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      <arglist></arglist>
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    <member kind="variable">
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      <arglist></arglist>
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  <compound kind="struct">
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    <member kind="function">
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      <arglist>()=default</arglist>
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    <member kind="function">
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      <arglist>(int init_num_x_cells, int init_num_y_cells)</arglist>
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      <arglist>(const proto::CellLimits &amp;cell_limits)</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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    <member kind="function">
      <type></type>
      <name>CeresPose</name>
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      <arglist>(const transform::Rigid3d &amp;rigid, std::unique_ptr&lt; ceres::LocalParameterization &gt; translation_parametrization, std::unique_ptr&lt; ceres::LocalParameterization &gt; rotation_parametrization, ceres::Problem *problem)</arglist>
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    <member kind="function">
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      <arglist>(const CeresPose &amp;)=delete</arglist>
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    <member kind="function">
      <type>CeresPose &amp;</type>
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      <arglist>(const CeresPose &amp;)=delete</arglist>
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      <arglist>()</arglist>
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      <arglist>() const </arglist>
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      <arglist>()</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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  <compound kind="class">
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    <member kind="function">
      <type></type>
      <name>CeresScanMatcher</name>
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      <arglist>(const proto::CeresScanMatcherOptions &amp;options)</arglist>
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    <member kind="function">
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      <name>CeresScanMatcher</name>
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      <arglist>(const CeresScanMatcher &amp;)=delete</arglist>
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    <member kind="function">
      <type>void</type>
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      <arglist>(const transform::Rigid3d &amp;previous_pose, const transform::Rigid3d &amp;initial_pose_estimate, const std::vector&lt; PointCloudAndHybridGridPointers &gt; &amp;point_clouds_and_hybrid_grids, transform::Rigid3d *pose_estimate, ceres::Solver::Summary *summary)</arglist>
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    <member kind="function">
      <type>CeresScanMatcher &amp;</type>
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      <arglist>(const CeresScanMatcher &amp;)=delete</arglist>
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    <member kind="variable" protection="private">
      <type>ceres::Solver::Options</type>
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      <anchorfile>classcartographer_1_1mapping__3d_1_1scan__matching_1_1CeresScanMatcher.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const proto::CeresScanMatcherOptions</type>
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      <arglist></arglist>
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  <compound kind="class">
    <name>cartographer::mapping_2d::scan_matching::CeresScanMatcher</name>
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    <member kind="function">
      <type></type>
      <name>CeresScanMatcher</name>
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      <arglist>(const proto::CeresScanMatcherOptions &amp;options)</arglist>
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    <member kind="function">
      <type></type>
      <name>CeresScanMatcher</name>
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      <arglist>(const CeresScanMatcher &amp;)=delete</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classcartographer_1_1mapping__2d_1_1scan__matching_1_1CeresScanMatcher.html</anchorfile>
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      <arglist>(const transform::Rigid2d &amp;previous_pose, const transform::Rigid2d &amp;initial_pose_estimate, const sensor::PointCloud &amp;point_cloud, const ProbabilityGrid &amp;probability_grid, transform::Rigid2d *pose_estimate, ceres::Solver::Summary *summary) const </arglist>
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    <member kind="function">
      <type>CeresScanMatcher &amp;</type>
      <name>operator=</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1scan__matching_1_1CeresScanMatcher.html</anchorfile>
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      <arglist>(const CeresScanMatcher &amp;)=delete</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~CeresScanMatcher</name>
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      <anchor>ad8d4627e1edd7651c6f0dbae9b1f77b7</anchor>
      <arglist>()</arglist>
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    <member kind="variable" protection="private">
      <type>ceres::Solver::Options</type>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const proto::CeresScanMatcherOptions</type>
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      <arglist></arglist>
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  <compound kind="class">
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    <member kind="function">
      <type>void</type>
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      <arglist>(const string &amp;sensor_id, std::unique_ptr&lt; sensor::Data &gt; data) override</arglist>
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    <member kind="function">
      <type></type>
      <name>CollatedTrajectoryBuilder</name>
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      <arglist>(sensor::Collator *sensor_collator, int trajectory_id, const std::unordered_set&lt; string &gt; &amp;expected_sensor_ids, std::unique_ptr&lt; GlobalTrajectoryBuilderInterface &gt; wrapped_trajectory_builder)</arglist>
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    <member kind="function">
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      <name>CollatedTrajectoryBuilder</name>
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      <arglist>(const CollatedTrajectoryBuilder &amp;)=delete</arglist>
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    <member kind="function">
      <type>SubmapData</type>
      <name>GetSubmapData</name>
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      <arglist>(int submap_index) override</arglist>
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      <arglist>() override</arglist>
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      <type>CollatedTrajectoryBuilder &amp;</type>
      <name>operator=</name>
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      <arglist>(const CollatedTrajectoryBuilder &amp;)=delete</arglist>
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      <arglist>() const override</arglist>
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      <name>~CollatedTrajectoryBuilder</name>
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      <arglist>() override</arglist>
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      <type>void</type>
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      <arglist>(const string &amp;sensor_id, std::unique_ptr&lt; sensor::Data &gt; data)</arglist>
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    <member kind="variable" protection="private">
      <type>std::chrono::steady_clock::time_point</type>
      <name>last_logging_time_</name>
      <anchorfile>classcartographer_1_1mapping_1_1CollatedTrajectoryBuilder.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::map&lt; string, common::RateTimer&lt;&gt; &gt;</type>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>sensor::Collator *const</type>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const int</type>
      <name>trajectory_id_</name>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; GlobalTrajectoryBuilderInterface &gt;</type>
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      <arglist></arglist>
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  <compound kind="class">
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    <member kind="typedef">
      <type>std::function&lt; void(const string &amp;, std::unique_ptr&lt; Data &gt;)&gt;</type>
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      <arglist></arglist>
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    <member kind="function">
      <type>void</type>
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      <arglist>(int trajectory_id, const string &amp;sensor_id, std::unique_ptr&lt; Data &gt; data)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>AddTrajectory</name>
