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      <arglist></arglist>
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      <arglist>() const</arglist>
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      <arglist>(const size_t v, const size_t depth=0)</arglist>
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      <arglist>(const floatzero)</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(const size_t v, const size_t depth=0)</arglist>
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      <arglist>(const intzero)</arglist>
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      <arglist>() const</arglist>
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      <arglist>(const CyclicVecInt&lt; DIM, NONCYCLIC &gt; &amp;pos)</arglist>
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      <arglist>(const CyclicVecInt&lt; DIM, NONCYCLIC &gt; &amp;pos) const</arglist>
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    <member kind="function">
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      <anchorfile>classplanner__cspace_1_1BlockMemGridmap.html</anchorfile>
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      <arglist>(const CyclicVecInt&lt; DIM, NONCYCLIC &gt; &amp;size)</arglist>
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    <member kind="function">
      <type>size_t</type>
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      <anchorfile>classplanner__cspace_1_1BlockMemGridmap.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>const CyclicVecInt&lt; DIM, NONCYCLIC &gt; &amp;</type>
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      <arglist>() const</arglist>
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      <arglist>(const CyclicVecInt&lt; DIM, NONCYCLIC &gt; &amp;pos, const int tolerance=0) const</arglist>
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      <anchorfile>classplanner__cspace_1_1BlockMemGridmap.html</anchorfile>
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      <arglist>(const CyclicVecInt&lt; DIM, NONCYCLIC &gt; &amp;pos, size_t &amp;baddr, size_t &amp;addr) const</arglist>
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    <member kind="variable" protection="protected">
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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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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <anchorfile>classplanner__cspace_1_1BlockMemGridmap.html</anchorfile>
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      <arglist>(const int v)</arglist>
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      <arglist>(const size_t v, const size_t depth=0)</arglist>
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      <arglist>()</arglist>
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      <arglist>(const T zero)</arglist>
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      <arglist>(const T zero)</arglist>
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      <arglist>() const</arglist>
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      <anchorfile>classplanner__cspace_1_1BlockMemGridmap.html</anchorfile>
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      <arglist>(const CyclicVecInt&lt; DIM, NONCYCLIC &gt; &amp;size)</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(const CyclicVecInt&lt; DIM, NONCYCLIC &gt; &amp;pos, const int tolerance=0) const</arglist>
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      <anchorfile>classplanner__cspace_1_1BlockMemGridmap.html</anchorfile>
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      <arglist>(const CyclicVecInt&lt; DIM, NONCYCLIC &gt; &amp;pos, size_t &amp;baddr, size_t &amp;addr) const</arglist>
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    <member kind="variable" protection="protected">
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      <anchorfile>classplanner__cspace_1_1BlockMemGridmap.html</anchorfile>
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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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      <anchorfile>classplanner__cspace_1_1BlockMemGridmap.html</anchorfile>
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      <arglist>(const int v)</arglist>
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      <arglist>(const size_t v, const size_t depth=0)</arglist>
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      <arglist>() const =0</arglist>
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      <arglist>() const =0</arglist>
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      <arglist>() const =0</arglist>
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    <member kind="function" virtualness="pure">
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      <arglist>(const bbf::BinaryBayesFilterzero)=0</arglist>
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      <arglist>() const =0</arglist>
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    <member kind="function" virtualness="pure">
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      <arglist>(const CyclicVecInt&lt; DIM, NONCYCLIC &gt; &amp;pos)=0</arglist>
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    <member kind="function" virtualness="pure">
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      <arglist>(const CyclicVecInt&lt; DIM, NONCYCLIC &gt; &amp;size)=0</arglist>
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    <member kind="function" virtualness="pure">
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      <arglist>() const =0</arglist>
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      <arglist>() const =0</arglist>
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    <member kind="function" virtualness="pure">
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      <arglist>(const charzero)=0</arglist>
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      <arglist>() const =0</arglist>
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      <anchorfile>classplanner__cspace_1_1BlockMemGridmapBase.html</anchorfile>
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      <arglist>(const CyclicVecInt&lt; DIM, NONCYCLIC &gt; &amp;pos)=0</arglist>
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    <member kind="function" virtualness="pure">
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      <arglist>(const CyclicVecInt&lt; DIM, NONCYCLIC &gt; &amp;pos) const =0</arglist>
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      <type>virtual void</type>
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      <arglist>(const CyclicVecInt&lt; DIM, NONCYCLIC &gt; &amp;size)=0</arglist>
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    <member kind="function" virtualness="pure">
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      <arglist>() const =0</arglist>
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      <arglist>() const =0</arglist>
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    <member kind="function" virtualness="pure">
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      <anchorfile>classplanner__cspace_1_1BlockMemGridmapBase.html</anchorfile>
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      <arglist>(const charzero)=0</arglist>
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    <member kind="function" virtualness="pure">
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      <arglist>() const =0</arglist>
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      <arglist>(const CyclicVecInt&lt; DIM, NONCYCLIC &gt; &amp;pos)=0</arglist>
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      <arglist>(const CyclicVecInt&lt; DIM, NONCYCLIC &gt; &amp;pos) const =0</arglist>
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    <member kind="function" virtualness="pure">
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      <arglist>(const CyclicVecInt&lt; DIM, NONCYCLIC &gt; &amp;size)=0</arglist>
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    <member kind="function" virtualness="pure">
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      <arglist>() const =0</arglist>
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      <arglist>() const =0</arglist>
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      <arglist>(const charzero)=0</arglist>
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      <arglist>() const =0</arglist>
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      <arglist>(const CyclicVecInt&lt; DIM, NONCYCLIC &gt; &amp;pos)=0</arglist>
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      <arglist>(const CyclicVecInt&lt; DIM, NONCYCLIC &gt; &amp;pos) const =0</arglist>
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      <arglist>(const CyclicVecInt&lt; DIM, NONCYCLIC &gt; &amp;size)=0</arglist>
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    <member kind="function" virtualness="pure">
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      <arglist>() const =0</arglist>
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      <name>size</name>
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      <arglist>() const =0</arglist>
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    <filename>classplanner__cspace_1_1BlockMemGridmapBase.html</filename>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
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      <arglist>(const floatzero)=0</arglist>
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      <anchorfile>classplanner__cspace_1_1BlockMemGridmapBase.html</anchorfile>
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      <arglist>() const =0</arglist>
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      <arglist>(const CyclicVecInt&lt; DIM, NONCYCLIC &gt; &amp;pos)=0</arglist>
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    <member kind="function" virtualness="pure">
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      <arglist>(const CyclicVecInt&lt; DIM, NONCYCLIC &gt; &amp;pos) const =0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>reset</name>
      <anchorfile>classplanner__cspace_1_1BlockMemGridmapBase.html</anchorfile>
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      <arglist>(const CyclicVecInt&lt; DIM, NONCYCLIC &gt; &amp;size)=0</arglist>
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    <member kind="function" virtualness="pure">
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      <name>ser_size</name>
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      <anchor>a7d06c65653dca75eeabf93cbf085b091</anchor>
      <arglist>() const =0</arglist>
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      <type>virtual const CyclicVecInt&lt; DIM, NONCYCLIC &gt; &amp;</type>
      <name>size</name>
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      <arglist>() const =0</arglist>
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    <filename>classplanner__cspace_1_1BlockMemGridmapBase.html</filename>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
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      <anchorfile>classplanner__cspace_1_1BlockMemGridmapBase.html</anchorfile>
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      <arglist>(const floatzero)=0</arglist>
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      <anchorfile>classplanner__cspace_1_1BlockMemGridmapBase.html</anchorfile>
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      <arglist>() const =0</arglist>
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      <anchorfile>classplanner__cspace_1_1BlockMemGridmapBase.html</anchorfile>
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      <arglist>(const CyclicVecInt&lt; DIM, NONCYCLIC &gt; &amp;pos)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual const float</type>
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      <anchorfile>classplanner__cspace_1_1BlockMemGridmapBase.html</anchorfile>
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      <arglist>(const CyclicVecInt&lt; DIM, NONCYCLIC &gt; &amp;pos) const =0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>reset</name>
      <anchorfile>classplanner__cspace_1_1BlockMemGridmapBase.html</anchorfile>
      <anchor>a96c897d6ce94fc802dfa8c99ab7a3281</anchor>
      <arglist>(const CyclicVecInt&lt; DIM, NONCYCLIC &gt; &amp;size)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual size_t</type>
      <name>ser_size</name>
      <anchorfile>classplanner__cspace_1_1BlockMemGridmapBase.html</anchorfile>
      <anchor>a7d06c65653dca75eeabf93cbf085b091</anchor>
      <arglist>() const =0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual const CyclicVecInt&lt; DIM, NONCYCLIC &gt; &amp;</type>
      <name>size</name>
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      <arglist>() const =0</arglist>
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    <filename>classplanner__cspace_1_1BlockMemGridmapBase.html</filename>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>clear</name>
