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      <anchorfile>classBFMRScanMatcherTestBase.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr int</type>
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      <anchorfile>classBFMRScanMatcherTestBase.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr double</type>
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      <anchorfile>classBFMRScanMatcherTestBase.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr int</type>
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      <anchorfile>classBFMRScanMatcherTestBase.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr int</type>
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      <anchorfile>classBFMRScanMatcherTestBase.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr double</type>
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      <anchorfile>classBFMRScanMatcherTestBase.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr int</type>
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      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr int</type>
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      <anchorfile>classBFMRScanMatcherTestBase.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr double</type>
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      <anchorfile>classBFMRScanMatcherTestBase.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr double</type>
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      <anchorfile>classBFMRScanMatcherTestBase.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr double</type>
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      <anchorfile>classBFMRScanMatcherTestBase.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr double</type>
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      <anchorfile>classBFMRScanMatcherTestBase.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>BruteForceMultiResolutionScanMatcher</name>
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    <base>GridScanMatcher</base>
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      <type></type>
      <name>BruteForceMultiResolutionScanMatcher</name>
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      <arglist>(SPE est, double ang_step=deg2rad(0.1), double transl_step=0.05)</arglist>
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      <type>double</type>
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      <arglist>(const TransformedLaserScan &amp;raw_scan, const RobotPose &amp;pose, const GridMap &amp;map, RobotPoseDelta &amp;result_pose_delta) override</arglist>
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      <type>void</type>
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      <anchorfile>classBruteForceMultiResolutionScanMatcher.html</anchorfile>
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      <arglist>(double angle_step, double translation_step)</arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
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      <anchorfile>classBruteForceMultiResolutionScanMatcher.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>M3RSMEngine</type>
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      <anchorfile>classBruteForceMultiResolutionScanMatcher.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
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      <anchorfile>classBruteForceMultiResolutionScanMatcher.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private" static="yes">
      <type>static constexpr double</type>
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      <anchorfile>classBruteForceMultiResolutionScanMatcher.html</anchorfile>
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      <arglist></arglist>
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      <type>static constexpr double</type>
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      <anchorfile>classBruteForceMultiResolutionScanMatcher.html</anchorfile>
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      <arglist></arglist>
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      <type></type>
      <name>BruteForcePoseEnumerator</name>
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      <arglist>(double from_x, double to_x, double step_x, double from_y, double to_y, double step_y, double from_t, double to_t, double step_t)</arglist>
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      <type>void</type>
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      <arglist>(bool pose_is_acceptable) override</arglist>
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      <type>bool</type>
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      <arglist>() const override</arglist>
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      <type>RobotPose</type>
      <name>next</name>
      <anchorfile>classBruteForcePoseEnumerator.html</anchorfile>
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      <arglist>(const RobotPose &amp;prev_pose) override</arglist>
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      <type>void</type>
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      <arglist>() override</arglist>
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      <type>RobotPose</type>
      <name>_base_pose</name>
      <anchorfile>classBruteForcePoseEnumerator.html</anchorfile>
      <anchor>aa9b96e9960aa0aa5b040460b27e3ab8d</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>bool</type>
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      <arglist></arglist>
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      <type>double</type>
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      <arglist></arglist>
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      <type>double</type>
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      <arglist></arglist>
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      <type>double</type>
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      <arglist></arglist>
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      <type>double</type>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
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      <anchorfile>classBruteForcePoseEnumerator.html</anchorfile>
      <anchor>aa27321488f232238052353c5e548b54a</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
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      <anchorfile>classBruteForcePoseEnumerator.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
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      <anchorfile>classBruteForcePoseEnumerator.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
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      <anchorfile>classBruteForcePoseEnumerator.html</anchorfile>
      <anchor>ac2d66bb6eafcf58a9591a7aa81e7969d</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
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      <anchorfile>classBruteForcePoseEnumerator.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
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      <anchorfile>classBruteForcePoseEnumerator.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>BruteForceScanMatcher</name>
    <filename>classBruteForceScanMatcher.html</filename>
    <base>PoseEnumerationScanMatcher</base>
    <member kind="function">
      <type></type>
      <name>BruteForceScanMatcher</name>
      <anchorfile>classBruteForceScanMatcher.html</anchorfile>
      <anchor>a15596570ad53092726b686a2659d6fbe</anchor>
      <arglist>(std::shared_ptr&lt; ScanProbabilityEstimator &gt; estimator, double from_x, double to_x, double step_x, double from_y, double to_y, double step_y, double from_t, double to_t, double step_t)</arglist>
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  <compound kind="class">
    <name>BruteForceScanMatcherSmokeTest</name>
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    <base>ScanMatcherTestBase&lt; UnboundedPlainGridMap &gt;</base>
    <member kind="typedef" protection="protected">
      <type>ObstacleBasedOccupancyObservationPE</type>
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      <arglist></arglist>
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    <member kind="typedef" protection="protected">