      <anchorfile>classcartographer_1_1sensor_1_1Collator.html</anchorfile>
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      <arglist>(int trajectory_id, const std::unordered_set&lt; string &gt; &amp;expected_sensor_ids, Callback callback)</arglist>
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    <member kind="function">
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      <name>Collator</name>
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      <arglist>()</arglist>
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    <member kind="function">
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      <name>Collator</name>
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      <arglist>(const Collator &amp;)=delete</arglist>
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    <member kind="function">
      <type>void</type>
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      <arglist>(int trajectory_id)</arglist>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>int</type>
      <name>GetBlockingTrajectoryId</name>
      <anchorfile>classcartographer_1_1sensor_1_1Collator.html</anchorfile>
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      <arglist>() const </arglist>
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    <member kind="function">
      <type>Collator &amp;</type>
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      <anchorfile>classcartographer_1_1sensor_1_1Collator.html</anchorfile>
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      <arglist>(const Collator &amp;)=delete</arglist>
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      <type>OrderedMultiQueue</type>
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      <arglist></arglist>
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      <type>std::unordered_map&lt; int, std::vector&lt; QueueKey &gt; &gt;</type>
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      <arglist></arglist>
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      <name>ColoringPointsProcessor</name>
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      <arglist>(const Color &amp;color, const string &amp;frame_id, PointsProcessor *next)</arglist>
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    <member kind="function">
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      <name>ColoringPointsProcessor</name>
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      <arglist>(const ColoringPointsProcessor &amp;)=delete</arglist>
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    <member kind="function">
      <type>FlushResult</type>
      <name>Flush</name>
      <anchorfile>classcartographer_1_1io_1_1ColoringPointsProcessor.html</anchorfile>
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      <arglist>() override</arglist>
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    <member kind="function">
      <type>ColoringPointsProcessor &amp;</type>
      <name>operator=</name>
      <anchorfile>classcartographer_1_1io_1_1ColoringPointsProcessor.html</anchorfile>
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      <arglist>(const ColoringPointsProcessor &amp;)=delete</arglist>
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    <member kind="function">
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      <arglist>(std::unique_ptr&lt; PointsBatch &gt; batch) override</arglist>
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    <member kind="function">
      <type></type>
      <name>~ColoringPointsProcessor</name>
      <anchorfile>classcartographer_1_1io_1_1ColoringPointsProcessor.html</anchorfile>
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      <arglist>() override</arglist>
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    <member kind="function" static="yes">
      <type>static std::unique_ptr&lt; ColoringPointsProcessor &gt;</type>
      <name>FromDictionary</name>
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      <anchor>a59b39f0bdbfe13afbc3025f6cbccb1d9</anchor>
      <arglist>(common::LuaParameterDictionary *dictionary, PointsProcessor *next)</arglist>
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      <name>kConfigurationFileActionName</name>
      <anchorfile>classcartographer_1_1io_1_1ColoringPointsProcessor.html</anchorfile>
      <anchor>ad630f8926ae9ac1150a28b7d4a01e075</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const Color</type>
      <name>color_</name>
      <anchorfile>classcartographer_1_1io_1_1ColoringPointsProcessor.html</anchorfile>
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      <arglist></arglist>
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      <arglist>(common::Time time, const Eigen::Vector3d &amp;linear_acceleration, const Eigen::Vector3d &amp;angular_velocity) override</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classcartographer_1_1mapping__2d_1_1GlobalTrajectoryBuilder.html</anchorfile>
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      <arglist>(common::Time time, const transform::Rigid3d &amp;pose) override</arglist>
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      <type>void</type>
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      <anchorfile>classcartographer_1_1mapping__2d_1_1GlobalTrajectoryBuilder.html</anchorfile>
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      <arglist>(common::Time time, const Eigen::Vector3f &amp;origin, const sensor::PointCloud &amp;ranges) override</arglist>
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    <member kind="function">
      <type>SubmapData</type>
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      <anchorfile>classcartographer_1_1mapping__2d_1_1GlobalTrajectoryBuilder.html</anchorfile>
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      <arglist>(int submap_index) override</arglist>
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    <member kind="function">
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      <name>GlobalTrajectoryBuilder</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1GlobalTrajectoryBuilder.html</anchorfile>
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      <arglist>(const proto::LocalTrajectoryBuilderOptions &amp;options, int trajectory_id, SparsePoseGraph *sparse_pose_graph)</arglist>
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    <member kind="function">
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      <arglist>() override</arglist>
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      <type>GlobalTrajectoryBuilder &amp;</type>
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      <arglist>() override</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>void</type>
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      <arglist>(common::Time time, const transform::Rigid3d &amp;pose) override</arglist>
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      <anchorfile>classcartographer_1_1mapping__3d_1_1GlobalTrajectoryBuilder.html</anchorfile>
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      <arglist>(common::Time time, const Eigen::Vector3f &amp;origin, const sensor::PointCloud &amp;ranges) override</arglist>
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      <arglist>(const proto::LocalTrajectoryBuilderOptions &amp;options, int trajectory_id, mapping_3d::SparsePoseGraph *sparse_pose_graph)</arglist>
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      <arglist>() const override</arglist>
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      <arglist>() override</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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    <member kind="typedef">
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      <arglist>(int submap_index)=0</arglist>
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      <arglist>()</arglist>
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      <arglist>()=0</arglist>
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      <arglist>(const GlobalTrajectoryBuilderInterface &amp;)=delete</arglist>
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      <arglist>() const =0</arglist>
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      <arglist>()</arglist>
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      <arglist></arglist>
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      <type>void</type>
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      <arglist>(float value)</arglist>
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      <arglist></arglist>
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      <arglist>(const Eigen::Array3i &amp;index, const float probability)</arglist>
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      <arglist>()</arglist>
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      <arglist></arglist>
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    <templarg>ValueType</templarg>
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      <type>typename Grid&lt; ValueType &gt;::Iterator</type>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(common::Time time, const Eigen::Vector3d &amp;linear_acceleration, const Eigen::Vector3d &amp;angular_velocity) override</arglist>