      <anchorfile>classplanner__cspace_1_1BlockMemGridmapBase.html</anchorfile>
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      <arglist>(const intzero)=0</arglist>
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      <type>virtual std::function&lt; void(CyclicVecInt&lt; DIM, NONCYCLIC &gt;, size_t &amp;, size_t &amp;)&gt;</type>
      <name>getAddressor</name>
      <anchorfile>classplanner__cspace_1_1BlockMemGridmapBase.html</anchorfile>
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      <arglist>() const =0</arglist>
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      <type>virtual int &amp;</type>
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      <anchorfile>classplanner__cspace_1_1BlockMemGridmapBase.html</anchorfile>
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      <arglist>(const CyclicVecInt&lt; DIM, NONCYCLIC &gt; &amp;pos)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual const int</type>
      <name>operator[]</name>
      <anchorfile>classplanner__cspace_1_1BlockMemGridmapBase.html</anchorfile>
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      <arglist>(const CyclicVecInt&lt; DIM, NONCYCLIC &gt; &amp;pos) const =0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>reset</name>
      <anchorfile>classplanner__cspace_1_1BlockMemGridmapBase.html</anchorfile>
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      <arglist>(const CyclicVecInt&lt; DIM, NONCYCLIC &gt; &amp;size)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual size_t</type>
      <name>ser_size</name>
      <anchorfile>classplanner__cspace_1_1BlockMemGridmapBase.html</anchorfile>
      <anchor>a7d06c65653dca75eeabf93cbf085b091</anchor>
      <arglist>() const =0</arglist>
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      <type>virtual const CyclicVecInt&lt; DIM, NONCYCLIC &gt; &amp;</type>
      <name>size</name>
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      <arglist>() const =0</arglist>
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    <name>planner_cspace::BlockMemGridmapHelper</name>
    <filename>classplanner__cspace_1_1BlockMemGridmapHelper.html</filename>
    <templarg>BLOCK_WIDTH</templarg>
    <base>BlockMemGridmap&lt; int, 1, 1, BLOCK_WIDTH, false &gt;</base>
    <member kind="function">
      <type>size_t</type>
      <name>getBlockBit</name>
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      <arglist>() const </arglist>
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    <name>planner_cspace::planner_2dof_serial_joints::CostCoeff</name>
    <filename>classplanner__cspace_1_1planner__2dof__serial__joints_1_1CostCoeff.html</filename>
    <member kind="variable">
      <type>float</type>
      <name>expand_</name>
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      <anchor>ad4efd87b71cfc51138043273f913933a</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>float</type>
      <name>weight_cost_</name>
      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1CostCoeff.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable">
      <type>float</type>
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      <anchor>aba963aeb5e66689b4179bb199d530306</anchor>
      <arglist></arglist>
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      <type>float</type>
      <name>hysteresis_expand_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1CostCoeff.html</anchorfile>
      <anchor>af5e632058de918dccd0344642bc72cab</anchor>
      <arglist></arglist>
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      <anchor>a4b47870c98752674b52a15147561c7d8</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>float</type>
      <name>in_place_turn_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1CostCoeff.html</anchorfile>
      <anchor>a316becd34bf9e8ca17163a70d162d843</anchor>
      <arglist></arglist>
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      <type>float</type>
      <name>max_ang_vel_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1CostCoeff.html</anchorfile>
      <anchor>af3eb31c3b6e49200105ffd48728ca493</anchor>
      <arglist></arglist>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1CostCoeff.html</anchorfile>
      <anchor>ad41828ffda246513f97467b3bc4c1f1a</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>float</type>
      <name>min_curve_radius_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1CostCoeff.html</anchorfile>
      <anchor>af66d6993d6abd929521cbc96315c9d51</anchor>
      <arglist></arglist>
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      <name>weight_ang_vel_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1CostCoeff.html</anchorfile>
      <anchor>a9e42fae7e0fabbfd2f76ef39370b97cf</anchor>
      <arglist></arglist>
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      <type>float</type>
      <name>weight_backward_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1CostCoeff.html</anchorfile>
      <anchor>a61d6b1c2bdff57b076baba03054f1ea7</anchor>
      <arglist></arglist>
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      <type>float</type>
      <name>weight_costmap_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1CostCoeff.html</anchorfile>
      <anchor>a30fd4ed9bb6adad054b8e4b928be703a</anchor>
      <arglist></arglist>
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    <member kind="variable">
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      <name>weight_costmap_turn_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1CostCoeff.html</anchorfile>
      <anchor>a474ba67874f4b2304d9d644f59c1c1f6</anchor>
      <arglist></arglist>
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      <name>weight_decel_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1CostCoeff.html</anchorfile>
      <anchor>a6aef8d510ef07f144188839ef4caf917</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>float</type>
      <name>weight_hysteresis_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1CostCoeff.html</anchorfile>
      <anchor>a37597b4b85d8190db0d984af31d11ea5</anchor>
      <arglist></arglist>
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      <type>float</type>
      <name>weight_remembered_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1CostCoeff.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>planner_cspace::planner_3d::CostmapBBF</name>
    <filename>classplanner__cspace_1_1planner__3d_1_1CostmapBBF.html</filename>
    <member kind="typedef">
      <type>CyclicVecInt&lt; 3, 2 &gt;</type>
      <name>Vec</name>
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      <arglist></arglist>
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      <arglist>()</arglist>
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    <member kind="function">
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      <anchor>a66e8bcda1e44eb674401fb337f9bb000</anchor>
      <arglist>()</arglist>
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    <member kind="function">
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      <name>forEach</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1CostmapBBF.html</anchorfile>
      <anchor>abd2d547ffbbcee99ad340a5154add2a2</anchor>
      <arglist>(const std::function&lt; void(const Vec &amp;, bbf::BinaryBayesFilter &amp;)&gt; cb)</arglist>
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    <member kind="function">
      <type>char</type>
      <name>getCost</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1CostmapBBF.html</anchorfile>
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      <arglist>(const Vec &amp;p) const </arglist>
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      <type>void</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1CostmapBBF.html</anchorfile>
      <anchor>a38c73c0b6ecec9230a62c3e23d2a2840</anchor>
      <arglist>(const BlockMemGridmapBase&lt; char, 3, 2 &gt; *const costmap, const Vec &amp;center, const float remember_hit_odds, const float remember_miss_odds, const int range_min, const int range_max)</arglist>
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      <arglist>(const Vec &amp;size)</arglist>
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      <anchor>a8412b6ddd2db6b1b5582cfad6b772998</anchor>
      <arglist>()</arglist>
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    <member kind="typedef" protection="private">
      <type>CyclicVecInt&lt; 2, 2 &gt;</type>
      <name>VecInternal</name>
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      <anchor>a3b98c7a51c8fc3318262cb941bead44e</anchor>
      <arglist></arglist>
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      <type>BlockMemGridmap&lt; char, 2, 2, 0x80 &gt;</type>
      <name>cm_hist_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1CostmapBBF.html</anchorfile>
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      <arglist></arglist>
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      <type>BlockMemGridmap&lt; bbf::BinaryBayesFilter, 2, 2, 0x20 &gt;</type>
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      <arglist></arglist>
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      <arglist></arglist>
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  <compound kind="class">
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    <templarg>DIM</templarg>
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    <templarg>T</templarg>
    <member kind="function">
      <type>float</type>
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      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T &gt; &amp;a) const </arglist>
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      <arglist>(const int res, const ArgList &amp;...rest)</arglist>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
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      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T &gt; &amp;res)</arglist>
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      <arglist>(const int res, const ArgList &amp;...rest)</arglist>
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      <type>void</type>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
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      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T &gt; &amp;res)</arglist>
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      <name>CyclicVecBase</name>
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      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T2 &gt; &amp;c) noexcept</arglist>
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      <name>CyclicVecBase</name>
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      <arglist>(const float &amp;v, const ArgList &amp;...args) noexcept</arglist>
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      <name>CyclicVecBase</name>
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      <arglist>(const int &amp;v, const ArgList &amp;...args) noexcept</arglist>
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      <type></type>
      <name>CyclicVecBase</name>
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      <arglist>() noexcept</arglist>
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      <type>float</type>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
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      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T &gt; &amp;a, const CyclicVecBase&lt; DIM, NONCYCLIC, T &gt; &amp;b) const </arglist>
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      <type>float</type>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
      <anchor>a1e40692bec59ea5feb42f5c14bd22fcf</anchor>
      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T &gt; &amp;a, const CyclicVecBase&lt; DIM, NONCYCLIC, T &gt; &amp;b) const </arglist>
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      <type>float</type>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
      <anchor>a0938657b5f7ebcd85496e9c61a8e7aec</anchor>
      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T &gt; &amp;a) const </arglist>
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      <type>float</type>
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      <arglist>() const </arglist>
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      <type>bool</type>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
      <anchor>ac5343e808717dc36ad66222b684879a9</anchor>
      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, int &gt; &amp;v) const </arglist>
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      <type>float</type>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
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      <arglist>() const </arglist>
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      <type>float</type>
      <name>norm</name>
      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
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      <arglist>() const </arglist>
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      <type>bool</type>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
