add_to_PointCloud_msg</name>
      <anchorfile>classTrajectory3DScans2PointcloudAlgNode.html</anchorfile>
      <anchor>a7e4f3b342ab1cdb93a413d709d31373d</anchor>
      <arglist>(const sensor_msgs::PointCloud2 &amp;newPointCloud)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>addNodeDiagnostics</name>
      <anchorfile>classTrajectory3DScans2PointcloudAlgNode.html</anchorfile>
      <anchor>a8847c59bd668562bdf6820e40aa4b5f3</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>clear_PointCloud_msg</name>
      <anchorfile>classTrajectory3DScans2PointcloudAlgNode.html</anchorfile>
      <anchor>a7d6d7fd1edc1270ae21ee7f3acac2ca1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>geometry_msgs::Pose</type>
      <name>interpole_slice_pose</name>
      <anchorfile>classTrajectory3DScans2PointcloudAlgNode.html</anchorfile>
      <anchor>a746bb0a62ff3acbde9f47aac67de4ed8</anchor>
      <arglist>(const uint &amp;id, const iri_poseslam::Trajectory &amp;trajectory) const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>mainNodeThread</name>
      <anchorfile>classTrajectory3DScans2PointcloudAlgNode.html</anchorfile>
      <anchor>a0127591bdabdb38b3559ac87c2a34cae</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>node_config_update</name>
      <anchorfile>classTrajectory3DScans2PointcloudAlgNode.html</anchorfile>
      <anchor>ac731b78369e577f0305a00626ca7f706</anchor>
      <arglist>(Config &amp;config, uint32_t level)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>double</type>
      <name>pi_2_pi</name>
      <anchorfile>classTrajectory3DScans2PointcloudAlgNode.html</anchorfile>
      <anchor>a7d13b9362bab278e3eaaeaf4f8d8bec5</anchor>
      <arglist>(const double &amp;angle) const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>recompute_PointCloud_msg</name>
      <anchorfile>classTrajectory3DScans2PointcloudAlgNode.html</anchorfile>
      <anchor>a06739898587ec289d3d7cb057210abf4</anchor>
      <arglist>(const iri_poseslam::Trajectory &amp;trajectory)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>std::pair&lt; uint, double &gt;</type>
      <name>search_interpolation</name>
      <anchorfile>classTrajectory3DScans2PointcloudAlgNode.html</anchorfile>
      <anchor>a2b8d3818465d9a400fa979f445a31564</anchor>
      <arglist>(const sensor_msgs::PointCloud2 &amp;slice, const iri_poseslam::Trajectory &amp;trajectory) const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>sensor_msgs::PointCloud2</type>
      <name>transform_point_cloud</name>
      <anchorfile>classTrajectory3DScans2PointcloudAlgNode.html</anchorfile>
      <anchor>a486aeec2b0f5b95d53f5cf1231ab79bd</anchor>
      <arglist>(const sensor_msgs::PointCloud2 &amp;pcloud, const geometry_msgs::Pose &amp;pose)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>Matrix4f</type>
      <name>transformation_matrix</name>
      <anchorfile>classTrajectory3DScans2PointcloudAlgNode.html</anchorfile>
      <anchor>a13a80643d75a26e05d731736bb4f38a0</anchor>
      <arglist>(const float x, const float y, const float z, const float alpha) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>slices3D_callback</name>
      <anchorfile>classTrajectory3DScans2PointcloudAlgNode.html</anchorfile>
      <anchor>a35b05c74a7eb83ae506cf10437845e5c</anchor>
      <arglist>(const sensor_msgs::PointCloud2::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>trajectory_callback</name>
      <anchorfile>classTrajectory3DScans2PointcloudAlgNode.html</anchorfile>
      <anchor>a550c6ab0ab4d8a07f1e955c9bc6cc30b</anchor>
      <arglist>(const iri_poseslam::Trajectory::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>emptyPointCloud_</name>
      <anchorfile>classTrajectory3DScans2PointcloudAlgNode.html</anchorfile>
      <anchor>ae59e16bfb726ba613d174031e8e7dbc1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; std::pair&lt; uint, double &gt; &gt;</type>
      <name>interpolation_buffer_</name>
      <anchorfile>classTrajectory3DScans2PointcloudAlgNode.html</anchorfile>
      <anchor>a2b1078c4867fc02845b86089f0c592a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>sensor_msgs::PointCloud2</type>
      <name>PointCloud_msg_</name>