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      <type>void</type>
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      <arglist>(common::Time time, const transform::Rigid3d &amp;pose) override</arglist>
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      <arglist>(common::Time time, const Eigen::Vector3f &amp;origin, const sensor::PointCloud &amp;ranges) override</arglist>
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      <name>KalmanLocalTrajectoryBuilder</name>
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      <arglist>(const proto::LocalTrajectoryBuilderOptions &amp;options)</arglist>
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      <name>KalmanLocalTrajectoryBuilder</name>
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      <arglist>() const override</arglist>
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      <anchorfile>classcartographer_1_1mapping__3d_1_1KalmanLocalTrajectoryBuilder.html</anchorfile>
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      <arglist>() override</arglist>
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    <member kind="function">
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      <name>~KalmanLocalTrajectoryBuilder</name>
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      <arglist>() override</arglist>
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      <type>std::unique_ptr&lt; InsertionResult &gt;</type>
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      <arglist>(common::Time time, const sensor::RangeData &amp;range_data_in_tracking)</arglist>
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      <type>std::unique_ptr&lt; InsertionResult &gt;</type>
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      <arglist>(common::Time time, const sensor::RangeData &amp;range_data_in_tracking, const transform::Rigid3d &amp;pose_observation)</arglist>
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      <type>sensor::RangeData</type>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; scan_matching::CeresScanMatcher &gt;</type>
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      <anchorfile>classcartographer_1_1mapping__3d_1_1KalmanLocalTrajectoryBuilder.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>transform::Rigid3f</type>
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      <arglist></arglist>
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      <type>PoseEstimate</type>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>MotionFilter</type>
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      <anchorfile>classcartographer_1_1mapping__3d_1_1KalmanLocalTrajectoryBuilder.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>int</type>
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      <anchorfile>classcartographer_1_1mapping__3d_1_1KalmanLocalTrajectoryBuilder.html</anchorfile>
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      <arglist></arglist>
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      <type>const proto::LocalTrajectoryBuilderOptions</type>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; kalman_filter::PoseTracker &gt;</type>
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      <arglist></arglist>
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      <type>std::unique_ptr&lt; scan_matching::RealTimeCorrelativeScanMatcher &gt;</type>
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      <anchorfile>classcartographer_1_1mapping__3d_1_1KalmanLocalTrajectoryBuilder.html</anchorfile>
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      <arglist></arglist>
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      <type>transform::Rigid3d</type>
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      <arglist></arglist>
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      <type>std::unique_ptr&lt; mapping_3d::Submaps &gt;</type>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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    <class kind="struct">cartographer::mapping_2d::LocalTrajectoryBuilder::InsertionResult</class>
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      <type>std::unique_ptr&lt; InsertionResult &gt;</type>
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      <arglist>(common::Time, const sensor::RangeData &amp;range_data)</arglist>
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      <type>void</type>
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      <anchorfile>classcartographer_1_1mapping__2d_1_1LocalTrajectoryBuilder.html</anchorfile>
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      <arglist>(common::Time time, const Eigen::Vector3d &amp;linear_acceleration, const Eigen::Vector3d &amp;angular_velocity)</arglist>
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      <anchorfile>classcartographer_1_1mapping__2d_1_1LocalTrajectoryBuilder.html</anchorfile>
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      <arglist>(common::Time time, const transform::Rigid3d &amp;pose)</arglist>
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      <name>LocalTrajectoryBuilder</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1LocalTrajectoryBuilder.html</anchorfile>
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      <arglist>(const proto::LocalTrajectoryBuilderOptions &amp;options)</arglist>
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      <name>LocalTrajectoryBuilder</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1LocalTrajectoryBuilder.html</anchorfile>
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      <arglist>(const LocalTrajectoryBuilder &amp;)=delete</arglist>
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    <member kind="function">
      <type>LocalTrajectoryBuilder &amp;</type>
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      <arglist>(const LocalTrajectoryBuilder &amp;)=delete</arglist>
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      <type>const mapping::GlobalTrajectoryBuilderInterface::PoseEstimate &amp;</type>
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      <arglist>() const </arglist>
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      <type>Submaps *</type>
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      <anchorfile>classcartographer_1_1mapping__2d_1_1LocalTrajectoryBuilder.html</anchorfile>
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      <arglist>()</arglist>
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      <name>~LocalTrajectoryBuilder</name>
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      <arglist>()</arglist>
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      <type>void</type>
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      <arglist>(common::Time time)</arglist>
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      <arglist>(common::Time time)</arglist>
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      <anchorfile>classcartographer_1_1mapping__2d_1_1LocalTrajectoryBuilder.html</anchorfile>
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      <arglist>(common::Time time, const transform::Rigid3d &amp;pose_prediction, const transform::Rigid3d &amp;tracking_to_tracking_2d, const sensor::RangeData &amp;range_data_in_tracking_2d, transform::Rigid3d *pose_observation)</arglist>
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      <type>sensor::RangeData</type>
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      <arglist>(const transform::Rigid3f &amp;tracking_to_tracking_2d, const sensor::RangeData &amp;range_data) const </arglist>
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      <type>scan_matching::CeresScanMatcher</type>
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      <arglist></arglist>
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      <type>std::unique_ptr&lt; mapping::ImuTracker &gt;</type>
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      <arglist></arglist>
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      <type>mapping::GlobalTrajectoryBuilderInterface::PoseEstimate</type>
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      <arglist></arglist>
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      <type>common::Time</type>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>mapping::OdometryStateTracker</type>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>scan_matching::RealTimeCorrelativeScanMatcher</type>
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      <arglist></arglist>
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      <type>Submaps</type>
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      <anchorfile>classcartographer_1_1mapping__2d_1_1LocalTrajectoryBuilder.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classcartographer_1_1mapping__2d_1_1LocalTrajectoryBuilder.html</anchorfile>
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      <arglist></arglist>
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      <type>Eigen::Vector2d</type>
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      <arglist></arglist>