      <anchor>a529bf7de5e9e7ff2076b99fe73f75339</anchor>
      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T2 &gt; &amp;v) const </arglist>
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      <type>size_t</type>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
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      <arglist>(const CyclicVecBase &amp;key) const </arglist>
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      <type>CyclicVecBase&lt; DIM, NONCYCLIC, T2 &gt;</type>
      <name>operator*</name>
      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
      <anchor>a85817a16a5c09283d9c0afd546d96486</anchor>
      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T2 &gt; &amp;v) const </arglist>
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      <type>CyclicVecBase&lt; DIM, NONCYCLIC, T2 &gt;</type>
      <name>operator+</name>
      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
      <anchor>a12f7678a5fc4fd18bf1c590c43e4b9d2</anchor>
      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T2 &gt; &amp;v) const </arglist>
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      <type>CyclicVecBase&lt; DIM, NONCYCLIC, T2 &gt;</type>
      <name>operator-</name>
      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
      <anchor>ae35597c7f7fa39fa47f1d06f5ecf19e5</anchor>
      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T2 &gt; &amp;v) const </arglist>
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      <type>bool</type>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
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      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T2 &gt; &amp;v) const </arglist>
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      <type>T &amp;</type>
      <name>operator[]</name>
      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
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      <arglist>(const int &amp;x)</arglist>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
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      <arglist>(const int &amp;x) const </arglist>
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      <type>void</type>
      <name>rotate</name>
      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
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      <arglist>(const float ang)</arglist>
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    <member kind="function">
      <type>T</type>
      <name>sqlen</name>
      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
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      <arglist>() const </arglist>
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      <type>void</type>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
      <anchor>af56b6687965b64171ab24b6165d0e92e</anchor>
      <arglist>(const int i, const int res)</arglist>
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      <type>void</type>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
      <anchor>acf00f69045c6d44c349c5a470e143a60</anchor>
      <arglist>(const int i, const int res, const ArgList &amp;...rest)</arglist>
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      <type>void</type>
      <name>cycleElements</name>
      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
      <anchor>ad7b37ec39599ba812235dd02db4248ed</anchor>
      <arglist>(const int i)</arglist>
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      <type>void</type>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
      <anchor>aa1d457c08ce8c09a89c19a9743a4461a</anchor>
      <arglist>(const int i, const int res)</arglist>
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      <type>void</type>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
      <anchor>a988fce3bdc2b1afc77adcfa00b455274</anchor>
      <arglist>(const int i, const int res, const ArgList &amp;...rest)</arglist>
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      <type>void</type>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
      <anchor>a04f5cd3a0ae1c72a10ab740e9feb2613</anchor>
      <arglist>(const int i)</arglist>
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      <type>void</type>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
      <anchor>a7a4c831619f21f23c5a33fadd0dad7ae</anchor>
      <arglist>(const int i, const T2 &amp;first, const ArgList &amp;...rest) noexcept</arglist>
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      <type>void</type>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
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      <arglist>(const int i) noexcept</arglist>
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      <type>T</type>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
      <anchor>add498c4b85395bcf07ac99b8c6bd1653</anchor>
      <arglist>[DIM]</arglist>
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    <member kind="function">
      <type>float</type>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
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      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T &gt; &amp;a) const</arglist>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
      <anchor>acc04c67567175461f7dd4517e1582427</anchor>
      <arglist>(const int res, const ArgList &amp;...rest)</arglist>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
      <anchor>ae0b5ecb0d2935f8995dd6e211bf4b1e9</anchor>
      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T &gt; &amp;res)</arglist>
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      <type>void</type>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
      <anchor>a50db0d41c0e640e2e0f8a9a94606f325</anchor>
      <arglist>(const int res, const ArgList &amp;...rest)</arglist>
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      <type>void</type>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
      <anchor>a6e8ab4c5bff75098cdf09aebe1a24919</anchor>
      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T &gt; &amp;res)</arglist>
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      <name>CyclicVecBase</name>
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      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T2 &gt; &amp;c) noexcept</arglist>
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      <name>CyclicVecBase</name>
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      <arglist>(const float &amp;v, const ArgList &amp;...args) noexcept</arglist>
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      <arglist>(const int &amp;v, const ArgList &amp;...args) noexcept</arglist>
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      <arglist>() noexcept</arglist>
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      <type>float</type>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
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      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T &gt; &amp;a, const CyclicVecBase&lt; DIM, NONCYCLIC, T &gt; &amp;b) const</arglist>
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      <type>float</type>
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      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T &gt; &amp;a, const CyclicVecBase&lt; DIM, NONCYCLIC, T &gt; &amp;b) const</arglist>
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      <type>float</type>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
      <anchor>a0938657b5f7ebcd85496e9c61a8e7aec</anchor>
      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T &gt; &amp;a) const</arglist>
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      <type>float</type>
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      <anchor>ab11e3d4adf538e6bcd998c0b71d136c3</anchor>
      <arglist>() const</arglist>
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      <type>bool</type>
      <name>isExceeded</name>
      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
      <anchor>ac5343e808717dc36ad66222b684879a9</anchor>
      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, int &gt; &amp;v) const</arglist>
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    <member kind="function">
      <type>float</type>
      <name>len</name>
      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
      <anchor>af9879ab105853a4562d07a5ce65d9df4</anchor>
      <arglist>() const</arglist>
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      <type>float</type>
      <name>norm</name>
      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
      <anchor>a092606bcd0bbeb8472d4cb0a7981ecb6</anchor>
      <arglist>() const</arglist>
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      <type>bool</type>
      <name>operator!=</name>
      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
      <anchor>a529bf7de5e9e7ff2076b99fe73f75339</anchor>
      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T2 &gt; &amp;v) const</arglist>
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      <type>size_t</type>
      <name>operator()</name>
      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
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      <arglist>(const CyclicVecBase &amp;key) const</arglist>
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      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T2 &gt; &amp;v) const</arglist>
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      <type>CyclicVecBase&lt; DIM, NONCYCLIC, T2 &gt;</type>
      <name>operator+</name>
      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
      <anchor>a12f7678a5fc4fd18bf1c590c43e4b9d2</anchor>
      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T2 &gt; &amp;v) const</arglist>
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    <member kind="function">
      <type>CyclicVecBase&lt; DIM, NONCYCLIC, T2 &gt;</type>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
      <anchor>ae35597c7f7fa39fa47f1d06f5ecf19e5</anchor>
      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T2 &gt; &amp;v) const</arglist>
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      <type>bool</type>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
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      <arglist>() const</arglist>
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      <arglist>(const int i, const int res, const ArgList &amp;...rest)</arglist>
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      <arglist>(const int i, const int res)</arglist>
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      <arglist>(const int i, const int res, const ArgList &amp;...rest)</arglist>
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      <arglist>(const int i)</arglist>
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      <arglist>(const int i, const T2 &amp;first, const ArgList &amp;...rest) noexcept</arglist>
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      <arglist>[DIM]</arglist>
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      <type>float</type>
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      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T &gt; &amp;a) const</arglist>
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      <arglist>(const int res, const ArgList &amp;...rest)</arglist>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
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      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T &gt; &amp;res)</arglist>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
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      <arglist>(const int res, const ArgList &amp;...rest)</arglist>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
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      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T &gt; &amp;res)</arglist>
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      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T2 &gt; &amp;c) noexcept</arglist>
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      <arglist>(const float &amp;v, const ArgList &amp;...args) noexcept</arglist>
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      <arglist>(const int &amp;v, const ArgList &amp;...args) noexcept</arglist>
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      <arglist>() noexcept</arglist>
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      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T &gt; &amp;a, const CyclicVecBase&lt; DIM, NONCYCLIC, T &gt; &amp;b) const</arglist>
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      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T &gt; &amp;a, const CyclicVecBase&lt; DIM, NONCYCLIC, T &gt; &amp;b) const</arglist>
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      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T &gt; &amp;a) const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, int &gt; &amp;v) const</arglist>