      <anchorfile>classTrajectory3DScans2PointcloudAlgNode.html</anchorfile>
      <anchor>ad2e2475882553893135e75ad932fabac</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; sensor_msgs::PointCloud2 &gt;</type>
      <name>slice_buffer_</name>
      <anchorfile>classTrajectory3DScans2PointcloudAlgNode.html</anchorfile>
      <anchor>a836c3cadda78b94416b79427bfb00dc3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Publisher</type>
      <name>slices3D_pointcloud_publisher_</name>
      <anchorfile>classTrajectory3DScans2PointcloudAlgNode.html</anchorfile>
      <anchor>a50b206aedb85987f02c30fea569531e3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>slices3D_subscriber_</name>
      <anchorfile>classTrajectory3DScans2PointcloudAlgNode.html</anchorfile>
      <anchor>afc06ca71701652cab2187f8c617d55fe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>started_</name>
      <anchorfile>classTrajectory3DScans2PointcloudAlgNode.html</anchorfile>
      <anchor>a6dcaf3df6841faf5efa6739c9933dac5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Matrix4f</type>
      <name>T_laser_frame</name>
      <anchorfile>classTrajectory3DScans2PointcloudAlgNode.html</anchorfile>
      <anchor>a9951139dbdf8bc08fc617e83d2895c7f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; sensor_msgs::PointCloud2 &gt;</type>
      <name>trajectory_slice_buffer_</name>
      <anchorfile>classTrajectory3DScans2PointcloudAlgNode.html</anchorfile>
      <anchor>ab297133d1889334cf5c138ed6dfa0316</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>trajectory_subscriber_</name>
      <anchorfile>classTrajectory3DScans2PointcloudAlgNode.html</anchorfile>
      <anchor>a3fef4ae3b74dd94d52732834144b9c2b</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>Trajectory3DScans2PointcloudAlgorithm</name>
    <filename>classTrajectory3DScans2PointcloudAlgorithm.html</filename>
    <member kind="typedef">
      <type>iri_poseslam::PoseslamConfig</type>
      <name>Config</name>
      <anchorfile>classTrajectory3DScans2PointcloudAlgorithm.html</anchorfile>
      <anchor>a76016c3ed5dded7b4e132a1f4e7ead76</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>config_update</name>
      <anchorfile>classTrajectory3DScans2PointcloudAlgorithm.html</anchorfile>
      <anchor>a9a81908f595296b7b105fff03f6eff69</anchor>
      <arglist>(Config &amp;new_cfg, uint32_t level=0)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>lock</name>
      <anchorfile>classTrajectory3DScans2PointcloudAlgorithm.html</anchorfile>
      <anchor>a9044f29f4a35709f5b1985e108050179</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Trajectory3DScans2PointcloudAlgorithm</name>
      <anchorfile>classTrajectory3DScans2PointcloudAlgorithm.html</anchorfile>
      <anchor>a9e2555102a0b1bb0fe5a6d6268a99287</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>try_enter</name>
      <anchorfile>classTrajectory3DScans2PointcloudAlgorithm.html</anchorfile>
      <anchor>a1e6ca79a30ed68fdf801e8539cf4e04b</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>unlock</name>
      <anchorfile>classTrajectory3DScans2PointcloudAlgorithm.html</anchorfile>
      <anchor>acd1ca2f441871b8db6b579bd3130c0cc</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~Trajectory3DScans2PointcloudAlgorithm</name>
      <anchorfile>classTrajectory3DScans2PointcloudAlgorithm.html</anchorfile>
      <anchor>ad9b0d47fadd554bda434e1c9430a8f98</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>CMutex</type>
      <name>alg_mutex_</name>
      <anchorfile>classTrajectory3DScans2PointcloudAlgorithm.html</anchorfile>
      <anchor>a16f53f71a10dc65103a26df5b9c7e057</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>TrajectoryBroadcasterAlgNode</name>
    <filename>classTrajectoryBroadcasterAlgNode.html</filename>
    <base>IriBaseAlgorithm&lt; TrajectoryBroadcasterAlgorithm &gt;</base>
    <member kind="function">
      <type></type>
      <name>TrajectoryBroadcasterAlgNode</name>
      <anchorfile>classTrajectoryBroadcasterAlgNode.html</anchorfile>
      <anchor>a88bac2fe2a4a4d5e719339a2b784cc9f</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~TrajectoryBroadcasterAlgNode</name>
      <anchorfile>classTrajectoryBroadcasterAlgNode.html</anchorfile>