      <type>typename ScanMatcherTestBase&lt; UnboundedPlainGridMap &gt;::DefaultSPE</type>
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      <anchorfile>classBruteForceScanMatcherSmokeTest.html</anchorfile>
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      <arglist></arglist>
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    <member kind="typedef" protection="protected">
      <type>EvenSPW</type>
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      <arglist></arglist>
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      <type></type>
      <name>BruteForceScanMatcherSmokeTest</name>
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      <arglist>()</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
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      <anchorfile>classBruteForceScanMatcherSmokeTest.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function" protection="protected">
      <type>GridScanMatcher &amp;</type>
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      <anchorfile>classBruteForceScanMatcherSmokeTest.html</anchorfile>
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      <arglist>() override</arglist>
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    <member kind="variable" protection="protected">
      <type>BruteForceScanMatcher</type>
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      <anchorfile>classBruteForceScanMatcherSmokeTest.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr int</type>
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      <anchorfile>classBruteForceScanMatcherSmokeTest.html</anchorfile>
      <anchor>a8f3ec44c23aeabe647574d69f393b061</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr int</type>
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      <anchorfile>classBruteForceScanMatcherSmokeTest.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr double</type>
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      <anchorfile>classBruteForceScanMatcherSmokeTest.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr double</type>
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      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr int</type>
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      <anchorfile>classBruteForceScanMatcherSmokeTest.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr double</type>
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      <anchorfile>classBruteForceScanMatcherSmokeTest.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr int</type>
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      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr int</type>
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      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr double</type>
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      <arglist></arglist>
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      <type>static constexpr int</type>
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      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr int</type>
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      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr double</type>
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      <arglist></arglist>
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      <type>static constexpr double</type>
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      <arglist></arglist>
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      <type>static constexpr double</type>
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      <arglist></arglist>
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      <type>static constexpr double</type>
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      <type></type>
      <name>CachedTrigonometryProvider</name>
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      <arglist>()</arglist>
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      <type>double</type>
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      <arglist>(double angle_rad) const override</arglist>
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      <arglist>(double angle_rad) override</arglist>
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      <type>double</type>
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      <arglist>(double angle_rad) const override</arglist>
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      <arglist>(double a_min, double a_max, double a_inc)</arglist>
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      <type>double</type>
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      <arglist></arglist>
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      <type>double</type>
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      <arglist></arglist>
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      <type>double</type>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>double</type>
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      <arglist></arglist>
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      <type>std::vector&lt; double &gt;</type>
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      <anchorfile>classCachedTrigonometryProvider.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
      <name>_sin_base</name>
      <anchorfile>classCachedTrigonometryProvider.html</anchorfile>
      <anchor>af92ab2deebe0de178e1d36cdfccaee56</anchor>
      <arglist></arglist>
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    <name>CachedTrigonometryProviderTest</name>
    <filename>classCachedTrigonometryProviderTest.html</filename>
    <member kind="function" protection="protected">
      <type>void</type>
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      <anchorfile>classCachedTrigonometryProviderTest.html</anchorfile>
      <anchor>a8a8e712a0b2851a835880cebfb5a9a0b</anchor>
      <arglist>(CachedTrigonometryProvider &amp;ctp, double rotation, double min, double max, double step)</arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr double</type>
      <name>Acc_Trig_Err</name>
      <anchorfile>classCachedTrigonometryProviderTest.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>CecumTextRasterMapPrimitive</name>
    <filename>classCecumTextRasterMapPrimitive.html</filename>
    <base>TextRasterMapPrimitive</base>
    <member kind="enumeration">
      <type></type>
      <name>BoundPosition</name>
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      <arglist></arglist>
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      <type></type>
      <name>CecumTextRasterMapPrimitive</name>
      <anchorfile>classCecumTextRasterMapPrimitive.html</anchorfile>
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      <arglist>(int w, int h, BoundPosition bnd_pos=BoundPosition::Top)</arglist>
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      <type>std::vector&lt; Rectangle &gt;</type>
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      <arglist>() const override</arglist>
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      <type>int</type>
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      <anchorfile>classCecumTextRasterMapPrimitive.html</anchorfile>
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      <arglist>() const override</arglist>
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      <arglist>() const override</arglist>
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      <type>std::string</type>
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      <anchorfile>classCecumTextRasterMapPrimitive.html</anchorfile>
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      <arglist>() const override</arglist>
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    <member kind="function" protection="private">
      <type>std::string</type>
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      <arglist>(BoundPosition bnd_pos)</arglist>
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      <type>std::string</type>
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      <arglist>(BoundPosition bnd_pos)</arglist>
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    <member kind="variable" protection="private">