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      <type>float</type>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <type>bool</type>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
      <anchor>a529bf7de5e9e7ff2076b99fe73f75339</anchor>
      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T2 &gt; &amp;v) const</arglist>
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      <type>size_t</type>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
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      <arglist>(const CyclicVecBase &amp;key) const</arglist>
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      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T2 &gt; &amp;v) const</arglist>
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      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T2 &gt; &amp;v) const</arglist>
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      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T2 &gt; &amp;v) const</arglist>
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      <type>bool</type>
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      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T2 &gt; &amp;v) const</arglist>
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      <arglist>(const int &amp;x)</arglist>
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      <arglist>(const int &amp;x) const</arglist>
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      <arglist>(const float ang)</arglist>
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      <type>T</type>
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      <arglist>() const</arglist>
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      <type>void</type>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
      <anchor>af56b6687965b64171ab24b6165d0e92e</anchor>
      <arglist>(const int i, const int res)</arglist>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
      <anchor>acf00f69045c6d44c349c5a470e143a60</anchor>
      <arglist>(const int i, const int res, const ArgList &amp;...rest)</arglist>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
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      <arglist>(const int i)</arglist>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
      <anchor>aa1d457c08ce8c09a89c19a9743a4461a</anchor>
      <arglist>(const int i, const int res)</arglist>
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      <type>void</type>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
      <anchor>a988fce3bdc2b1afc77adcfa00b455274</anchor>
      <arglist>(const int i, const int res, const ArgList &amp;...rest)</arglist>
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      <type>void</type>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
      <anchor>a04f5cd3a0ae1c72a10ab740e9feb2613</anchor>
      <arglist>(const int i)</arglist>
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      <anchor>a7a4c831619f21f23c5a33fadd0dad7ae</anchor>
      <arglist>(const int i, const T2 &amp;first, const ArgList &amp;...rest) noexcept</arglist>
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      <arglist>(const int i) noexcept</arglist>
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      <type>T</type>
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      <arglist>[DIM]</arglist>
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      <type>float</type>
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      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T &gt; &amp;a) const</arglist>
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      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T &gt; &amp;res)</arglist>
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      <arglist>(const int res, const ArgList &amp;...rest)</arglist>
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      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T &gt; &amp;res)</arglist>
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      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T2 &gt; &amp;c) noexcept</arglist>
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      <arglist>(const float &amp;v, const ArgList &amp;...args) noexcept</arglist>
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      <arglist>(const int &amp;v, const ArgList &amp;...args) noexcept</arglist>
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      <arglist>() noexcept</arglist>
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      <type>float</type>
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      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T &gt; &amp;a, const CyclicVecBase&lt; DIM, NONCYCLIC, T &gt; &amp;b) const</arglist>
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      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T &gt; &amp;a, const CyclicVecBase&lt; DIM, NONCYCLIC, T &gt; &amp;b) const</arglist>
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      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T &gt; &amp;a) const</arglist>
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      <arglist>() const</arglist>
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      <anchorfile>classplanner__cspace_1_1CyclicVecBase.html</anchorfile>
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      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, int &gt; &amp;v) const</arglist>
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      <type>float</type>
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      <arglist>() const</arglist>
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      <type>float</type>
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      <arglist>() const</arglist>
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      <arglist>(const CyclicVecBase&lt; DIM, NONCYCLIC, T2 &gt; &amp;v) const</arglist>
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      <type>size_t</type>
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    <member kind="variable" protection="protected">
      <type>Gridmap&lt; float &gt;</type>
      <name>g_</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>aafc0b6d39ee5a3b02061ca87fa1ceac3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>reservable_priority_queue&lt; PriorityVec &gt;</type>
      <name>open_</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>af0f773eacd8a060b5853eae2c2e2ced3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::unordered_map&lt; Vec, Vec, Vec &gt;</type>
      <name>parents_</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>ab4792f7d04319b4f13a6068f8ab91263</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>size_t</type>
      <name>queue_size_limit_</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>a30b27b08667febd23b8e3cc849157ba1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>size_t</type>
      <name>search_task_num_</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>ad3a143a5d128a3e3743ab048f4f21041</anchor>
      <arglist></arglist>
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    <name>GridAstar&lt; 1, 1 &gt;</name>
    <filename>classplanner__cspace_1_1GridAstar.html</filename>
    <member kind="typedef">
      <type>CyclicVecInt&lt; DIM, NONCYCLIC &gt;</type>
      <name>Vec</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>a400ff36b69b1e381718e3f5029dec736</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>CyclicVecFloat&lt; DIM, NONCYCLIC &gt;</type>
      <name>Vecf</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>a8a6555642ce484b555a13edfd5ee3c57</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>typename GridAstarModelBase&lt; DIM, NONCYCLIC &gt;::VecWithCost</type>
      <name>VecWithCost</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>a426957d298178f0119eb0d336422eb1c</anchor>
      <arglist></arglist>
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    <member kind="function">
      <type>constexpr int</type>
      <name>getDim</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>a5a5d4dc82fec398ef254941e2efff7eb</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>constexpr int</type>
      <name>getNoncyclic</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>af4d44319a19b24cadbade7252775699d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>GridAstar</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>a61e58cae0fbf625ed026948513443482</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>GridAstar</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>a89857d680c11e771133edeb049c9b76c</anchor>
      <arglist>(const Vec size)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>reset</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>a8ffa274a64e868ddd449266e8d3c4e04</anchor>
      <arglist>(const Vec size)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>search</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>ac0ed2732d176aa97a22b636ac6729ade</anchor>
      <arglist>(const std::vector&lt; VecWithCost &gt; &amp;ss, const Vec &amp;e, std::list&lt; Vec &gt; &amp;path, const typename GridAstarModelBase&lt; DIM, NONCYCLIC &gt;::Ptr &amp;model, std::function&lt; bool(const std::list&lt; Vec &gt; &amp;)&gt; cb_progress, const float cost_leave, const float progress_interval, const bool return_best=false)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setQueueSizeLimit</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>a906ce1f0241635929fc4e8f8c6bc4681</anchor>
      <arglist>(const size_t size)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setSearchTaskNum</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>a06d789c8e6a106e4324992f8cd421632</anchor>
      <arglist>(const size_t &amp;search_task_num)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>findPath</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>aed2bc72a0000aaca937a730543e94046</anchor>
      <arglist>(const std::vector&lt; VecWithCost &gt; &amp;ss, const Vec &amp;e, std::list&lt; Vec &gt; &amp;path) const</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>searchImpl</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>a1e5e596396c4275b70d07f84112f392e</anchor>
      <arglist>(Gridmap&lt; float &gt; &amp;g, const std::vector&lt; VecWithCost &gt; &amp;sts, const Vec &amp;en, std::list&lt; Vec &gt; &amp;path, const typename GridAstarModelBase&lt; DIM, NONCYCLIC &gt;::Ptr &amp;model, std::function&lt; bool(const std::list&lt; Vec &gt; &amp;)&gt; cb_progress, const float cost_leave, const float progress_interval, const bool return_best=false)</arglist>
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    <member kind="variable" protection="protected">
      <type>Gridmap&lt; float &gt;</type>
      <name>g_</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>aafc0b6d39ee5a3b02061ca87fa1ceac3</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>reservable_priority_queue&lt; PriorityVec &gt;</type>
      <name>open_</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>af0f773eacd8a060b5853eae2c2e2ced3</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::unordered_map&lt; Vec, Vec, Vec &gt;</type>
      <name>parents_</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>ab4792f7d04319b4f13a6068f8ab91263</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>size_t</type>
      <name>queue_size_limit_</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>a30b27b08667febd23b8e3cc849157ba1</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>size_t</type>
      <name>search_task_num_</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>ad3a143a5d128a3e3743ab048f4f21041</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>GridAstar&lt; 2, 0 &gt;</name>
    <filename>classplanner__cspace_1_1GridAstar.html</filename>
    <member kind="typedef">
      <type>CyclicVecInt&lt; DIM, NONCYCLIC &gt;</type>
      <name>Vec</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>a400ff36b69b1e381718e3f5029dec736</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>CyclicVecFloat&lt; DIM, NONCYCLIC &gt;</type>
      <name>Vecf</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>a8a6555642ce484b555a13edfd5ee3c57</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>typename GridAstarModelBase&lt; DIM, NONCYCLIC &gt;::VecWithCost</type>
      <name>VecWithCost</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>a426957d298178f0119eb0d336422eb1c</anchor>
      <arglist></arglist>
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    <member kind="function">
      <type>constexpr int</type>
      <name>getDim</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>a5a5d4dc82fec398ef254941e2efff7eb</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>constexpr int</type>
      <name>getNoncyclic</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>af4d44319a19b24cadbade7252775699d</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>GridAstar</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>a61e58cae0fbf625ed026948513443482</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>GridAstar</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>a89857d680c11e771133edeb049c9b76c</anchor>