      <anchor>a610d0b3a6f6767c5bdd5b064d84c4710</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>addNodeDiagnostics</name>
      <anchorfile>classTrajectoryBroadcasterAlgNode.html</anchorfile>
      <anchor>a7b3293a7ade9ade81b7b1e8c7b361e4c</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>mainNodeThread</name>
      <anchorfile>classTrajectoryBroadcasterAlgNode.html</anchorfile>
      <anchor>a81aa333808ea065a3d809b490d7d2b7a</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>node_config_update</name>
      <anchorfile>classTrajectoryBroadcasterAlgNode.html</anchorfile>
      <anchor>a2e8b04d93625dd991826eb17e674628c</anchor>
      <arglist>(Config &amp;config, uint32_t level)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>trajectory_callback</name>
      <anchorfile>classTrajectoryBroadcasterAlgNode.html</anchorfile>
      <anchor>a9ce14006ff28082b1683857007704978</anchor>
      <arglist>(const iri_poseslam::Trajectory::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>base_frame_id_</name>
      <anchorfile>classTrajectoryBroadcasterAlgNode.html</anchorfile>
      <anchor>a030d8819b34cfa7db3efaf9d59c82329</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>map_frame_id_</name>
      <anchorfile>classTrajectoryBroadcasterAlgNode.html</anchorfile>
      <anchor>ae299091efc8d24a6c5501675dbe668ee</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>odom_frame_id_</name>
      <anchorfile>classTrajectoryBroadcasterAlgNode.html</anchorfile>
      <anchor>ad412970d5c00a8178d344fd676c3367c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>CMutex</type>
      <name>recompute_tf_mutex_</name>
      <anchorfile>classTrajectoryBroadcasterAlgNode.html</anchorfile>
      <anchor>a91563dcd9733e43ba19e9fe9b9bf4b7e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>tf::Transform</type>
      <name>T_base_odom_</name>
      <anchorfile>classTrajectoryBroadcasterAlgNode.html</anchorfile>
      <anchor>aeab3d2be1dcb62d56c7cc94c3624fb9d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>tf::Transform</type>
      <name>T_map_base_</name>
      <anchorfile>classTrajectoryBroadcasterAlgNode.html</anchorfile>
      <anchor>a3ce586ec331565cdd8f60d2f8dad0513</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>tf::Transform</type>
      <name>T_map_odom_</name>
      <anchorfile>classTrajectoryBroadcasterAlgNode.html</anchorfile>
      <anchor>ac15fe552ac59c69e1417493c31887a57</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>tf::TransformBroadcaster</type>
      <name>tfb_</name>
      <anchorfile>classTrajectoryBroadcasterAlgNode.html</anchorfile>
      <anchor>ae90cc3d5e83deadba4ba815ec00df2f5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>tf::TransformListener</type>
      <name>tfl_</name>
      <anchorfile>classTrajectoryBroadcasterAlgNode.html</anchorfile>
      <anchor>ae5eec29954f1524e009924a2872a47b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>trajectory_subscriber_</name>
      <anchorfile>classTrajectoryBroadcasterAlgNode.html</anchorfile>
      <anchor>ae6f91945ba04a05acfc5cb4956285764</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>TrajectoryBroadcasterAlgorithm</name>
    <filename>classTrajectoryBroadcasterAlgorithm.html</filename>
    <member kind="typedef">
      <type>iri_poseslam::PoseslamConfig</type>
      <name>Config</name>
      <anchorfile>classTrajectoryBroadcasterAlgorithm.html</anchorfile>
      <anchor>aae8b60be547ab7be0ae514a1f49ea05b</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>config_update</name>
      <anchorfile>classTrajectoryBroadcasterAlgorithm.html</anchorfile>
      <anchor>ad87e43811686572ad78d96954ec16779</anchor>
      <arglist>(Config &amp;new_cfg, uint32_t level=0)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>lock</name>
      <anchorfile>classTrajectoryBroadcasterAlgorithm.html</anchorfile>
      <anchor>a21417fada0aaa8e8531ac7fa1ad589ee</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TrajectoryBroadcasterAlgorithm</name>
      <anchorfile>classTrajectoryBroadcasterAlgorithm.html</anchorfile>
      <anchor>af4a8788186998c8973edc5267243eeb0</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>try_enter</name>