      <type>BoundPosition</type>
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      <anchorfile>classCecumTextRasterMapPrimitive.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>int</type>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::string</type>
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      <anchorfile>classCecumTextRasterMapPrimitive.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>int</type>
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      <anchorfile>classCecumTextRasterMapPrimitive.html</anchorfile>
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      <arglist></arglist>
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    <member kind="typedef" protection="protected">
      <type>CecumTextRasterMapPrimitive::BoundPosition</type>
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      <arglist></arglist>
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      <type></type>
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      <arglist>()</arglist>
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    <member kind="function" protection="protected">
      <type>std::string</type>
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      <arglist>(const std::string &amp;pattern)</arglist>
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    <member kind="function" protection="protected">
      <type>std::string</type>
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      <anchorfile>classCecumTextRasterMapPrimitiveTest.html</anchorfile>
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      <arglist>(const CecumTextRasterMapPrimitive &amp;cecum_mp)</arglist>
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    <name>CellOccupancyEstimator</name>
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    <member kind="function">
      <type></type>
      <name>CellOccupancyEstimator</name>
      <anchorfile>classCellOccupancyEstimator.html</anchorfile>
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      <arglist>(const Occupancy &amp;base_occ, const Occupancy &amp;base_empty)</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual Occupancy</type>
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      <anchorfile>classCellOccupancyEstimator.html</anchorfile>
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      <arglist>(const Segment2D &amp;beam, const Rectangle &amp;cell_bnds, bool is_occ)=0</arglist>
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      <type>virtual</type>
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      <arglist>()=default</arglist>
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    <member kind="function" protection="protected">
      <type>const Occupancy &amp;</type>
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      <anchorfile>classCellOccupancyEstimator.html</anchorfile>
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      <arglist>() const </arglist>
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    <member kind="function" protection="protected">
      <type>const Occupancy &amp;</type>
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      <anchorfile>classCellOccupancyEstimator.html</anchorfile>
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      <arglist>() const </arglist>
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    <member kind="variable" protection="private">
      <type>Occupancy</type>
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      <anchorfile>classCellOccupancyEstimator.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Occupancy</type>
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      <anchorfile>classCellOccupancyEstimator.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>ConnectTheDotsAmbiguousDriftDetector</name>
    <filename>classConnectTheDotsAmbiguousDriftDetector.html</filename>
    <base>GridScanMatcher</base>
    <member kind="function">
      <type></type>
      <name>ConnectTheDotsAmbiguousDriftDetector</name>
      <anchorfile>classConnectTheDotsAmbiguousDriftDetector.html</anchorfile>
      <anchor>a987ad679a10ad078e5388567c0f16771</anchor>
      <arglist>(std::shared_ptr&lt; GridScanMatcher &gt; sm)</arglist>
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    <member kind="function">
      <type>double</type>
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      <anchorfile>classConnectTheDotsAmbiguousDriftDetector.html</anchorfile>
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      <arglist>(const TransformedLaserScan &amp;raw_scan, const RobotPose &amp;init_pose, const GridMap &amp;map, RobotPoseDelta &amp;pose_delta) override</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classConnectTheDotsAmbiguousDriftDetector.html</anchorfile>
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      <arglist>() override</arglist>
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    <member kind="variable" protection="private">
      <type>std::shared_ptr&lt; GridScanMatcher &gt;</type>
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      <anchorfile>classConnectTheDotsAmbiguousDriftDetector.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>ConstOccupancyEstimator</name>
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    <base>CellOccupancyEstimator</base>
    <member kind="function">
      <type></type>
      <name>ConstOccupancyEstimator</name>
      <anchorfile>classConstOccupancyEstimator.html</anchorfile>
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      <arglist>(const Occupancy &amp;base_occ, const Occupancy &amp;base_empty)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual Occupancy</type>
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      <arglist>(const Segment2D &amp;beam, const Rectangle &amp;cell_bnds, bool is_occ) override</arglist>
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    <name>Deserializer</name>
    <filename>classDeserializer.html</filename>
    <member kind="function">
      <type></type>
      <name>Deserializer</name>
      <anchorfile>classDeserializer.html</anchorfile>
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      <arglist>(const std::vector&lt; char &gt; &amp;data, size_t start_pos=0)</arglist>
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    <member kind="function">
      <type>size_t</type>
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      <anchorfile>classDeserializer.html</anchorfile>
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      <arglist>() const </arglist>
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      <type>Type</type>
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      <arglist>()</arglist>
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      <arglist></arglist>
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      <type>size_t</type>
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      <anchorfile>classDeserializer.html</anchorfile>
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      <arglist></arglist>
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    <name>Directions</name>
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    <member kind="function">
      <type>bool</type>
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      <arglist>() const </arglist>
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      <anchorfile>classDirections.html</anchorfile>
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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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      <arglist>() const </arglist>
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    <member kind="function">
      <type>Directions &amp;</type>
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      <anchorfile>classDirections.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>Directions &amp;</type>
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      <anchorfile>classDirections.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>Directions &amp;</type>
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      <anchorfile>classDirections.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>Directions &amp;</type>
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      <anchorfile>classDirections.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>bool</type>