      <arglist>(const Vec size)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>reset</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>a8ffa274a64e868ddd449266e8d3c4e04</anchor>
      <arglist>(const Vec size)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>search</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>ac0ed2732d176aa97a22b636ac6729ade</anchor>
      <arglist>(const std::vector&lt; VecWithCost &gt; &amp;ss, const Vec &amp;e, std::list&lt; Vec &gt; &amp;path, const typename GridAstarModelBase&lt; DIM, NONCYCLIC &gt;::Ptr &amp;model, std::function&lt; bool(const std::list&lt; Vec &gt; &amp;)&gt; cb_progress, const float cost_leave, const float progress_interval, const bool return_best=false)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setQueueSizeLimit</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>a906ce1f0241635929fc4e8f8c6bc4681</anchor>
      <arglist>(const size_t size)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setSearchTaskNum</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>a06d789c8e6a106e4324992f8cd421632</anchor>
      <arglist>(const size_t &amp;search_task_num)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>findPath</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>aed2bc72a0000aaca937a730543e94046</anchor>
      <arglist>(const std::vector&lt; VecWithCost &gt; &amp;ss, const Vec &amp;e, std::list&lt; Vec &gt; &amp;path) const</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>searchImpl</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>a1e5e596396c4275b70d07f84112f392e</anchor>
      <arglist>(Gridmap&lt; float &gt; &amp;g, const std::vector&lt; VecWithCost &gt; &amp;sts, const Vec &amp;en, std::list&lt; Vec &gt; &amp;path, const typename GridAstarModelBase&lt; DIM, NONCYCLIC &gt;::Ptr &amp;model, std::function&lt; bool(const std::list&lt; Vec &gt; &amp;)&gt; cb_progress, const float cost_leave, const float progress_interval, const bool return_best=false)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Gridmap&lt; float &gt;</type>
      <name>g_</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>aafc0b6d39ee5a3b02061ca87fa1ceac3</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>reservable_priority_queue&lt; PriorityVec &gt;</type>
      <name>open_</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>af0f773eacd8a060b5853eae2c2e2ced3</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::unordered_map&lt; Vec, Vec, Vec &gt;</type>
      <name>parents_</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>ab4792f7d04319b4f13a6068f8ab91263</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>size_t</type>
      <name>queue_size_limit_</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>a30b27b08667febd23b8e3cc849157ba1</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>size_t</type>
      <name>search_task_num_</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>ad3a143a5d128a3e3743ab048f4f21041</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>GridAstar&lt; 3, 2 &gt;</name>
    <filename>classplanner__cspace_1_1GridAstar.html</filename>
    <member kind="typedef">
      <type>CyclicVecInt&lt; DIM, NONCYCLIC &gt;</type>
      <name>Vec</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>a400ff36b69b1e381718e3f5029dec736</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>CyclicVecFloat&lt; DIM, NONCYCLIC &gt;</type>
      <name>Vecf</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>a8a6555642ce484b555a13edfd5ee3c57</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>typename GridAstarModelBase&lt; DIM, NONCYCLIC &gt;::VecWithCost</type>
      <name>VecWithCost</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>a426957d298178f0119eb0d336422eb1c</anchor>
      <arglist></arglist>
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    <member kind="function">
      <type>constexpr int</type>
      <name>getDim</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>a5a5d4dc82fec398ef254941e2efff7eb</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>constexpr int</type>
      <name>getNoncyclic</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>af4d44319a19b24cadbade7252775699d</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type></type>
      <name>GridAstar</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>a61e58cae0fbf625ed026948513443482</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>GridAstar</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>a89857d680c11e771133edeb049c9b76c</anchor>
      <arglist>(const Vec size)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>reset</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>a8ffa274a64e868ddd449266e8d3c4e04</anchor>
      <arglist>(const Vec size)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>search</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>ac0ed2732d176aa97a22b636ac6729ade</anchor>
      <arglist>(const std::vector&lt; VecWithCost &gt; &amp;ss, const Vec &amp;e, std::list&lt; Vec &gt; &amp;path, const typename GridAstarModelBase&lt; DIM, NONCYCLIC &gt;::Ptr &amp;model, std::function&lt; bool(const std::list&lt; Vec &gt; &amp;)&gt; cb_progress, const float cost_leave, const float progress_interval, const bool return_best=false)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setQueueSizeLimit</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>a906ce1f0241635929fc4e8f8c6bc4681</anchor>
      <arglist>(const size_t size)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setSearchTaskNum</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>a06d789c8e6a106e4324992f8cd421632</anchor>
      <arglist>(const size_t &amp;search_task_num)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>findPath</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>aed2bc72a0000aaca937a730543e94046</anchor>
      <arglist>(const std::vector&lt; VecWithCost &gt; &amp;ss, const Vec &amp;e, std::list&lt; Vec &gt; &amp;path) const</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>searchImpl</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>a1e5e596396c4275b70d07f84112f392e</anchor>
      <arglist>(Gridmap&lt; float &gt; &amp;g, const std::vector&lt; VecWithCost &gt; &amp;sts, const Vec &amp;en, std::list&lt; Vec &gt; &amp;path, const typename GridAstarModelBase&lt; DIM, NONCYCLIC &gt;::Ptr &amp;model, std::function&lt; bool(const std::list&lt; Vec &gt; &amp;)&gt; cb_progress, const float cost_leave, const float progress_interval, const bool return_best=false)</arglist>
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    <member kind="variable" protection="protected">
      <type>Gridmap&lt; float &gt;</type>
      <name>g_</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>aafc0b6d39ee5a3b02061ca87fa1ceac3</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>reservable_priority_queue&lt; PriorityVec &gt;</type>
      <name>open_</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>af0f773eacd8a060b5853eae2c2e2ced3</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::unordered_map&lt; Vec, Vec, Vec &gt;</type>
      <name>parents_</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>ab4792f7d04319b4f13a6068f8ab91263</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>size_t</type>
      <name>queue_size_limit_</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>a30b27b08667febd23b8e3cc849157ba1</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>size_t</type>
      <name>search_task_num_</name>
      <anchorfile>classplanner__cspace_1_1GridAstar.html</anchorfile>
      <anchor>ad3a143a5d128a3e3743ab048f4f21041</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>planner_cspace::planner_3d::GridAstarModel2D</name>
    <filename>classplanner__cspace_1_1planner__3d_1_1GridAstarModel2D.html</filename>
    <base>GridAstarModelBase&lt; 3, 2 &gt;</base>
    <member kind="typedef">
      <type>std::shared_ptr&lt; GridAstarModel2D &gt;</type>
      <name>Ptr</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1GridAstarModel2D.html</anchorfile>
      <anchor>a97132276183994641047344857f9152b</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>cost</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1GridAstarModel2D.html</anchorfile>
      <anchor>af1eccb52041e1b5743ecfcf6368c7ff4</anchor>
      <arglist>(const Vec &amp;cur, const Vec &amp;next, const std::vector&lt; VecWithCost &gt; &amp;start, const Vec &amp;goal) const final</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>costEstim</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1GridAstarModel2D.html</anchorfile>
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      <arglist>(const Vec &amp;cur, const Vec &amp;goal) const final</arglist>
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    <member kind="function">
      <type></type>
      <name>GridAstarModel2D</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1GridAstarModel2D.html</anchorfile>
      <anchor>aa4c6f60d54c9231d760f01d2e6403a6c</anchor>
      <arglist>(const GridAstarModel3D::ConstPtr base)</arglist>
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    <member kind="function">
      <type>const std::vector&lt; Vec &gt; &amp;</type>
      <name>searchGrids</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1GridAstarModel2D.html</anchorfile>
      <anchor>a9e3a75c759ecaf0cae0ef63db18e1c48</anchor>
      <arglist>(const Vec &amp;cur, const std::vector&lt; VecWithCost &gt; &amp;start, const Vec &amp;goal) const final</arglist>
    </member>
    <member kind="variable">
      <type>const GridAstarModel3D::ConstPtr</type>
      <name>base_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1GridAstarModel2D.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>planner_cspace::planner_2dof_serial_joints::GridAstarModel2DoFSerialJoint</name>
    <filename>classplanner__cspace_1_1planner__2dof__serial__joints_1_1GridAstarModel2DoFSerialJoint.html</filename>
    <base>GridAstarModelBase&lt; 2, 0 &gt;</base>
    <member kind="typedef">
      <type>std::shared_ptr&lt; const GridAstarModel2DoFSerialJoint &gt;</type>
      <name>ConstPtr</name>
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    <member kind="typedef">
      <type>std::shared_ptr&lt; GridAstarModel2DoFSerialJoint &gt;</type>
      <name>Ptr</name>
      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1GridAstarModel2DoFSerialJoint.html</anchorfile>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>CyclicVecInt&lt; 2, 0 &gt;</type>
      <name>Vec</name>
      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1GridAstarModel2DoFSerialJoint.html</anchorfile>
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      <arglist></arglist>
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      <name>Vecf</name>
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      <anchor>aac3634f4565aba0dc7dc54826ab8a815</anchor>
      <arglist></arglist>
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    <member kind="function">
      <type>float</type>
      <name>cost</name>
      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1GridAstarModel2DoFSerialJoint.html</anchorfile>
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    <member kind="function">
      <type>float</type>
      <name>costEstim</name>
      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1GridAstarModel2DoFSerialJoint.html</anchorfile>
      <anchor>afb76d21e477274aaeae0c0d16f1b9a3c</anchor>
      <arglist>(const Vec &amp;cur, const Vec &amp;goal) const override</arglist>
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    <member kind="function">
      <type>float</type>
      <name>euclidCost</name>
      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1GridAstarModel2DoFSerialJoint.html</anchorfile>
      <anchor>a1853f87050c6c208f3c36c9c2d57ba9e</anchor>
      <arglist>(const Vec &amp;v) const </arglist>
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    <member kind="function">
      <type></type>
      <name>GridAstarModel2DoFSerialJoint</name>
      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1GridAstarModel2DoFSerialJoint.html</anchorfile>
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      <arglist>(const Vecf &amp;euclid_cost_coef, const int resolution, BlockMemGridmapBase&lt; char, 2, 0 &gt; &amp;cm, const CostCoeff &amp;cc, const int range)</arglist>
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    <member kind="function">
      <type>const std::vector&lt; Vec &gt; &amp;</type>
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      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1GridAstarModel2DoFSerialJoint.html</anchorfile>
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      <arglist>(const Vec &amp;p, const std::vector&lt; VecWithCost &gt; &amp;ss, const Vec &amp;es) const override</arglist>
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      <type>CostCoeff</type>
      <name>cc_</name>
      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1GridAstarModel2DoFSerialJoint.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1GridAstarModel2DoFSerialJoint.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>Vecf</type>