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    <class kind="struct">cartographer::mapping_3d::LocalTrajectoryBuilderInterface::InsertionResult</class>
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      <type>mapping::GlobalTrajectoryBuilderInterface::PoseEstimate</type>
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      <arglist></arglist>
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      <anchorfile>classcartographer_1_1mapping__3d_1_1LocalTrajectoryBuilderInterface.html</anchorfile>
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      <arglist>(common::Time time, const Eigen::Vector3d &amp;linear_acceleration, const Eigen::Vector3d &amp;angular_velocity)=0</arglist>
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      <anchorfile>classcartographer_1_1mapping__3d_1_1LocalTrajectoryBuilderInterface.html</anchorfile>
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      <arglist>(common::Time time, const transform::Rigid3d &amp;pose)=0</arglist>
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      <arglist>()</arglist>
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      <arglist></arglist>
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      <arglist>(common::Time time, const Eigen::Vector3f &amp;origin, const sensor::PointCloud &amp;ranges) override</arglist>
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      <arglist>() const override</arglist>
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      <arglist>() override</arglist>
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      <arglist>() override</arglist>
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      <arglist>(common::Time time, const transform::Rigid3d &amp;pose_observation, const sensor::RangeData &amp;range_data_in_tracking)</arglist>
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      <arglist>(const common::Time time, const sensor::RangeData &amp;range_data_in_tracking, const transform::Rigid3d &amp;pose_observation)</arglist>
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      <type>std::unique_ptr&lt; InsertionResult &gt;</type>
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      <arglist>(common::Time time)</arglist>
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      <type>State</type>
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      <arglist>(const State &amp;start_state, const common::Time start_time, const common::Time end_time)</arglist>
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      <type>void</type>
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      <arglist>()</arglist>
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      <arglist>(const transform::Rigid3d &amp;transform)</arglist>
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      <type>std::deque&lt; Batch &gt;</type>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>double</type>
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      <arglist></arglist>
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      <type>std::deque&lt; ImuData &gt;</type>
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      <arglist></arglist>
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      <type>PoseEstimate</type>
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      <arglist></arglist>
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      <anchorfile>classcartographer_1_1mapping__3d_1_1OptimizingLocalTrajectoryBuilder.html</anchorfile>
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      <arglist></arglist>
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      <type>int</type>
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      <anchorfile>classcartographer_1_1mapping__3d_1_1OptimizingLocalTrajectoryBuilder.html</anchorfile>
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      <arglist></arglist>
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      <type>std::deque&lt; OdometerData &gt;</type>
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      <arglist></arglist>
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      <type>const proto::LocalTrajectoryBuilderOptions</type>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; mapping_3d::Submaps &gt;</type>
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      <arglist></arglist>
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  <compound kind="class">
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    <member kind="typedef">
      <type>std::function&lt; void(std::unique_ptr&lt; Data &gt;)&gt;</type>
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      <arglist></arglist>
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      <arglist>(const QueueKey &amp;queue_key, std::unique_ptr&lt; Data &gt; data)</arglist>
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      <arglist>(const QueueKey &amp;queue_key, Callback callback)</arglist>
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      <arglist>()</arglist>
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      <type>QueueKey</type>
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      <arglist>() const </arglist>
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      <arglist>(const QueueKey &amp;queue_key)</arglist>
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      <name>OrderedMultiQueue</name>
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      <arglist>()</arglist>
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      <name>~OrderedMultiQueue</name>
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      <arglist>()</arglist>
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      <arglist>(const QueueKey &amp;queue_key)</arglist>
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      <arglist>()</arglist>
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      <arglist>(int trajectory_id)</arglist>
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      <type>QueueKey</type>
      <name>blocker_</name>
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      <arglist></arglist>
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      <type>std::map&lt; int, common::Time &gt;</type>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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  <compound kind="class">
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      <type>FlushResult</type>
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      <arglist>() override</arglist>
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      <arglist>(double voxel_size, PointsProcessor *next)</arglist>
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      <arglist>(const OutlierRemovingPointsProcessor &amp;)=delete</arglist>
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      <arglist>(std::unique_ptr&lt; PointsBatch &gt; batch) override</arglist>
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      <name>~OutlierRemovingPointsProcessor</name>
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      <arglist>() override</arglist>
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      <arglist>(common::LuaParameterDictionary *dictionary, PointsProcessor *next)</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(const PointsBatch &amp;batch)</arglist>
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      <arglist>(std::unique_ptr&lt; PointsBatch &gt; batch)</arglist>
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      <arglist>(const PointsBatch &amp;batch)</arglist>
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      <arglist></arglist>
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    <member kind="function">
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      <arglist>(FileWriterFactory file_writer_factory, common::LuaParameterDictionary *dictionary, PointsProcessor *next)</arglist>
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      <arglist>(FileWriterFactory file_writer_factory, common::LuaParameterDictionary *dictionary, PointsProcessor *next)</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>std::vector&lt; float &gt;</type>
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      <arglist></arglist>
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      <arglist>()</arglist>
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      <arglist>()=0</arglist>
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      <arglist></arglist>
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      <arglist>()=default</arglist>
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      <name>kMapPositionX</name>
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      <type>GaussianDistribution&lt; double, kDimension &gt;</type>
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      <type>UnscentedKalmanFilter&lt; double, kDimension &gt;</type>
      <name>KalmanFilter</name>
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      <name>kMapPositionX</name>
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      <name>kMapVelocityX</name>
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      <name>kMapVelocityZ</name>
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      <type>KalmanFilter::StateType</type>
      <name>State</name>