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      <arglist>() const </arglist>
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      <type>int</type>
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      <anchorfile>classDirections.html</anchorfile>
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      <arglist>() const </arglist>
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      <type>int</type>
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      <anchorfile>classDirections.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private" static="yes">
      <type>static constexpr int</type>
      <name>Bot_Id</name>
      <anchorfile>classDirections.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private" static="yes">
      <type>static constexpr int</type>
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      <anchorfile>classDirections.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private" static="yes">
      <type>static constexpr int</type>
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      <arglist></arglist>
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    <member kind="variable" protection="private" static="yes">
      <type>static constexpr int</type>
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      <arglist></arglist>
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    <member kind="function">
      <type>constexpr</type>
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      <arglist>(int x_coord=0, int y_coord=0)</arglist>
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    <member kind="function">
      <type>double</type>
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      <arglist>(const DiscretePoint2D &amp;pt) const </arglist>
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    <member kind="function">
      <type>bool</type>
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      <anchorfile>structDiscretePoint2D.html</anchorfile>
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      <arglist>(const DiscretePoint2D &amp;p) const </arglist>
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    <member kind="function">
      <type>DiscretePoint2D</type>
      <name>operator+</name>
      <anchorfile>structDiscretePoint2D.html</anchorfile>
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      <arglist>(const DiscretePoint2D &amp;p) const </arglist>
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    <member kind="function">
      <type>DiscretePoint2D &amp;</type>
      <name>operator+=</name>
      <anchorfile>structDiscretePoint2D.html</anchorfile>
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      <arglist>(const DiscretePoint2D &amp;p)</arglist>
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    <member kind="function">
      <type>DiscretePoint2D</type>
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      <arglist>(const DiscretePoint2D &amp;p) const </arglist>
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    <member kind="function">
      <type>DiscretePoint2D</type>
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      <arglist>() const </arglist>
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    <member kind="function">
      <type>bool</type>
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      <anchorfile>structDiscretePoint2D.html</anchorfile>
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      <arglist>(const DiscretePoint2D &amp;p) const </arglist>
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      <arglist></arglist>
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      <type>int</type>
      <name>y</name>
      <anchorfile>structDiscretePoint2D.html</anchorfile>
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      <arglist></arglist>
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    <name>DiscreteSegment2D</name>
    <filename>classDiscreteSegment2D.html</filename>
    <member kind="function">
      <type></type>
      <name>DiscreteSegment2D</name>
      <anchorfile>classDiscreteSegment2D.html</anchorfile>
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      <arglist>(const DPoint &amp;beg, const DPoint &amp;end)</arglist>
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    <member kind="function">
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      <name>operator auto</name>
      <anchorfile>classDiscreteSegment2D.html</anchorfile>
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      <arglist>() const </arglist>
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    <member kind="typedef" protection="private">
      <type>DiscretePoint2D</type>
      <name>DPoint</name>
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      <arglist></arglist>
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    <member kind="function" protection="private">
      <type>void</type>
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      <anchorfile>classDiscreteSegment2D.html</anchorfile>
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      <arglist>(const DPoint &amp;beg, const DPoint &amp;end)</arglist>
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    <member kind="variable" protection="private">
      <type>std::vector&lt; DPoint &gt;</type>
      <name>_points</name>
      <anchorfile>classDiscreteSegment2D.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>DistanceBasedWallBlurringTest</name>
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    <base>PlainScanIntegrationTest</base>
    <member kind="function" protection="protected">
      <type>std::shared_ptr&lt; GridMapScanAdder &gt;</type>
      <name>adder</name>
      <anchorfile>classDistanceBasedWallBlurringTest.html</anchorfile>
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      <arglist>(double blurring_width) const </arglist>
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    <member kind="function" protection="protected">
      <type></type>
      <name>DistanceBasedWallBlurringTest</name>
      <anchorfile>classDistanceBasedWallBlurringTest.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="variable" protection="protected">
      <type>std::shared_ptr&lt; GridCell &gt;</type>
      <name>cell_proto</name>
      <anchorfile>classDistanceBasedWallBlurringTest.html</anchorfile>
      <anchor>a9d44bbf06f6f08792b98d24fec027ab2</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>UnboundedPlainGridMap</type>
      <name>dst_map</name>
      <anchorfile>classDistanceBasedWallBlurringTest.html</anchorfile>
      <anchor>a82f1d397e6c9c5dc62d0865236f85f7f</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>RobotPose</type>
      <name>pose</name>
      <anchorfile>classDistanceBasedWallBlurringTest.html</anchorfile>
      <anchor>a5e9f81acc439f486c88e8c5571d272f1</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>UnboundedPlainGridMap</type>
      <name>src_map</name>
      <anchorfile>classDistanceBasedWallBlurringTest.html</anchorfile>
      <anchor>a893132e94cc287fc3c3889641871296f</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr int</type>
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      <anchorfile>classDistanceBasedWallBlurringTest.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr double</type>
      <name>MAP_SCALE</name>
      <anchorfile>classDistanceBasedWallBlurringTest.html</anchorfile>
      <anchor>abf0dc6e3af14296ce7c0cd01a84aef84</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr int</type>
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      <anchorfile>classDistanceBasedWallBlurringTest.html</anchorfile>
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      <arglist></arglist>
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    <name>Distorsion1DPoseEnumerator</name>
    <filename>classDistorsion1DPoseEnumerator.html</filename>
    <base>PoseEnumerator</base>
    <member kind="function">
      <type></type>
      <name>Distorsion1DPoseEnumerator</name>
      <anchorfile>classDistorsion1DPoseEnumerator.html</anchorfile>
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      <arglist>(double translation_delta, double rotation_delta)</arglist>
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      <type>void</type>
      <name>feedback</name>
      <anchorfile>classDistorsion1DPoseEnumerator.html</anchorfile>