      <name>euclid_cost_coef_</name>
      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1GridAstarModel2DoFSerialJoint.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
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      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1GridAstarModel2DoFSerialJoint.html</anchorfile>
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      <arglist></arglist>
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      <type>int</type>
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      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1GridAstarModel2DoFSerialJoint.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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    <base>GridAstarModelBase&lt; 3, 2 &gt;</base>
    <member kind="typedef">
      <type>std::shared_ptr&lt; const GridAstarModel3D &gt;</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1GridAstarModel3D.html</anchorfile>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>std::shared_ptr&lt; GridAstarModel3D &gt;</type>
      <name>Ptr</name>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>CyclicVecInt&lt; 3, 2 &gt;</type>
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      <arglist></arglist>
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      <type>CyclicVecFloat&lt; 3, 2 &gt;</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1GridAstarModel3D.html</anchorfile>
      <anchor>a4569d7f95884e8e06d74aa4f63cd4014</anchor>
      <arglist></arglist>
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    <member kind="function">
      <type>float</type>
      <name>cost</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1GridAstarModel3D.html</anchorfile>
      <anchor>a67e45969eaa17aa77d65f475d111eb04</anchor>
      <arglist>(const Vec &amp;cur, const Vec &amp;next, const std::vector&lt; VecWithCost &gt; &amp;start, const Vec &amp;goal) const override</arglist>
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    <member kind="function">
      <type>float</type>
      <name>costEstim</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1GridAstarModel3D.html</anchorfile>
      <anchor>a23405b5e1a25cf34a14d9346b3aebe86</anchor>
      <arglist>(const Vec &amp;cur, const Vec &amp;goal) const override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>createEuclidCostCache</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1GridAstarModel3D.html</anchorfile>
      <anchor>a80767a1a2fddac790832445306ed8aca</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>enableHysteresis</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1GridAstarModel3D.html</anchorfile>
      <anchor>a2b0b94197386275717037ebe576779d6</anchor>
      <arglist>(const bool enable)</arglist>
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    <member kind="function">
      <type>float</type>
      <name>euclidCost</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1GridAstarModel3D.html</anchorfile>
      <anchor>a018695c8f4eaf0e218d1b034ba0d6d72</anchor>
      <arglist>(const Vec &amp;v) const </arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>euclidCostRough</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1GridAstarModel3D.html</anchorfile>
      <anchor>a8d687f2d3d3aea9793e7c299d6241746</anchor>
      <arglist>(const Vec &amp;v) const </arglist>
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    <member kind="function">
      <type></type>
      <name>GridAstarModel3D</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1GridAstarModel3D.html</anchorfile>
      <anchor>ae2e01b0dba5d6595f7bbc6ecdaae4587</anchor>
      <arglist>(const costmap_cspace_msgs::MapMetaData3D &amp;map_info, const Vecf &amp;euclid_cost_coef, const int local_range, BlockMemGridmapBase&lt; float, 3, 2 &gt; &amp;cost_estim_cache, BlockMemGridmapBase&lt; char, 3, 2 &gt; &amp;cm, BlockMemGridmapBase&lt; char, 3, 2 &gt; &amp;cm_hyst, BlockMemGridmapBase&lt; char, 3, 2 &gt; &amp;cm_rough, const CostCoeff &amp;cc, const int range)</arglist>
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    <member kind="function">
      <type>const std::vector&lt; Vec &gt; &amp;</type>
      <name>searchGrids</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1GridAstarModel3D.html</anchorfile>
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      <arglist>(const Vec &amp;p, const std::vector&lt; VecWithCost &gt; &amp;ss, const Vec &amp;es) const override</arglist>
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    <member kind="variable">
      <type>PathInterpolator</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1GridAstarModel3D.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>const CostCoeff &amp;</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1GridAstarModel3D.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>BlockMemGridmapBase&lt; char, 3, 2 &gt; &amp;</type>
      <name>cm_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1GridAstarModel3D.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>BlockMemGridmapBase&lt; char, 3, 2 &gt; &amp;</type>
      <name>cm_hyst_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1GridAstarModel3D.html</anchorfile>
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      <arglist></arglist>
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      <type>BlockMemGridmapBase&lt; char, 3, 2 &gt; &amp;</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1GridAstarModel3D.html</anchorfile>
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      <arglist></arglist>
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      <type>BlockMemGridmapBase&lt; float, 3, 2 &gt; &amp;</type>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>Vecf</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1GridAstarModel3D.html</anchorfile>
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      <arglist></arglist>
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      <type>std::array&lt; float, 1024 &gt;</type>
      <name>euclid_cost_lin_cache_</name>
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      <anchor>a6994e3ecf12de7b3f3006a8f2be1367d</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>hysteresis_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1GridAstarModel3D.html</anchorfile>
      <anchor>a03390f7113301eadea45b3feb3bda8d9</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>int</type>
      <name>local_range_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1GridAstarModel3D.html</anchorfile>
      <anchor>a29c3fc45eaf8e7eb76b2180bb28cc8d9</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>costmap_cspace_msgs::MapMetaData3D</type>
      <name>map_info_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1GridAstarModel3D.html</anchorfile>
      <anchor>a10ee06893e2c013cfddbbb7a23fdc7f3</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>Vec</type>
      <name>max_boundary_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1GridAstarModel3D.html</anchorfile>
      <anchor>a76ec1b791a35aa721ffe0ca1e5126eab</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>Vec</type>
      <name>min_boundary_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1GridAstarModel3D.html</anchorfile>
      <anchor>a22971e76c3b0ee832bf03186c9c497ed</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>MotionCache</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1GridAstarModel3D.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>MotionCache</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1GridAstarModel3D.html</anchorfile>
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      <arglist></arglist>
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      <type>std::vector&lt; std::vector&lt; Vec &gt; &gt;</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1GridAstarModel3D.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>Vecf</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1GridAstarModel3D.html</anchorfile>
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      <arglist></arglist>
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      <type>RotationCache</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1GridAstarModel3D.html</anchorfile>
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      <arglist></arglist>
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      <type>std::vector&lt; Vec &gt;</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1GridAstarModel3D.html</anchorfile>
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      <type>typename std::shared_ptr&lt; GridAstarModelBase&lt; DIM, NONCYCLIC &gt;&gt;</type>
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    <member kind="function" virtualness="pure">
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      <arglist>(const Vec &amp;cur, const Vec &amp;next) const =0</arglist>
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      <type>virtual const std::vector&lt; Vec &gt; &amp;</type>
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      <anchorfile>classplanner__cspace_1_1GridAstarModelBase.html</anchorfile>
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      <arglist>(const Vec &amp;cur, const std::vector&lt; VecWithCost &gt; &amp;start, const Vec &amp;goal) const =0</arglist>
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    <base>GridAstar&lt; 1, 1 &gt;</base>
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      <arglist></arglist>
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      <arglist></arglist>
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    <member kind="function">
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      <arglist>(tf2_ros::Buffer &amp;tfbuf)</arglist>
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      <arglist>(const std::string &amp;frame_id)</arglist>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1JumpDetector.html</anchorfile>
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      <arglist>(const double pos_jump, const double yaw_jump)</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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  <compound kind="class">
    <name>planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::LinkBody</name>
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    <class kind="class">planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::LinkBody::Vec3dof</class>
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      <arglist>(const LinkBody b, const float th0, const float th1)</arglist>
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      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1Planner2dofSerialJointsNode_1_1LinkBody.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
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    <class kind="class">planner_cspace::planner_3d::MotionCache::Page</class>
    <member kind="typedef">
      <type>std::unordered_map&lt; CyclicVecInt&lt; 3, 2 &gt;, Page, CyclicVecInt&lt; 3, 2 &gt;&gt;</type>
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      <arglist></arglist>
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      <type>std::shared_ptr&lt; MotionCache &gt;</type>
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      <arglist></arglist>
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      <arglist>(const int start_yaw) const </arglist>
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      <arglist>(const int start_yaw, const CyclicVecInt&lt; 3, 2 &gt; &amp;goal) const </arglist>
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      <arglist>() const </arglist>
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      <arglist>(const float linear_resolution, const float angular_resolution, const int range, const std::function&lt; void(CyclicVecInt&lt; 3, 2 &gt;, size_t &amp;, size_t &amp;)&gt; gm_addr)</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>CyclicVecInt&lt; 3, 2 &gt;</type>
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      <type>bool</type>
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      <arglist></arglist>
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  <compound kind="class">
    <name>planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode</name>
    <filename>classplanner__cspace_1_1planner__2dof__serial__joints_1_1Planner2dofSerialJointsNode.html</filename>
    <class kind="class">planner_cspace::planner_2dof_serial_joints::Planner2dofSerialJointsNode::LinkBody</class>
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      <type>GridAstar&lt; 2, 0 &gt;</type>
      <name>Astar</name>
      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1Planner2dofSerialJointsNode.html</anchorfile>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>std::shared_ptr&lt; Planner2dofSerialJointsNode &gt;</type>
      <name>Ptr</name>
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      <anchor>a0085e98b51b6ac47eccecf0a2d77ffe3</anchor>
      <arglist></arglist>
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    <member kind="function">
      <type></type>
      <name>Planner2dofSerialJointsNode</name>