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      <type>Eigen::Matrix&lt; double, kDimension, kDimension &gt;</type>
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      <type>void</type>
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      <anchor>a11e7b8dffa9f2692ca584d30fa8d0dc9</anchor>
      <arglist>(common::Time time, const Eigen::Vector3d &amp;imu_angular_velocity)</arglist>
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      <type>void</type>
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      <arglist>(common::Time time, const Eigen::Vector3d &amp;imu_linear_acceleration)</arglist>
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      <type>void</type>
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      <anchor>a25ef595f148a61989a34cba95cb69a50</anchor>
      <arglist>(common::Time time, const transform::Rigid3d &amp;pose, const PoseCovariance &amp;covariance)</arglist>
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      <type>void</type>
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      <anchor>aa959ee244fe6e27af5f27a2bd2d8407a</anchor>
      <arglist>(common::Time time, const transform::Rigid3d &amp;pose, const PoseCovariance &amp;covariance)</arglist>
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    <member kind="function">
      <type>Distribution</type>
      <name>GetBelief</name>
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      <arglist>(common::Time time)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>GetPoseEstimateMeanAndCovariance</name>
      <anchorfile>classcartographer_1_1kalman__filter_1_1PoseTracker.html</anchorfile>
      <anchor>a09b5c09d53bb7c6da1db2efb5dc16fbb</anchor>
      <arglist>(common::Time time, transform::Rigid3d *pose, PoseCovariance *covariance)</arglist>
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    <member kind="function">
      <type>Eigen::Quaterniond</type>
      <name>gravity_orientation</name>
      <anchorfile>classcartographer_1_1kalman__filter_1_1PoseTracker.html</anchorfile>
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      <arglist>() const </arglist>
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      <type>const mapping::OdometryStateTracker::OdometryStates &amp;</type>
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      <arglist>() const </arglist>
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      <arglist>(const proto::PoseTrackerOptions &amp;options, common::Time time)</arglist>
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      <type>common::Time</type>
      <name>time</name>
      <anchorfile>classcartographer_1_1kalman__filter_1_1PoseTracker.html</anchorfile>
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      <arglist>() const </arglist>
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      <arglist>()</arglist>
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      <type>const Distribution</type>
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      <arglist>(double delta_t) const </arglist>
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      <anchorfile>classcartographer_1_1kalman__filter_1_1PoseTracker.html</anchorfile>
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      <arglist>(common::Time time)</arglist>
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      <type>transform::Rigid3d</type>
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      <arglist>(const PoseTracker::State &amp;state)</arglist>
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      <type>static Distribution</type>
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      <arglist>()</arglist>
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      <type>mapping::ImuTracker</type>
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      <arglist></arglist>
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      <type>KalmanFilter</type>
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      <arglist></arglist>
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      <type>const proto::PoseTrackerOptions</type>
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      <arglist></arglist>
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      <anchorfile>classcartographer_1_1kalman__filter_1_1PoseTracker.html</anchorfile>
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      <arglist></arglist>
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      <arglist>(const float resolution)</arglist>
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      <type>static float</type>
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      <arglist>(float value)</arglist>
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      <arglist>(const Eigen::Array2i &amp;xy_index) const </arglist>
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      <arglist>(const ProbabilityGrid &amp;probability_grid, const CellLimits &amp;limits, int width, std::vector&lt; float &gt; *reusable_intermediate_grid)</arglist>
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      <arglist>(float value)</arglist>
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      <arglist>(float probability) const </arglist>
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      <arglist></arglist>
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      <type>const Eigen::Array2i</type>
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      <name>Get</name>
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      <arglist>(int index)</arglist>
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      <arglist>(const ProbabilityGrid &amp;probability_grid, const proto::FastCorrelativeScanMatcherOptions &amp;options)</arglist>
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      <type>std::vector&lt; PrecomputationGrid &gt;</type>
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      <name>Get</name>
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      <arglist>(const HybridGrid &amp;hybrid_grid, const proto::FastCorrelativeScanMatcherOptions &amp;options)</arglist>
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    <member kind="function">
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      <arglist>(const Eigen::Array2i &amp;xy_index, const std::vector&lt; uint16 &gt; &amp;table)</arglist>
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    <name>cartographer::mapping_2d::sparse_pose_graph::SpaCostFunction</name>
    <filename>classcartographer_1_1mapping__2d_1_1sparse__pose__graph_1_1SpaCostFunction.html</filename>
    <member kind="typedef">
      <type>mapping::SparsePoseGraph::Constraint</type>
      <name>Constraint</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1sparse__pose__graph_1_1SpaCostFunction.html</anchorfile>
      <anchor>a114eb67c278673ef2b9e27a07c3e5429</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator()</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1sparse__pose__graph_1_1SpaCostFunction.html</anchorfile>
      <anchor>a71ae8ee1e7f803fa8190d3a3879b53e9</anchor>
      <arglist>(const T *const c_i, const T *const c_j, T *e) const </arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SpaCostFunction</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1sparse__pose__graph_1_1SpaCostFunction.html</anchorfile>
      <anchor>a5c84182aa779515945c38effc643b416</anchor>
      <arglist>(const Constraint::Pose &amp;pose)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>ComputeScaledError</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1sparse__pose__graph_1_1SpaCostFunction.html</anchorfile>
      <anchor>ad818057abff8f9833f710692c7538920</anchor>
      <arglist>(const Constraint::Pose &amp;pose, const T *const c_i, const T *const c_j, T *const e)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static std::array&lt; T, 3 &gt;</type>
      <name>ComputeUnscaledError</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1sparse__pose__graph_1_1SpaCostFunction.html</anchorfile>
      <anchor>ac2591af112d12c233eed1677689a26b7</anchor>
      <arglist>(const transform::Rigid2d &amp;zbar_ij, const T *const c_i, const T *const c_j)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const Constraint::Pose</type>
      <name>pose_</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1sparse__pose__graph_1_1SpaCostFunction.html</anchorfile>
      <anchor>a7d5b9c917956e5ad4528892dfe929537</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>cartographer::mapping_2d::SparsePoseGraph</name>
    <filename>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</filename>
    <base>cartographer::mapping::SparsePoseGraph</base>
    <class kind="struct">cartographer::mapping_2d::SparsePoseGraph::SubmapData</class>
    <class kind="class">cartographer::mapping_2d::SparsePoseGraph::TrimmingHandle</class>
    <member kind="function">
      <type>void</type>
      <name>AddImuData</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>ae2335f7180de18831e5c2b8436138079</anchor>
      <arglist>(int trajectory_id, common::Time time, const Eigen::Vector3d &amp;linear_acceleration, const Eigen::Vector3d &amp;angular_velocity)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>AddScan</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a5c47bc764ea67bfd325578a547007a44</anchor>