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      <arglist>(bool pose_is_acceptable) override</arglist>
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    <member kind="function">
      <type>bool</type>
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      <arglist>() const override</arglist>
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    <member kind="function">
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      <name>next</name>
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      <arglist>(const RobotPose &amp;prev_pose) override</arglist>
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      <type>void</type>
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      <arglist>() override</arglist>
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      <arglist></arglist>
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      <name>Dim</name>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <name>Th</name>
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      <arglist></arglist>
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      <arglist></arglist>
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      <name>DimNm</name>
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      <arglist></arglist>
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      <name>Dir</name>
      <anchorfile>classDistorsion1DPoseEnumerator.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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      <name>Dec</name>
      <anchorfile>classDistorsion1DPoseEnumerator.html</anchorfile>
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      <arglist></arglist>
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      <name>DirNm</name>
      <anchorfile>classDistorsion1DPoseEnumerator.html</anchorfile>
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      <arglist></arglist>
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      <name>DirNm</name>
      <anchorfile>classDistorsion1DPoseEnumerator.html</anchorfile>
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      <arglist></arglist>
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      <name>Inc</name>
      <anchorfile>classDistorsion1DPoseEnumerator.html</anchorfile>
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      <arglist></arglist>
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      <name>Th</name>
      <anchorfile>classDistorsion1DPoseEnumerator.html</anchorfile>
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      <arglist></arglist>
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      <name>X</name>
      <anchorfile>classDistorsion1DPoseEnumerator.html</anchorfile>
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      <arglist></arglist>
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      <name>Y</name>
      <anchorfile>classDistorsion1DPoseEnumerator.html</anchorfile>
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      <arglist></arglist>
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      <type>std::size_t</type>
      <name>_action_id</name>
      <anchorfile>classDistorsion1DPoseEnumerator.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>RobotPose</type>
      <name>_base_pose</name>
      <anchorfile>classDistorsion1DPoseEnumerator.html</anchorfile>
      <anchor>a1752b5ea039888faa55791b0ecd192d0</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>bool</type>
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      <anchorfile>classDistorsion1DPoseEnumerator.html</anchorfile>
      <anchor>a115879c6a8098c1a7fa397d88fe2cd3a</anchor>
      <arglist></arglist>
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      <type>double</type>
      <name>_rotation_delta</name>
      <anchorfile>classDistorsion1DPoseEnumerator.html</anchorfile>
      <anchor>aabc319b89952ab5485e48fdaa8acab5b</anchor>
      <arglist></arglist>
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      <type>double</type>
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      <anchorfile>classDistorsion1DPoseEnumerator.html</anchorfile>
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      <arglist></arglist>
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    <name>EvenSPW</name>
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      <type>void</type>
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      <anchorfile>classEvenSPW.html</anchorfile>
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      <arglist>(const LaserScan2D &amp;scan) override</arglist>
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      <type>double</type>
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      <anchorfile>classEvenSPW.html</anchorfile>
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      <arglist>(const LaserScan2D::Points &amp;, PointId) const override</arglist>
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      <type>double</type>
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      <anchorfile>classEvenSPW.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>FailedRoundsLimitedPoseEnumerator</name>
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    <templarg></templarg>
    <base>PoseEnumerator</base>
    <member kind="function">
      <type></type>
      <name>FailedRoundsLimitedPoseEnumerator</name>
      <anchorfile>classFailedRoundsLimitedPoseEnumerator.html</anchorfile>
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      <arglist>(unsigned max_failed_rounds, double translation_delta, double rotation_delta)</arglist>
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      <type>void</type>
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      <anchorfile>classFailedRoundsLimitedPoseEnumerator.html</anchorfile>
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      <arglist>(bool pose_is_acceptable) override</arglist>
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      <anchorfile>classFailedRoundsLimitedPoseEnumerator.html</anchorfile>
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      <arglist>() const override</arglist>
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      <type>RobotPose</type>
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      <anchorfile>classFailedRoundsLimitedPoseEnumerator.html</anchorfile>
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      <arglist>(const RobotPose &amp;prev_pose) override</arglist>
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      <type>void</type>
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      <anchorfile>classFailedRoundsLimitedPoseEnumerator.html</anchorfile>
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      <arglist>() override</arglist>
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      <type>void</type>
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      <anchorfile>classFailedRoundsLimitedPoseEnumerator.html</anchorfile>
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      <arglist>(double translation_delta, double rotation_delta)</arglist>
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      <type>double</type>
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      <anchorfile>classFailedRoundsLimitedPoseEnumerator.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
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      <anchorfile>classFailedRoundsLimitedPoseEnumerator.html</anchorfile>
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      <arglist></arglist>
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      <type>unsigned</type>
      <name>_failed_rounds</name>
      <anchorfile>classFailedRoundsLimitedPoseEnumerator.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>unsigned</type>
      <name>_max_failed_rounds</name>
      <anchorfile>classFailedRoundsLimitedPoseEnumerator.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
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      <anchorfile>classFailedRoundsLimitedPoseEnumerator.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>bool</type>
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      <anchorfile>classFailedRoundsLimitedPoseEnumerator.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>BasePoseEnumerator</type>