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      <anchor>a3c673692f1dfc78d605575cbb3971e71</anchor>
      <arglist>(const std::string group_name)</arglist>
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      <type></type>
      <name>PointVelMode</name>
      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1Planner2dofSerialJointsNode.html</anchorfile>
      <anchor>a1f21ab79fcef66c100268877f9dbdd15</anchor>
      <arglist></arglist>
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      <name>VEL_PREV</name>
      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1Planner2dofSerialJointsNode.html</anchorfile>
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      <arglist></arglist>
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      <name>VEL_NEXT</name>
      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1Planner2dofSerialJointsNode.html</anchorfile>
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      <arglist></arglist>
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      <name>VEL_AVG</name>
      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1Planner2dofSerialJointsNode.html</anchorfile>
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      <arglist></arglist>
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      <name>VEL_AVG</name>
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      <arglist></arglist>
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      <name>VEL_NEXT</name>
      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1Planner2dofSerialJointsNode.html</anchorfile>
      <anchor>a1f21ab79fcef66c100268877f9dbdd15af0529f3cf11bbf2b3a508c84202e1c2f</anchor>
      <arglist></arglist>
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      <name>VEL_PREV</name>
      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1Planner2dofSerialJointsNode.html</anchorfile>
      <anchor>a1f21ab79fcef66c100268877f9dbdd15af50c536a6a55c26cb3cdbbfe8489dce9</anchor>
      <arglist></arglist>
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      <type>void</type>
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      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1Planner2dofSerialJointsNode.html</anchorfile>
      <anchor>aef417a8d0dd726b0d4564ee94279de50</anchor>
      <arglist>(const sensor_msgs::JointState::ConstPtr &amp;msg)</arglist>
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      <type>bool</type>
      <name>cbProgress</name>
      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1Planner2dofSerialJointsNode.html</anchorfile>
      <anchor>a5b91e9791611b49229362a1818df50e8</anchor>
      <arglist>(const std::list&lt; Astar::Vec &gt; &amp;path_grid)</arglist>
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    <member kind="function" protection="private">
      <type>void</type>
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      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1Planner2dofSerialJointsNode.html</anchorfile>
      <anchor>a6e075403101645d4d239a0dcd62434a2</anchor>
      <arglist>(const trajectory_msgs::JointTrajectory::ConstPtr &amp;msg)</arglist>
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    <member kind="function" protection="private">
      <type>void</type>
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      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1Planner2dofSerialJointsNode.html</anchorfile>
      <anchor>a1ae74d99e64f3eb8774e25faa3b4a4c0</anchor>
      <arglist>(const int t0, const int t1, float &amp;gt0, float &amp;gt1)</arglist>
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    <member kind="function" protection="private">
      <type>void</type>
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      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1Planner2dofSerialJointsNode.html</anchorfile>
      <anchor>a1c5609ba71022f46f911a05d837efc62</anchor>
      <arglist>(const Astar::Vec t, Astar::Vecf &amp;gt)</arglist>
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    <member kind="function" protection="private">
      <type>bool</type>
      <name>makePlan</name>
      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1Planner2dofSerialJointsNode.html</anchorfile>
      <anchor>ac6b41bdc8305e5cf802c8031262e67ad</anchor>
      <arglist>(const Astar::Vecf sg, const Astar::Vecf eg, std::list&lt; Astar::Vecf &gt; &amp;path)</arglist>
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    <member kind="function" protection="private">
      <type>void</type>
      <name>metric2Grid</name>
      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1Planner2dofSerialJointsNode.html</anchorfile>
      <anchor>a9374a258ce1d4a3ea59ae54c8e22f3ea</anchor>
      <arglist>(int &amp;t0, int &amp;t1, const float gt0, const float gt1)</arglist>
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      <type>void</type>
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      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1Planner2dofSerialJointsNode.html</anchorfile>
      <anchor>aa1f9f29c35b690d8b43115c99197f46d</anchor>
      <arglist>(Astar::Vec &amp;t, const Astar::Vecf gt)</arglist>
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      <type>void</type>
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      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1Planner2dofSerialJointsNode.html</anchorfile>
      <anchor>aaa632d4edc6c0c0d0c4f3bd66c4d5615</anchor>
      <arglist>()</arglist>
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      <name>as_</name>
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      <anchor>a723293db3c8399bdc38a9fbc530bc97d</anchor>
      <arglist></arglist>
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      <type>float</type>
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      <anchor>aec9541ce1230b3bf374b7c3ecdf1b302</anchor>
      <arglist></arglist>
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      <anchor>a8c1a6801eef871d09fd8ff1d766180ea</anchor>
      <arglist></arglist>
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      <type>std::pair&lt; ros::Duration, std::pair&lt; float, float &gt; &gt;</type>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <anchor>a95a02538f8d811a347d319f1484c1e6e</anchor>
      <arglist></arglist>
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      <type>std::string</type>
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      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1Planner2dofSerialJointsNode.html</anchorfile>
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      <arglist></arglist>
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      <type>bool</type>
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      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1Planner2dofSerialJointsNode.html</anchorfile>
      <anchor>a7b04a6f87d7aa7226c74bd0c8646b021</anchor>
      <arglist></arglist>
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      <type>int</type>
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      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1Planner2dofSerialJointsNode.html</anchorfile>
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      <arglist>[2]</arglist>
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      <type>sensor_msgs::JointState</type>
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      <anchor>a35de496c6d75507310cb67874e16b456</anchor>
      <arglist></arglist>
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      <type>LinkBody</type>
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      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1Planner2dofSerialJointsNode.html</anchorfile>
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      <arglist>[2]</arglist>
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      <type>GridAstarModel2DoFSerialJoint::Ptr</type>
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      <arglist></arglist>
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      <type>ros::NodeHandle</type>
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      <arglist></arglist>
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      <type>ros::NodeHandle</type>
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      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1Planner2dofSerialJointsNode.html</anchorfile>
      <anchor>a3bfe51d090fc35822de6117cea9a1f9a</anchor>
      <arglist></arglist>
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      <type>PointVelMode</type>
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      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1Planner2dofSerialJointsNode.html</anchorfile>
      <anchor>aac81de6a67b741e77d204d14edaddc61</anchor>
      <arglist></arglist>
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      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1Planner2dofSerialJointsNode.html</anchorfile>
      <anchor>adc0fc0bbc94e810f9318f2e7a3d43bda</anchor>
      <arglist></arglist>
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      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1Planner2dofSerialJointsNode.html</anchorfile>
      <anchor>ac5014f4a34b4f3eb52a51b01fc5fd03a</anchor>
      <arglist></arglist>
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      <type>ros::Duration</type>
      <name>replan_interval_</name>
      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1Planner2dofSerialJointsNode.html</anchorfile>
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      <arglist></arglist>
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      <type>ros::Time</type>
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      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1Planner2dofSerialJointsNode.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1Planner2dofSerialJointsNode.html</anchorfile>
      <anchor>ad893ac45d4e7d42a3e07efe352b9fc48</anchor>
      <arglist></arglist>
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      <type>planner_cspace_msgs::PlannerStatus</type>
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      <anchor>aeadf5018804fe1a7da8c453fb1838ac9</anchor>
      <arglist></arglist>
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      <type>ros::Subscriber</type>
      <name>sub_joint_</name>
      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1Planner2dofSerialJointsNode.html</anchorfile>
      <anchor>a0f0497163a4bbeb7cde25e3b3483d2c7</anchor>
      <arglist></arglist>
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      <type>ros::Subscriber</type>
      <name>sub_trajectory_</name>
      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1Planner2dofSerialJointsNode.html</anchorfile>
      <anchor>ad45cb279e90faac137d9469f2b2b3e9d</anchor>
      <arglist></arglist>
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      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1Planner2dofSerialJointsNode.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1Planner2dofSerialJointsNode.html</anchorfile>
      <anchor>a3d006226da0b8efacd592aa00662194a</anchor>
      <arglist></arglist>
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      <type>trajectory_msgs::JointTrajectory</type>
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      <anchorfile>classplanner__cspace_1_1planner__2dof__serial__joints_1_1Planner2dofSerialJointsNode.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
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    <filename>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</filename>
    <member kind="typedef">
      <type>GridAstar&lt; 3, 2 &gt;</type>
      <name>Astar</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>a91485c8e202c628ce79c7fab884eeb8f</anchor>
      <arglist></arglist>
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    <member kind="function">
      <type>GridAstarModel3D::Vec</type>
      <name>pathPose2Grid</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>a7f7c913c0895da24d1a98bddf44e9734</anchor>
      <arglist>(const geometry_msgs::PoseStamped &amp;pose) const </arglist>
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    <member kind="function">
      <type></type>
      <name>Planner3dNode</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>ade6208a898430cbb9b3e694507bcbcd5</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>spin</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>abee254d9e49eb61cc85785a125180191</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>waitUntil</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>af8a57f0d17b09b2cd89410e73ba99108</anchor>
      <arglist>(const ros::Time &amp;next_replan_time, const nav_msgs::Path &amp;previous_path)</arglist>
    </member>
    <member kind="typedef" protection="protected">
      <type>actionlib::SimpleActionServer&lt; move_base_msgs::MoveBaseAction &gt;</type>
      <name>Planner3DActionServer</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>a7ebb86de8c1cb1c45cad81115eecf959</anchor>
      <arglist></arglist>