      <arglist>(common::Time time, const transform::Rigid3d &amp;tracking_to_pose, const sensor::RangeData &amp;range_data_in_pose, const transform::Rigid2d &amp;pose, int trajectory_id, const mapping::Submap *matching_submap, const std::vector&lt; const mapping::Submap * &gt; &amp;insertion_submaps) EXCLUDES(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>AddTrimmer</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a7fbfd5c3517dad553f0062df55c7010b</anchor>
      <arglist>(std::unique_ptr&lt; mapping::PoseGraphTrimmer &gt; trimmer) override</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; Constraint &gt;</type>
      <name>constraints</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>ab8ff6daab28e4912b9d26ff1488a5550</anchor>
      <arglist>() override EXCLUDES(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; std::vector&lt; int &gt; &gt;</type>
      <name>GetConnectedTrajectories</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>adb30ea52eb57cb4773ac9d7eb212ce19</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>transform::Rigid3d</type>
      <name>GetLocalToGlobalTransform</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>af0b586a0751d3b15c136fccf093b593b</anchor>
      <arglist>(int trajectory_id) EXCLUDES(mutex_) override</arglist>
    </member>
    <member kind="function">
      <type>transform::Rigid3d</type>
      <name>GetSubmapTransform</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a6a3b41235310d8742cada6aa1ef142d9</anchor>
      <arglist>(const mapping::SubmapId &amp;submap_id) EXCLUDES(mutex_) override</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; std::vector&lt; mapping::TrajectoryNode &gt; &gt;</type>
      <name>GetTrajectoryNodes</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>ab7350b805b34a2f7b0a5dcbe2bd15b13</anchor>
      <arglist>() override EXCLUDES(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>num_submaps</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>af21e7a5949d78bb406777407fb2162aa</anchor>
      <arglist>(int trajectory_id) EXCLUDES(mutex_) override</arglist>
    </member>
    <member kind="function">
      <type>SparsePoseGraph &amp;</type>
      <name>operator=</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a9ad5582713ab5b5c85d801fe51c45652</anchor>
      <arglist>(const SparsePoseGraph &amp;)=delete</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>RunFinalOptimization</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>aaf942723adfa722408bb23755cf86076</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SparsePoseGraph</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a02d0f47bc77d855b36c303b49b0db781</anchor>
      <arglist>(const mapping::proto::SparsePoseGraphOptions &amp;options, common::ThreadPool *thread_pool)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SparsePoseGraph</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a31af7a1bf23077c7f84e87be6eed71ce</anchor>
      <arglist>(const SparsePoseGraph &amp;)=delete</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~SparsePoseGraph</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a1f31230830b3f9b1db33cb6a39f31467</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="enumeration" protection="private">
      <type></type>
      <name>SubmapState</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a5fea68eb59ff16f65889751a6caab47d</anchor>
      <arglist></arglist>
      <enumvalue file="classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html" anchor="a5fea68eb59ff16f65889751a6caab47da9791a40615dbcc7316e7b890a13fb241">kActive</enumvalue>
      <enumvalue file="classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html" anchor="a5fea68eb59ff16f65889751a6caab47da16b903606caf0e3128389431c392faf3">kFinished</enumvalue>
      <enumvalue file="classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html" anchor="a5fea68eb59ff16f65889751a6caab47da1fe5b9fb1c85307a324d83f438c399f2">kTrimmed</enumvalue>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>AddWorkItem</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>aaa1329ff26fffd495b69c76c87fe0f28</anchor>
      <arglist>(std::function&lt; void()&gt; work_item) REQUIRES(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>ComputeConstraint</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a7e6a969aa5ccd3a479a03467092b06b6</anchor>
      <arglist>(const mapping::NodeId &amp;node_id, const mapping::SubmapId &amp;submap_id) REQUIRES(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>ComputeConstraintsForOldScans</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a42cb176283aa9d992f60ee5054f6fd3a</anchor>
      <arglist>(const mapping::Submap *submap) REQUIRES(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>ComputeConstraintsForScan</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a477a9009eea4fc9a8fa3551c7e5e9da7</anchor>
      <arglist>(const mapping::Submap *matching_submap, std::vector&lt; const mapping::Submap * &gt; insertion_submaps, const mapping::Submap *finished_submap, const transform::Rigid2d &amp;pose) REQUIRES(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>transform::Rigid3d</type>
      <name>ComputeLocalToGlobalTransform</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a27e779b11e2e6792ee9cc88136e8943c</anchor>
      <arglist>(const std::vector&lt; std::vector&lt; sparse_pose_graph::SubmapData &gt;&gt; &amp;submap_transforms, int trajectory_id) const REQUIRES(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>mapping::SubmapId</type>
      <name>GetSubmapId</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>aa0cc7824c2f19d949428457f0d156174</anchor>
      <arglist>(const mapping::Submap *submap) const REQUIRES(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>GrowSubmapTransformsAsNeeded</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a83bd4caf8942335ef7911b9acc9b458b</anchor>
      <arglist>(const std::vector&lt; const mapping::Submap * &gt; &amp;insertion_submaps) REQUIRES(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>std::unique_ptr&lt; std::deque&lt; std::function&lt; void()&gt; &gt; &gt; scan_queue_</type>
      <name>GUARDED_BY</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a50d43449ecb5965307c24602805d0cb5</anchor>
      <arglist>(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>mapping::TrajectoryConnectivity trajectory_connectivity_</type>
      <name>GUARDED_BY</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a364ed4e873377f14a715a9e0e93ee10f</anchor>
      <arglist>(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>std::unordered_map&lt; int, std::unique_ptr&lt; common::FixedRatioSampler &gt; &gt; global_localization_samplers_</type>
      <name>GUARDED_BY</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>adaefae6b7e7690370843b7959e3ae8d4</anchor>
      <arglist>(mutex_)</arglist>
    </member>
    <member kind="function" protection="private" virtualness="pure">
      <type>int num_scans_since_last_loop_closure_</type>
      <name>GUARDED_BY</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a9d458fb4919614ff46976dce4888e8f2</anchor>
      <arglist>(mutex_)=0</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool run_loop_closure_</type>
      <name>GUARDED_BY</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>ab8025db65b1fbc3979ef7d75104e2929</anchor>
      <arglist>(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>sparse_pose_graph::ConstraintBuilder constraint_builder_</type>
      <name>GUARDED_BY</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a002ac21d7b609acdc857a6dfdc6cb6ae</anchor>
      <arglist>(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>std::vector&lt; Constraint &gt; constraints_</type>
      <name>GUARDED_BY</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a30251fdfe7a1ca952f70ad4bc81d608d</anchor>
      <arglist>(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>std::map&lt; const mapping::Submap *, mapping::SubmapId &gt; submap_ids_</type>
      <name>GUARDED_BY</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>adfddc8ac0db246b92970702d35020348</anchor>
      <arglist>(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>mapping::NestedVectorsById&lt; SubmapData, mapping::SubmapId &gt; submap_data_</type>
      <name>GUARDED_BY</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a7d980b39aa0d69539070b2476f065979</anchor>
      <arglist>(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>mapping::NestedVectorsById&lt; mapping::TrajectoryNode, mapping::NodeId &gt; trajectory_nodes_</type>
      <name>GUARDED_BY</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>ad09a4925c072f8c5dca55a937daa674d</anchor>
      <arglist>(mutex_)</arglist>
    </member>
    <member kind="function" protection="private" virtualness="pure">
      <type>int num_trajectory_nodes_</type>
      <name>GUARDED_BY</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>aa9c187983b6bdc039b2267528cfabb4e</anchor>
      <arglist>(mutex_)=0</arglist>
    </member>
    <member kind="function" protection="private">
      <type>std::vector&lt; std::vector&lt; sparse_pose_graph::SubmapData &gt; &gt; optimized_submap_transforms_</type>
      <name>GUARDED_BY</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a85cd33c4837fa89b8180c3e50c27de70</anchor>