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      <anchorfile>classFailedRoundsLimitedPoseEnumerator.html</anchorfile>
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      <arglist></arglist>
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      <type>double</type>
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      <anchorfile>classFailedRoundsLimitedPoseEnumerator.html</anchorfile>
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      <arglist></arglist>
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    <name>FilePropertiesProvider</name>
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    <base>PropertiesProvider</base>
    <member kind="function">
      <type>void</type>
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      <anchorfile>classFilePropertiesProvider.html</anchorfile>
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      <arglist>(const std::string &amp;path)</arglist>
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    <member kind="function">
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      <name>FilePropertiesProvider</name>
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      <arglist>()</arglist>
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      <type>bool</type>
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      <arglist>(const std::string &amp;id, bool dflt) const override</arglist>
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      <type>double</type>
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      <anchorfile>classFilePropertiesProvider.html</anchorfile>
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      <arglist>(const std::string &amp;id, double dflt) const override</arglist>
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      <arglist>(const std::string &amp;id, int dflt) const override</arglist>
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      <type>str</type>
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      <arglist>(const std::string &amp;id, const str &amp;dflt) const override</arglist>
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      <arglist>(const std::string &amp;id, unsigned dflt) const override</arglist>
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      <type>static constexpr char</type>
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      <anchorfile>classFilePropertiesProvider.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr char</type>
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      <arglist></arglist>
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      <type>static constexpr char</type>
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      <anchorfile>classFilePropertiesProvider.html</anchorfile>
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      <arglist></arglist>
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      <type>static constexpr char</type>
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      <arglist></arglist>
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      <anchorfile>classFilePropertiesProvider.html</anchorfile>
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      <arglist>(const std::string &amp;path)</arglist>
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    <member kind="variable" protection="private">
      <type>MapPropertiesProvider</type>
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      <anchorfile>classFilePropertiesProvider.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>GaussianPoseEnumerator</name>
    <filename>classGaussianPoseEnumerator.html</filename>
    <base>PoseEnumerator</base>
    <member kind="function">
      <type>void</type>
      <name>feedback</name>
      <anchorfile>classGaussianPoseEnumerator.html</anchorfile>
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      <arglist>(bool pose_is_acceptable) override</arglist>
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    <member kind="function">
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      <name>GaussianPoseEnumerator</name>
      <anchorfile>classGaussianPoseEnumerator.html</anchorfile>
      <anchor>a45194fb3b1152a66df0796c29e4c0c60</anchor>
      <arglist>(unsigned seed, double translation_dispersion, double rotation_dispersion, unsigned max_dispersion_failed_attempts, unsigned max_poses_nm)</arglist>
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    <member kind="function">
      <type>bool</type>
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      <anchorfile>classGaussianPoseEnumerator.html</anchorfile>
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      <arglist>() const override</arglist>
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      <type>RobotPose</type>
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      <anchorfile>classGaussianPoseEnumerator.html</anchorfile>
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      <arglist>(const RobotPose &amp;prev_pose) override</arglist>
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      <anchorfile>classGaussianPoseEnumerator.html</anchorfile>
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      <arglist>() override</arglist>
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    <member kind="typedef" protection="protected">
      <type>std::mt19937</type>
      <name>Engine</name>
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      <arglist></arglist>
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      <type>void</type>
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      <anchorfile>classGaussianPoseEnumerator.html</anchorfile>
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      <arglist>(double new_translation_dispersion, double new_rotation_dispersion)</arglist>
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    <member kind="function" protection="private">
      <type>void</type>
      <name>reset_shift</name>
      <anchorfile>classGaussianPoseEnumerator.html</anchorfile>
      <anchor>a95936746de68a7f7045464abeaae4e39</anchor>
      <arglist>(double dispersion_scale_factor)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>_base_rotation_dispersion</name>
      <anchorfile>classGaussianPoseEnumerator.html</anchorfile>
      <anchor>a3dca19435a540d76c78d503fec6564be</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>_base_translation_dispersion</name>
      <anchorfile>classGaussianPoseEnumerator.html</anchorfile>
      <anchor>a209b49ba77b2164226ce6dc1f95ae119</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>unsigned</type>
      <name>_failed_attempts_per_shift</name>
      <anchorfile>classGaussianPoseEnumerator.html</anchorfile>
      <anchor>a7027f70d40ccbcc8efbbe031667c59aa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>unsigned</type>
      <name>_max_failed_attempts_per_shift</name>
      <anchorfile>classGaussianPoseEnumerator.html</anchorfile>
      <anchor>a17ea7648805c0d0c8a5bc1ea71d76210</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>unsigned</type>
      <name>_max_poses_nm</name>
      <anchorfile>classGaussianPoseEnumerator.html</anchorfile>
      <anchor>aa4a64c60fe37520f885a5cb38f39b29f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>RobotPoseDeltaRV&lt; Engine &gt;</type>
      <name>_pose_shift_rv</name>
      <anchorfile>classGaussianPoseEnumerator.html</anchorfile>
      <anchor>a5eef84b467af21a54527f56ca299cd68</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>unsigned</type>
      <name>_poses_nm</name>
      <anchorfile>classGaussianPoseEnumerator.html</anchorfile>
      <anchor>a2aff1ea76276ee0e08978d9a9dcae123</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Engine</type>
      <name>_pr_generator</name>
      <anchorfile>classGaussianPoseEnumerator.html</anchorfile>
      <anchor>a9ebea6f7c03b20df6d244a9d03d31079</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>_rotation_dispersion</name>
      <anchorfile>classGaussianPoseEnumerator.html</anchorfile>
      <anchor>abd95e48d88dc2be783b5ffc7c8d58970</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>_translation_dispersion</name>
      <anchorfile>classGaussianPoseEnumerator.html</anchorfile>
      <anchor>a69d29876a6135de35cb922ced28f8fc1</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>GaussianRV1D</name>
    <filename>classGaussianRV1D.html</filename>
    <templarg></templarg>