      <anchorfile>classTrajectoryBroadcasterAlgorithm.html</anchorfile>
      <anchor>addcf743755b73fc8f40d4c1a027c3791</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>unlock</name>
      <anchorfile>classTrajectoryBroadcasterAlgorithm.html</anchorfile>
      <anchor>a5d87eaa8f8ec2e9eab75607c4aa4a551</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~TrajectoryBroadcasterAlgorithm</name>
      <anchorfile>classTrajectoryBroadcasterAlgorithm.html</anchorfile>
      <anchor>ae1569714e6edaf7b9094bc872c6ece26</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>CMutex</type>
      <name>alg_mutex_</name>
      <anchorfile>classTrajectoryBroadcasterAlgorithm.html</anchorfile>
      <anchor>ae3b373a447fd7bd162774c387265160f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>TrajectoryScans2PointcloudAlgNode</name>
    <filename>classTrajectoryScans2PointcloudAlgNode.html</filename>
    <base>IriBaseAlgorithm&lt; TrajectoryScans2PointcloudAlgorithm &gt;</base>
    <member kind="function">
      <type></type>
      <name>TrajectoryScans2PointcloudAlgNode</name>
      <anchorfile>classTrajectoryScans2PointcloudAlgNode.html</anchorfile>
      <anchor>a7aa3a23fe425589ebe78403dbaa375ba</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~TrajectoryScans2PointcloudAlgNode</name>
      <anchorfile>classTrajectoryScans2PointcloudAlgNode.html</anchorfile>
      <anchor>af99631978361a546d165173321f33360</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>add_to_PointCloud_msg</name>
      <anchorfile>classTrajectoryScans2PointcloudAlgNode.html</anchorfile>
      <anchor>a1b652c7e12f02a287bdb744f45b13be7</anchor>
      <arglist>(const sensor_msgs::PointCloud2 &amp;newPointCloud)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>addNodeDiagnostics</name>
      <anchorfile>classTrajectoryScans2PointcloudAlgNode.html</anchorfile>
      <anchor>af63173a444dc9d4cdb33455579fbee09</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>clear_PointCloud_msg</name>
      <anchorfile>classTrajectoryScans2PointcloudAlgNode.html</anchorfile>
      <anchor>aff60471e95504a981b13160590bb5328</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>sensor_msgs::PointCloud2</type>
      <name>laser_scan_to_point_cloud</name>
      <anchorfile>classTrajectoryScans2PointcloudAlgNode.html</anchorfile>
      <anchor>aee7d4535b15836a68a2587bb8a75af72</anchor>
      <arglist>(const sensor_msgs::LaserScan &amp;LScan, const geometry_msgs::Pose &amp;pose)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>mainNodeThread</name>
      <anchorfile>classTrajectoryScans2PointcloudAlgNode.html</anchorfile>
      <anchor>ae7b1b3e39c5c1fd1b1ab4014b45325d8</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>node_config_update</name>
      <anchorfile>classTrajectoryScans2PointcloudAlgNode.html</anchorfile>
      <anchor>aba2ce37dd7bc14791dbae83229847fef</anchor>
      <arglist>(Config &amp;config, uint32_t level)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>recompute_PointCloud_msg</name>
      <anchorfile>classTrajectoryScans2PointcloudAlgNode.html</anchorfile>
      <anchor>ab5a8b3168504ae332d2e8ec3e3c117c5</anchor>
      <arglist>(const iri_poseslam::Trajectory &amp;trajectory)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>Matrix4f</type>
      <name>transformation_matrix</name>
      <anchorfile>classTrajectoryScans2PointcloudAlgNode.html</anchorfile>
      <anchor>a6ab84d2e83d14e92d62068c957b18d49</anchor>
      <arglist>(const float x, const float y, const float z, const float alpha) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>scan_callback</name>
      <anchorfile>classTrajectoryScans2PointcloudAlgNode.html</anchorfile>
      <anchor>a711f6c022cf49dfe108db18d0d9f9fc4</anchor>
      <arglist>(const sensor_msgs::LaserScan::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>trajectory_callback</name>
      <anchorfile>classTrajectoryScans2PointcloudAlgNode.html</anchorfile>
      <anchor>ad38620b42900963c91c183dfcb87236a</anchor>
      <arglist>(const iri_poseslam::Trajectory::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>emptyPointCloud_</name>
      <anchorfile>classTrajectoryScans2PointcloudAlgNode.html</anchorfile>