      <arglist>(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>std::vector&lt; std::unique_ptr&lt; mapping::PoseGraphTrimmer &gt; &gt; trimmers_</type>
      <name>GUARDED_BY</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>ab17bdeb185e101c349282a1fd6f6c49e</anchor>
      <arglist>(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>HandleScanQueue</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>ac46a2d4907ae61200d0ce07721b05914</anchor>
      <arglist>() REQUIRES(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>RunOptimization</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a837144a2c6f0adc1a4ca5e1a16d64f88</anchor>
      <arglist>() EXCLUDES(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>WaitForAllComputations</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>acb72699904ff899a4bc6cdb35d3ed5c2</anchor>
      <arglist>() EXCLUDES(mutex_)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; std::vector&lt; int &gt; &gt;</type>
      <name>connected_components_</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a1c03d34117177c6ba400ed86b3782b9e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>common::Mutex</type>
      <name>mutex_</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a5951a5027c42ccef375d86533c695b6a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>sparse_pose_graph::OptimizationProblem</type>
      <name>optimization_problem_</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a4cdf555790eefd67edb7db62c0650067</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const mapping::proto::SparsePoseGraphOptions</type>
      <name>options_</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>abecf8dd2b2fd4754ebb6adfa2ad3dc3b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::map&lt; int, size_t &gt;</type>
      <name>reverse_connected_components_</name>
      <anchorfile>classcartographer_1_1mapping__2d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a0c9fcf668754098accb85c6afab2ce7b</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>cartographer::mapping_3d::SparsePoseGraph</name>
    <filename>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</filename>
    <base>cartographer::mapping::SparsePoseGraph</base>
    <class kind="struct">cartographer::mapping_3d::SparsePoseGraph::SubmapData</class>
    <member kind="function">
      <type>void</type>
      <name>AddImuData</name>
      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a199f54228bf35d15840ceff315dcb987</anchor>
      <arglist>(int trajectory_id, common::Time time, const Eigen::Vector3d &amp;linear_acceleration, const Eigen::Vector3d &amp;angular_velocity)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>AddScan</name>
      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a544f9263d7644573e9f53c82c7738077</anchor>
      <arglist>(common::Time time, const sensor::RangeData &amp;range_data_in_tracking, const transform::Rigid3d &amp;pose, int trajectory_id, const Submap *matching_submap, const std::vector&lt; const Submap * &gt; &amp;insertion_submaps) EXCLUDES(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>AddTrimmer</name>
      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a6987d66b1f72ca241f7dbc9e1e2efa9b</anchor>
      <arglist>(std::unique_ptr&lt; mapping::PoseGraphTrimmer &gt; trimmer) override</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; Constraint &gt;</type>
      <name>constraints</name>
      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>acccde3b357a303b4b5743a2c6ea1d3f7</anchor>
      <arglist>() override EXCLUDES(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; std::vector&lt; int &gt; &gt;</type>
      <name>GetConnectedTrajectories</name>
      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a0e7477136fa2fe90a2ff78f8e949c474</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>transform::Rigid3d</type>
      <name>GetLocalToGlobalTransform</name>
      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a2b158f80d1629a8017165c0d25362a97</anchor>
      <arglist>(int trajectory_id) EXCLUDES(mutex_) override</arglist>
    </member>
    <member kind="function">
      <type>transform::Rigid3d</type>
      <name>GetSubmapTransform</name>
      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a5a2ac826662cc1662e04c02d69b901fc</anchor>
      <arglist>(const mapping::SubmapId &amp;submap_id) EXCLUDES(mutex_) override</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; std::vector&lt; mapping::TrajectoryNode &gt; &gt;</type>
      <name>GetTrajectoryNodes</name>
      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a49fe4b07058aa50a5bd3650270eb4f07</anchor>
      <arglist>() override EXCLUDES(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>num_submaps</name>
      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a9b29c42848eb234f107415ec90cc1c2d</anchor>
      <arglist>(int trajectory_id) EXCLUDES(mutex_) override</arglist>
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    <member kind="function">
      <type>SparsePoseGraph &amp;</type>
      <name>operator=</name>
      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a20e87530ac981db267896373da1d596c</anchor>
      <arglist>(const SparsePoseGraph &amp;)=delete</arglist>
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    <member kind="function">
      <type>void</type>
      <name>RunFinalOptimization</name>
      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>ab69cce97c2b8ab347444590aa5010214</anchor>
      <arglist>() override</arglist>
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    <member kind="function">
      <type></type>
      <name>SparsePoseGraph</name>
      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a306f8fa7c50ebff7391877d781b70b3c</anchor>
      <arglist>(const mapping::proto::SparsePoseGraphOptions &amp;options, common::ThreadPool *thread_pool)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SparsePoseGraph</name>
      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a45022c1c3e62b2e8174204985f2217e0</anchor>
      <arglist>(const SparsePoseGraph &amp;)=delete</arglist>
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    <member kind="function">
      <type></type>
      <name>~SparsePoseGraph</name>
      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a636f0c8a19274b8578b9e2e71b1206c9</anchor>
      <arglist>() override</arglist>
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    <member kind="enumeration" protection="private">
      <type></type>
      <name>SubmapState</name>
      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a96121d52806fb60e5b624237fe7eb0b7</anchor>
      <arglist></arglist>
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    <member kind="function" protection="private">
      <type>void</type>
      <name>AddWorkItem</name>
      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>acc917f9d26469f95042090b8dba4d455</anchor>
      <arglist>(std::function&lt; void()&gt; work_item) REQUIRES(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>ComputeConstraint</name>
      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a4bb4065cbdfdfb358291d448358b55e1</anchor>
      <arglist>(const mapping::NodeId &amp;node_id, const mapping::SubmapId &amp;submap_id) REQUIRES(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>ComputeConstraintsForOldScans</name>
      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a9dd970038f68e9b3ef7bf7e3edcc977e</anchor>
      <arglist>(const Submap *submap) REQUIRES(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>ComputeConstraintsForScan</name>
      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a5ea98799733e0e9549a1154e40db4ef2</anchor>
      <arglist>(const Submap *matching_submap, std::vector&lt; const Submap * &gt; insertion_submaps, const Submap *finished_submap, const transform::Rigid3d &amp;pose) REQUIRES(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>transform::Rigid3d</type>
      <name>ComputeLocalToGlobalTransform</name>
      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>aaf2d59f445856250b0a8aa3ef0b47f27</anchor>
      <arglist>(const std::vector&lt; std::vector&lt; sparse_pose_graph::SubmapData &gt;&gt; &amp;submap_transforms, int trajectory_id) const REQUIRES(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>mapping::SubmapId</type>
      <name>GetSubmapId</name>
      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a9e4734528a1616385deea63cc6b8862e</anchor>
      <arglist>(const mapping::Submap *submap) const REQUIRES(mutex_)</arglist>
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    <member kind="function" protection="private">
      <type>void</type>
      <name>GrowSubmapTransformsAsNeeded</name>
      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a0109faefc20d7f8bba42f4d90c232163</anchor>
      <arglist>(const std::vector&lt; const Submap * &gt; &amp;insertion_submaps) REQUIRES(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>std::unique_ptr&lt; std::deque&lt; std::function&lt; void()&gt; &gt; &gt; scan_queue_</type>
      <name>GUARDED_BY</name>
      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a89309e87405bdc36a92dc2f2d056cff8</anchor>
      <arglist>(mutex_)</arglist>
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      <type>mapping::TrajectoryConnectivity trajectory_connectivity_</type>