    <base>RandomVariable1D&lt; Engine &gt;</base>
    <member kind="function">
      <type>std::unique_ptr&lt; RandomVariable1D&lt; Engine &gt; &gt;</type>
      <name>clone</name>
      <anchorfile>classGaussianRV1D.html</anchorfile>
      <anchor>a5027c70cf79516a4a1ff5eb3b0a7510f</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>GaussianRV1D</name>
      <anchorfile>classGaussianRV1D.html</anchorfile>
      <anchor>a79402ac8bc88925a3ad0db30538c5c57</anchor>
      <arglist>(double mean, double stddev)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>sample</name>
      <anchorfile>classGaussianRV1D.html</anchorfile>
      <anchor>ad80bd9bfc1ee120e74a34054c7d869a3</anchor>
      <arglist>(Engine &amp;rnd_engine) override</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::normal_distribution</type>
      <name>_distr</name>
      <anchorfile>classGaussianRV1D.html</anchorfile>
      <anchor>a17eaf19ca91da1dbbae8dd6c90a4eab2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>_mean</name>
      <anchorfile>classGaussianRV1D.html</anchorfile>
      <anchor>a86997f037d1407e14cf89cce725cf784</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>_stddev</name>
      <anchorfile>classGaussianRV1D.html</anchorfile>
      <anchor>aad2217c1d34e870425ffe15379cbd549</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>GmappingBaseCell</name>
    <filename>classGmappingBaseCell.html</filename>
    <base>GridCell</base>
    <member kind="function">
      <type>std::unique_ptr&lt; GridCell &gt;</type>
      <name>clone</name>
      <anchorfile>classGmappingBaseCell.html</anchorfile>
      <anchor>ac78e3536721464fb79f5bd9c28ee6309</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>discrepancy</name>
      <anchorfile>classGmappingBaseCell.html</anchorfile>
      <anchor>a88a7a7db73137dabd39fe6f602294f5c</anchor>
      <arglist>(const AreaOccupancyObservation &amp;aoo) const override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>GmappingBaseCell</name>
      <anchorfile>classGmappingBaseCell.html</anchorfile>
      <anchor>a0c48a3a77c03826cc50e598a7f48bf01</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator+=</name>
      <anchorfile>classGmappingBaseCell.html</anchorfile>
      <anchor>a2d567444ef7b7758e2a39617077f30a4</anchor>
      <arglist>(const AreaOccupancyObservation &amp;aoo) override</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>_hits</name>
      <anchorfile>classGmappingBaseCell.html</anchorfile>
      <anchor>ace3bb61520514cda668851689a9382f7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>_tries</name>
      <anchorfile>classGmappingBaseCell.html</anchorfile>
      <anchor>a17e03395ee7ebd0388240b5b5a3fe964</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Point2D</type>
      <name>obst</name>
      <anchorfile>classGmappingBaseCell.html</anchorfile>
      <anchor>a8b16b3f1d7fd9b2388bf81aa4b28269a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type>static constexpr double</type>
      <name>DIST_VARIANCE</name>
      <anchorfile>classGmappingBaseCell.html</anchorfile>
      <anchor>a3884b32ac2bfa6051b0812bd74b98361</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>GmappingOccupancyObservationPE</name>
    <filename>classGmappingOccupancyObservationPE.html</filename>
    <base>OccupancyObservationProbabilityEstimator</base>
    <member kind="function">
      <type></type>
      <name>GmappingOccupancyObservationPE</name>
      <anchorfile>classGmappingOccupancyObservationPE.html</anchorfile>
      <anchor>a8e9a0c6f8a15221859c4f0f597335636</anchor>
      <arglist>(double fullness_th, unsigned window_size)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>probability</name>
      <anchorfile>classGmappingOccupancyObservationPE.html</anchorfile>
      <anchor>abe71ddf893685a7af8455f3069185c15</anchor>
      <arglist>(const AreaOccupancyObservation &amp;aoo, const LightWeightRectangle &amp;, const GridMap &amp;map) const override</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>DiscretePoint2D</type>
      <name>_cached_coord</name>
      <anchorfile>classGmappingOccupancyObservationPE.html</anchorfile>
      <anchor>a3912984546952bfcd8ca1b74031baff0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>_cached_prob</name>
      <anchorfile>classGmappingOccupancyObservationPE.html</anchorfile>
      <anchor>a837ca937f8537d5181974742b9711252</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const double</type>
      <name>Fullness_Th</name>
      <anchorfile>classGmappingOccupancyObservationPE.html</anchorfile>
      <anchor>a24f3403aa40e006ca8fb4c6803213972</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const int</type>
      <name>Window_Sz</name>
      <anchorfile>classGmappingOccupancyObservationPE.html</anchorfile>
      <anchor>ad9840c1aad11708b2fecd42f95a0d818</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>GMappingParams</name>
    <filename>structGMappingParams.html</filename>
    <member kind="function">
      <type></type>
      <name>GMappingParams</name>
      <anchorfile>structGMappingParams.html</anchorfile>
      <anchor>ac13ccff3dc6c81a20bd9f742f2ae180b</anchor>
      <arglist>(double mean_sample_xy, double sigma_sample_xy, double mean_sample_th, double sigma_sample_th, double min_sm_lim_xy, double max_sm_lim_xy, double min_sm_lim_th, double max_sm_lim_th)</arglist>
    </member>
    <member kind="variable">
      <type>RobotPoseDeltaRV&lt; RandomEngine &gt;</type>
      <name>next_sm_delta_rv</name>
      <anchorfile>structGMappingParams.html</anchorfile>
      <anchor>ab78fc31b8661ed42770e73a0197840ae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>RobotPoseDeltaRV&lt; RandomEngine &gt;</type>
      <name>pose_guess_rv</name>
      <anchorfile>structGMappingParams.html</anchorfile>
      <anchor>a98026ded883b9b210420b1d538e8a45b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef" protection="private">
      <type>GaussianRV1D&lt; RandomEngine &gt;</type>
      <name>GRV1D</name>
      <anchorfile>structGMappingParams.html</anchorfile>
      <anchor>a419988da3e9d7685ff0010e4ca7b52d0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef" protection="private">
      <type>std::mt19937</type>
      <name>RandomEngine</name>
      <anchorfile>structGMappingParams.html</anchorfile>
      <anchor>af5680ae9bb174799a28dd4d1b78a33f3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef" protection="private">
      <type>UniformRV1D&lt; RandomEngine &gt;</type>
      <name>URV1D</name>
      <anchorfile>structGMappingParams.html</anchorfile>
      <anchor>af20f38b0c6950e4e5ca4a05b7826e03e</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>GmappingParticleFactory</name>
    <filename>classGmappingParticleFactory.html</filename>
    <base>ParticleFactory&lt; GmappingWorld &gt;</base>
    <member kind="function">
      <type>std::shared_ptr&lt; GmappingWorld &gt;</type>
      <name>create_particle</name>
      <anchorfile>classGmappingParticleFactory.html</anchorfile>
      <anchor>acdf0ba9769ff04fbd82ca60a4e0d9827</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>GmappingParticleFactory</name>
      <anchorfile>classGmappingParticleFactory.html</anchorfile>
      <anchor>ae2bfb07b796534bfe8f5d1af77ea4987</anchor>
      <arglist>(const SingleStateHypothesisLSGWProperties &amp;shw_p, const GMappingParams &amp;gprms)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const GMappingParams</type>
      <name>_gprms</name>
      <anchorfile>classGmappingParticleFactory.html</anchorfile>
      <anchor>a3e238d749ff1d4240b04b50eccc03d10</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const SingleStateHypothesisLSGWProperties</type>
      <name>_shw_p</name>
      <anchorfile>classGmappingParticleFactory.html</anchorfile>
      <anchor>a83331e34b79e99028ec350b584a9aea6</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>GmappingParticleFilter</name>
    <filename>classGmappingParticleFilter.html</filename>
    <base>LaserScanGridWorld&lt; GmappingWorld::MapType &gt;</base>
    <member kind="typedef">
      <type>GmappingWorld::MapType</type>
      <name>MapType</name>
      <anchorfile>classGmappingParticleFilter.html</anchorfile>
      <anchor>aeada8cc131707284d62cfb2b0b5d788d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>LaserScanGridWorld&lt; MapType &gt;</type>
      <name>WorldT</name>
      <anchorfile>classGmappingParticleFilter.html</anchorfile>