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    <member kind="typedef" protection="protected">
      <type>actionlib::SimpleActionServer&lt; planner_cspace_msgs::MoveWithToleranceAction &gt;</type>
      <name>Planner3DTolerantActionServer</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>a9633c41e5c0687100edae9fc9bae4148</anchor>
      <arglist></arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
      <name>cbAction</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>aea9247d69af47a82273bb143c560b082</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected">
      <type>bool</type>
      <name>cbForget</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>aecdbf2e44f579a06bd500ebcbf3d8e2d</anchor>
      <arglist>(std_srvs::EmptyRequest &amp;req, std_srvs::EmptyResponse &amp;res)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>cbGoal</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>afabeb46456f158b2b97b5c6f8c0cd089</anchor>
      <arglist>(const geometry_msgs::PoseStamped::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>cbMakePlan</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>a239de3c2627113b8411f3cede05955d9</anchor>
      <arglist>(nav_msgs::GetPlan::Request &amp;req, nav_msgs::GetPlan::Response &amp;res)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>cbMap</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
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      <arglist>(const costmap_cspace_msgs::CSpace3D::ConstPtr &amp;msg)</arglist>
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      <type>void</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>a066af6fe2e01454f8a17a2ed2e5f0496</anchor>
      <arglist>(const costmap_cspace_msgs::CSpace3DUpdate::ConstPtr &amp;msg)</arglist>
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      <type>void</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>a986883e3d846bddf9704572fe59d8799</anchor>
      <arglist>()</arglist>
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      <type>bool</type>
      <name>cbProgress</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>ad1e9560f91521c03d03fa89749da4856</anchor>
      <arglist>(const std::list&lt; Astar::Vec &gt; &amp;path_grid)</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>aa8e3b0bdb667b2264de3069d8e968a61</anchor>
      <arglist>()</arglist>
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      <type>void</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>ae5e82b23a6641ac6e6162799893dbb62</anchor>
      <arglist>(diagnostic_updater::DiagnosticStatusWrapper &amp;stat)</arglist>
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      <type>void</type>
      <name>fillCostmap</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>a1ee791374b26bdcc4093bba7b1b1f7a7</anchor>
      <arglist>(reservable_priority_queue&lt; Astar::PriorityVec &gt; &amp;open, Astar::Gridmap&lt; float &gt; &amp;g, const Astar::Vec &amp;s, const Astar::Vec &amp;e)</arglist>
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    <member kind="function" protection="protected">
      <type>int</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
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      <arglist>(const nav_msgs::Path &amp;path) const </arglist>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>a552db9d642aa0b5242361aede1b8813b</anchor>
      <arglist>(const geometry_msgs::Pose &amp;gs, const geometry_msgs::Pose &amp;ge, nav_msgs::Path &amp;path, bool hyst)</arglist>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>ad17f69e7d833e21d9fb987d60ad903a6</anchor>
      <arglist>()</arglist>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>a01f901d49adce1bc191cf3aefbbc76c2</anchor>
      <arglist>()</arglist>
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      <type>void</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>ab3d3c16a309cad39d47ad19f821979e5</anchor>
      <arglist>()</arglist>
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      <type>bool</type>
      <name>searchAvailablePos</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>a343f76fb980a02b2480f53bf26748b2f</anchor>
      <arglist>(Astar::Vec &amp;s, const int xy_range, const int angle_range, const int cost_acceptable=50, const int min_xy_range=0)</arglist>
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    <member kind="function" protection="protected">
      <type>bool</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>ad6a54aa71b2398982e5a567db46f0680</anchor>
      <arglist>(const geometry_msgs::PoseStamped &amp;msg)</arglist>
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      <type>bool</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
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      <arglist>(const bool goal_changed=true)</arglist>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>aab1fe657ad6416988e58cf3620d09239</anchor>
      <arglist>()</arglist>
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      <type>std::shared_ptr&lt; Planner3DActionServer &gt;</type>
      <name>act_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>a092951aa39beb2d50c5d73b935127e77</anchor>
      <arglist></arglist>
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      <type>std::shared_ptr&lt; Planner3DTolerantActionServer &gt;</type>
      <name>act_tolerant_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>a37a070571f17adbc447813b356a79659</anchor>
      <arglist></arglist>
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      <type>bool</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>a16135170b45f217dfeb9472e10b3dd47</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>Astar</type>
      <name>as_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>a5aa66dde13439482b85267a820d4ea0d</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>CostmapBBF</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>ad9c1bf970a202da638a70a76ed5cf9e1</anchor>
      <arglist></arglist>
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      <type>CostCoeff</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>a99add730bcb498ebb2dc7c6dc2539b00</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>Astar::Gridmap&lt; char, 0x40 &gt;</type>
      <name>cm_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>ac00839b3a9e2c8b30b8931dadca46da8</anchor>
      <arglist></arglist>
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      <type>Astar::Gridmap&lt; char, 0x40 &gt;</type>
      <name>cm_base_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>a64ecdd671878b8ba5835515e90c0becf</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>Astar::Gridmap&lt; char, 0x80 &gt;</type>
      <name>cm_hyst_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>a74beb5987f909c0dda2dfa386aa716f9</anchor>
      <arglist></arglist>
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      <type>Astar::Gridmap&lt; char, 0x80 &gt;</type>
      <name>cm_rough_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>a857b9aac48be31f550a95d3ab30d6074</anchor>
      <arglist></arglist>
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      <type>Astar::Gridmap&lt; char, 0x80 &gt;</type>
      <name>cm_rough_base_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>abe203067ffd578c6d861c990cd4b6001</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>Astar::Gridmap&lt; char, 0x80 &gt;</type>
      <name>cm_updates_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>a2184d9faf2c050b1a92d3de436801e6d</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>int</type>
      <name>cnt_stuck_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>a0d6335cef0e90b5f0d1c31701c6bd6cc</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>Astar::Gridmap&lt; float &gt;</type>
      <name>cost_estim_cache_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>aff35bc1c9729a3216a67a286ab5be992</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ros::Duration</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>abfb267261fef8e1f204e5b92eddc5c90</anchor>
      <arglist></arglist>
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      <type>diagnostic_updater::Updater</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>a4c2c791640734b06e7af4c9b7ba71b67</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>Astar::Vecf</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>a4786b044d656a784735d4daa30ea4aba</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>int</type>
      <name>esc_angle_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>a97e0ca6d190bc03310dca685fcb6bd49</anchor>
      <arglist></arglist>
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      <type>int</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>acea4924be7070e7aeaed72c5bc794d83</anchor>
      <arglist></arglist>
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      <type>double</type>
      <name>esc_range_f_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>a27ca327b0059db27165b4452cbd23c58</anchor>
      <arglist></arglist>
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      <type>bool</type>
      <name>escaping_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>aaa64e313bfd7f1c0f2f622d83527ba0b</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::array&lt; float, 1024 &gt;</type>
      <name>euclid_cost_lin_cache_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>a8acde0b4ae71d3a4ba37d5c040374d7f</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>fast_map_update_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>a8b8aac657e4712b869dcdfa43f591b6c</anchor>
      <arglist></arglist>
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      <type>bool</type>
      <name>find_best_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>afe8b3ca5177f43c367bbf31d983169ad</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>force_goal_orientation_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>ac697638de09e67455a419b3bd76ab895</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>float</type>
      <name>freq_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>aa98433a9a5be79c90f228590d57d67cf</anchor>
      <arglist></arglist>
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      <type>float</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>a89361387ea3c28da4c35a366dda552af</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>geometry_msgs::PoseStamped</type>
      <name>goal_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>aa2b24f2491d9c66b4ca45645a2547755</anchor>
      <arglist></arglist>
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      <type>geometry_msgs::PoseStamped</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>a6e587d1ec50d7fbbbc9ff65b4bdb5761</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>int</type>
      <name>goal_tolerance_ang_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>aaab00ae06badc2e84007fd537c226800</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>a94a0bbeea3d1700e6793ea63e6ea386b</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
      <name>goal_tolerance_ang_finish_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>aaf3c61171b9443f55c7c77bca232caa1</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>int</type>
      <name>goal_tolerance_lin_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>a2ac4fbd0000b176f176ad177c2eca7ee</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>planner_cspace_msgs::MoveWithToleranceGoalConstPtr</type>
      <name>goal_tolerant_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>a61c8bd53b53124036acc318a6f25e741</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>goal_updated_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>bool</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
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      <arglist></arglist>
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      <type>bool</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>bool</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>has_start_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>int</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>a743d0e7229451dff4364bac33cbedbe8</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>int</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>is_path_switchback_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>acb59bb777779cca85da63b1251fe85a4</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>JumpDetector</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
      <anchor>aecad51f4ce8672494d56fd346bd63221</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ros::Time</type>
      <name>last_costmap_</name>
      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
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      <arglist></arglist>
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      <type>int</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchorfile>classplanner__cspace_1_1planner__3d_1_1Planner3dNode.html</anchorfile>
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      <arglist></arglist>
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