      <name>GUARDED_BY</name>
      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a327c63864a65f55128968111fc0e927c</anchor>
      <arglist>(mutex_)</arglist>
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    <member kind="function" protection="private">
      <type>std::unordered_map&lt; int, std::unique_ptr&lt; common::FixedRatioSampler &gt; &gt; global_localization_samplers_</type>
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      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
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      <arglist>(mutex_)</arglist>
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      <type>int num_scans_since_last_loop_closure_</type>
      <name>GUARDED_BY</name>
      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
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      <arglist>(mutex_)=0</arglist>
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      <type>bool run_loop_closure_</type>
      <name>GUARDED_BY</name>
      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
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      <arglist>(mutex_)</arglist>
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      <type>sparse_pose_graph::ConstraintBuilder constraint_builder_</type>
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      <arglist>(mutex_)</arglist>
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      <type>std::vector&lt; Constraint &gt; constraints_</type>
      <name>GUARDED_BY</name>
      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
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      <arglist>(mutex_)</arglist>
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      <type>std::map&lt; const mapping::Submap *, mapping::SubmapId &gt; submap_ids_</type>
      <name>GUARDED_BY</name>
      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
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      <arglist>(mutex_)</arglist>
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      <type>mapping::NestedVectorsById&lt; SubmapData, mapping::SubmapId &gt; submap_data_</type>
      <name>GUARDED_BY</name>
      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
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      <arglist>(mutex_)</arglist>
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      <type>mapping::NestedVectorsById&lt; mapping::TrajectoryNode, mapping::NodeId &gt; trajectory_nodes_</type>
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      <arglist>(mutex_)</arglist>
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      <type>int num_trajectory_nodes_</type>
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      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
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      <arglist>(mutex_)=0</arglist>
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      <type>std::vector&lt; std::vector&lt; sparse_pose_graph::SubmapData &gt; &gt; optimized_submap_transforms_</type>
      <name>GUARDED_BY</name>
      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
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      <arglist>(mutex_)</arglist>
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      <type>void</type>
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      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a6eecf90b2822fb4900f31a5546714247</anchor>
      <arglist>() REQUIRES(mutex_)</arglist>
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      <type>void</type>
      <name>RunOptimization</name>
      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a78853684a2f356943d38c9514dbda160</anchor>
      <arglist>() EXCLUDES(mutex_)</arglist>
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    <member kind="function" protection="private">
      <type>void</type>
      <name>WaitForAllComputations</name>
      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a05a71779205721d49e89467087770ba1</anchor>
      <arglist>() EXCLUDES(mutex_)</arglist>
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    <member kind="variable" protection="private">
      <type>std::vector&lt; std::vector&lt; int &gt; &gt;</type>
      <name>connected_components_</name>
      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a0e8626e8ac2d488ceb239d4fe9419f40</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>common::Mutex</type>
      <name>mutex_</name>
      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a56a36b66cceb72867207e78d98d40eb7</anchor>
      <arglist></arglist>
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      <type>sparse_pose_graph::OptimizationProblem</type>
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      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>afe33fe3a06c714aa473631cce0d5e043</anchor>
      <arglist></arglist>
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      <type>const mapping::proto::SparsePoseGraphOptions</type>
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      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
      <anchor>a71875196cd32a6a5eb3939e92b2db73c</anchor>
      <arglist></arglist>
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      <type>std::map&lt; int, size_t &gt;</type>
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      <anchorfile>classcartographer_1_1mapping__3d_1_1SparsePoseGraph.html</anchorfile>
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      <arglist></arglist>
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      <type>virtual void</type>
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      <anchorfile>classcartographer_1_1mapping_1_1SparsePoseGraph.html</anchorfile>
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      <arglist>(std::unique_ptr&lt; PoseGraphTrimmer &gt; trimmer)=0</arglist>
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      <type>virtual std::vector&lt; Constraint &gt;</type>
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      <arglist>()=0</arglist>
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      <type>virtual std::vector&lt; std::vector&lt; int &gt; &gt;</type>
      <name>GetConnectedTrajectories</name>
      <anchorfile>classcartographer_1_1mapping_1_1SparsePoseGraph.html</anchorfile>
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      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual transform::Rigid3d</type>
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      <anchorfile>classcartographer_1_1mapping_1_1SparsePoseGraph.html</anchorfile>
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      <arglist>(int trajectory_id)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual transform::Rigid3d</type>
      <name>GetSubmapTransform</name>
      <anchorfile>classcartographer_1_1mapping_1_1SparsePoseGraph.html</anchorfile>
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      <arglist>(const SubmapId &amp;submap_id)=0</arglist>
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      <type>virtual std::vector&lt; std::vector&lt; TrajectoryNode &gt; &gt;</type>
      <name>GetTrajectoryNodes</name>
      <anchorfile>classcartographer_1_1mapping_1_1SparsePoseGraph.html</anchorfile>
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      <arglist>()=0</arglist>
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      <name>num_submaps</name>
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      <arglist>(int trajectory_id)=0</arglist>
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      <type>SparsePoseGraph &amp;</type>
      <name>operator=</name>
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      <arglist>(const SparsePoseGraph &amp;)=delete</arglist>
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      <name>RunFinalOptimization</name>
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      <arglist>()=0</arglist>
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      <name>SparsePoseGraph</name>
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      <arglist>()</arglist>
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      <arglist>(const SparsePoseGraph &amp;)=delete</arglist>
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      <anchorfile>classcartographer_1_1mapping_1_1SparsePoseGraph.html</anchorfile>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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    <member kind="function">
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      <name>State</name>
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      <arglist>(const Eigen::Vector3d &amp;translation, const Eigen::Quaterniond &amp;rotation, const Eigen::Vector3d &amp;velocity)</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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  <compound kind="class">
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    <base>cartographer::io::FileWriter</base>
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      <arglist>() override</arglist>
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      <arglist>(const char *data, size_t len) override</arglist>
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