      <anchor>a6e6df47f76ec5e72ab0fc3862519d442</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Publisher</type>
      <name>laser_pointcloud_publisher_</name>
      <anchorfile>classTrajectoryScans2PointcloudAlgNode.html</anchorfile>
      <anchor>a8217bd23142af3ca11bd3280a7da6a16</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>laser_geometry::LaserProjection</type>
      <name>laser_projector_</name>
      <anchorfile>classTrajectoryScans2PointcloudAlgNode.html</anchorfile>
      <anchor>ac4f246e02cc9705cbf62ba26c3617645</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; sensor_msgs::LaserScan &gt;</type>
      <name>laser_scan_buffer_</name>
      <anchorfile>classTrajectoryScans2PointcloudAlgNode.html</anchorfile>
      <anchor>a1efa05417937c82c2a706e6e27cea9d8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>sensor_msgs::PointCloud2</type>
      <name>PointCloud_msg_</name>
      <anchorfile>classTrajectoryScans2PointcloudAlgNode.html</anchorfile>
      <anchor>a76e383b597efffe33b45e6d2c2e44709</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>publish_redundant_</name>
      <anchorfile>classTrajectoryScans2PointcloudAlgNode.html</anchorfile>
      <anchor>ad693086e2688015e8b1004fd9d0ddf09</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>scan_subscriber_</name>
      <anchorfile>classTrajectoryScans2PointcloudAlgNode.html</anchorfile>
      <anchor>ab6c6dbdd2fc2730afcab93189e5b6fd3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Matrix4f</type>
      <name>T_laser_frame</name>
      <anchorfile>classTrajectoryScans2PointcloudAlgNode.html</anchorfile>
      <anchor>a946b72a2ffd7534b77a16bb5991467e7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; sensor_msgs::LaserScan &gt;</type>
      <name>trajectory_laser_scan_buffer_</name>
      <anchorfile>classTrajectoryScans2PointcloudAlgNode.html</anchorfile>
      <anchor>a73306b136b6f842ccc35ca274ccbd11b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>trajectory_subscriber_</name>
      <anchorfile>classTrajectoryScans2PointcloudAlgNode.html</anchorfile>
      <anchor>adc1cc50d2ec9d8d76874b446b07b992b</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>TrajectoryScans2PointcloudAlgorithm</name>
    <filename>classTrajectoryScans2PointcloudAlgorithm.html</filename>
    <member kind="typedef">
      <type>iri_poseslam::PoseslamConfig</type>
      <name>Config</name>
      <anchorfile>classTrajectoryScans2PointcloudAlgorithm.html</anchorfile>
      <anchor>ab7597f719064f040f9ed221db7df387f</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>config_update</name>
      <anchorfile>classTrajectoryScans2PointcloudAlgorithm.html</anchorfile>
      <anchor>aaa8fa3490944815c813dbfd06eb75f5a</anchor>
      <arglist>(Config &amp;new_cfg, uint32_t level=0)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>lock</name>
      <anchorfile>classTrajectoryScans2PointcloudAlgorithm.html</anchorfile>
      <anchor>a6750b61d7b5c15b46cb22470498c4958</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TrajectoryScans2PointcloudAlgorithm</name>
      <anchorfile>classTrajectoryScans2PointcloudAlgorithm.html</anchorfile>
      <anchor>a13a11930666537b69018cb4606c79d0d</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>try_enter</name>
      <anchorfile>classTrajectoryScans2PointcloudAlgorithm.html</anchorfile>
      <anchor>ad4c34ca772a76e53eb97e5e2fbab15e0</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>unlock</name>
      <anchorfile>classTrajectoryScans2PointcloudAlgorithm.html</anchorfile>
      <anchor>a93bc09ebd09f79b6133587aed27bfd9f</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~TrajectoryScans2PointcloudAlgorithm</name>
      <anchorfile>classTrajectoryScans2PointcloudAlgorithm.html</anchorfile>
      <anchor>a89d53eda6428df61ec2add41ca315caa</anchor>
      <arglist>(void)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>CMutex</type>
      <name>alg_mutex_</name>
      <anchorfile>classTrajectoryScans2PointcloudAlgorithm.html</anchorfile>
      <anchor>a3791d513c689199a255adf48d6071383</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="page">
    <name>index</name>
    <title></title>
    <filename>index</filename>
  </compound>
</tagfile>