      <anchor>a142adda0e2979780aac885234f5154d8</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>GmappingParticleFilter</name>
      <anchorfile>classGmappingParticleFilter.html</anchorfile>
      <anchor>ae96f8adbd9324e5993aca996aa889c20</anchor>
      <arglist>(const SingleStateHypothesisLSGWProperties &amp;shw_p, const GMappingParams &amp;gprms, unsigned n=1)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>handle_sensor_data</name>
      <anchorfile>classGmappingParticleFilter.html</anchorfile>
      <anchor>abc159bbadc770eb7ff2c6b36853775db</anchor>
      <arglist>(TransformedLaserScan &amp;scan) override</arglist>
    </member>
    <member kind="function">
      <type>const GmappingWorld::MapType &amp;</type>
      <name>map</name>
      <anchorfile>classGmappingParticleFilter.html</anchorfile>
      <anchor>aae87933f5b558d29833f31ea9bb5f782</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>const RobotPose &amp;</type>
      <name>pose</name>
      <anchorfile>classGmappingParticleFilter.html</anchorfile>
      <anchor>a5e11b540117eab2bf8f0f5b872792de0</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>update_robot_pose</name>
      <anchorfile>classGmappingParticleFilter.html</anchorfile>
      <anchor>aea0a1da0094ea7b27b3344e63ccdd939</anchor>
      <arglist>(const RobotPoseDelta &amp;delta) override</arglist>
    </member>
    <member kind="function">
      <type>const WorldT &amp;</type>
      <name>world</name>
      <anchorfile>classGmappingParticleFilter.html</anchorfile>
      <anchor>a4b4e0788ed75bc9009e489ecefcac074</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>handle_observation</name>
      <anchorfile>classGmappingParticleFilter.html</anchorfile>
      <anchor>a9e60f69be6b2635effd455ab81267bd0</anchor>
      <arglist>(TransformedLaserScan &amp;obs) override</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>ensure_master_exists</name>
      <anchorfile>classGmappingParticleFilter.html</anchorfile>
      <anchor>ab60a61d92063c31db7332b0647a8da0b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>try_resample</name>
      <anchorfile>classGmappingParticleFilter.html</anchorfile>
      <anchor>a58580fbfa3fe515f37bf1aa18be29def</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ParticleFilter&lt; GmappingWorld &gt;</type>
      <name>_pf</name>
      <anchorfile>classGmappingParticleFilter.html</anchorfile>
      <anchor>a06649c0c66391805fe59b89258b4ecaf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>RobotPoseDelta</type>
      <name>_traversed_since_last_resample</name>
      <anchorfile>classGmappingParticleFilter.html</anchorfile>
      <anchor>aa827cf5bb07123794433a7025e2e1ee0</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>GmappingWorld</name>
    <filename>classGmappingWorld.html</filename>
    <base>Particle</base>
    <base>SingleStateHypothesisLaserScanGridWorld&lt; UnboundedLazyTiledGridMap &gt;</base>
    <member kind="typedef">
      <type>GaussianRV1D&lt; RandomEngine &gt;</type>
      <name>GRV1D</name>
      <anchorfile>classGmappingWorld.html</anchorfile>
      <anchor>affa50599b9909ba9210622034f17b5ce</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>UnboundedLazyTiledGridMap</type>
      <name>MapType</name>
      <anchorfile>classGmappingWorld.html</anchorfile>
      <anchor>a576ea35c8d5865e549ba7d2150dd439f</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::mt19937</type>
      <name>RandomEngine</name>
      <anchorfile>classGmappingWorld.html</anchorfile>
      <anchor>a87f2f7b581bb739d5ef351cc806650c6</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>GmappingWorld</name>
      <anchorfile>classGmappingWorld.html</anchorfile>
      <anchor>a04d93aae946adeaf0c84fbfc30088bd3</anchor>
      <arglist>(const SingleStateHypothesisLSGWProperties &amp;shw_params, const GMappingParams &amp;gparams)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>handle_observation</name>
      <anchorfile>classGmappingWorld.html</anchorfile>
      <anchor>ac29e6eededccb2be7b13381d9335ff4a</anchor>
      <arglist>(TransformedLaserScan &amp;scan) override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>is_master</name>
      <anchorfile>classGmappingWorld.html</anchorfile>
      <anchor>a756d08533de3aa1df28a1d0e3ca2bb07</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>mark_master</name>
      <anchorfile>classGmappingWorld.html</anchorfile>
      <anchor>aa6b9fcbce39309ffda6b5606e9b67049</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>sample</name>
      <anchorfile>classGmappingWorld.html</anchorfile>
      <anchor>ad4a6406a3f3eb4d432f910a197424ada</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>update_robot_pose</name>
      <anchorfile>classGmappingWorld.html</anchorfile>
      <anchor>a44be0311fa5a792ec382ec06221dd630</anchor>
      <arglist>(const RobotPoseDelta &amp;delta) override</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>reset_scan_matching_delta</name>
      <anchorfile>classGmappingWorld.html</anchorfile>
      <anchor>a81cd69ee178f0da79a99b6027152147d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>RobotPoseDelta</type>
      <name>_delta_since_last_sm</name>
      <anchorfile>classGmappingWorld.html</anchorfile>
      <anchor>a02cf375c7f1eb7dbc2b531eb7ffc11c6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>_is_master</name>
      <anchorfile>classGmappingWorld.html</anchorfile>
      <anchor>aea8e4b4c95933ff62fe862186b12277f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>RobotPoseDelta</type>
      <name>_next_sm_delta</name>
      <anchorfile>classGmappingWorld.html</anchorfile>
      <anchor>ae188d0a38c9d3e28430f1a60db90574f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>RobotPoseDeltaRV&lt; RandomEngine &gt;</type>
      <name>_next_sm_delta_rv</name>
      <anchorfile>classGmappingWorld.html</anchorfile>
      <anchor>a3777361e9b8822b04986595f4f8a37e0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>RobotPoseDeltaRV&lt; RandomEngine &gt;</type>
      <name>_pose_guess_rv</name>
      <anchorfile>classGmappingWorld.html</anchorfile>
      <anchor>a0d0b43d899adf236f804a6e605d6d8af</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>RobotPose</type>
      <name>_raw_odom_pose</name>
      <anchorfile>classGmappingWorld.html</anchorfile>
      <anchor>ad834dc35c4f5f84b1ad7a9e9f5970baf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>RandomEngine</type>
      <name>_rnd_engine</name>
      <anchorfile>classGmappingWorld.html</anchorfile>
      <anchor>aecdfa4ce927da51b8b03409ae04f86d7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>_scan_is_first</name>
      <anchorfile>classGmappingWorld.html</anchorfile>
      <anchor>ae36a6bfe6f170044776ab275a0d4e492</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>GridCell</name>
    <filename>classGridCell.html</filename>
    <member kind="function" virtualness="virtual">
      <type>virtual std::unique_ptr&lt; GridCell &gt;</type>
      <name>clone</name>
      <anchorfile>classGridCell.html</anchorfile>
      <anchor>a62120c524c357d3a9f68459a08828c79</anchor>
      <arglist>() const </arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual size_t</type>
      <name>deserialize</name>
      <anchorfile>classGridCell.html</anchorfile>
      <anchor>ad83aafec4bb2877dca0a036394e64d92</anchor>
      <arglist>(const std::vector&lt; char &gt; &amp;data, size_t pos=0)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>discrepancy</name>
      <anchorfile>classGridCell.html</anchorfile>
      <anchor>a4cff587edf10341764d6fad85af99107</anchor>
      <arglist>(const AreaOccupancyObservation &amp;aoo) const </arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>GridCell</name>
      <anchorfile>classGridCell.html</anchorfile>
      <anchor>a8003791999b47b710c72e0dd626441b1</anchor>
      <arglist>(const Occupancy &amp;occ)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>GridCell</name>
      <anchorfile>classGridCell.html</anchorfile>
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      <arglist>(const GridCell &amp;gc)=default</arglist>
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    <member kind="function">
      <type></type>
      <name>GridCell</name>
      <anchorfile>classGridCell.html</anchorfile>
      <anchor>a3bd282c0c6e03294fa92e6f23f1044bd</anchor>
      <arglist>(GridCell &amp;&amp;gc)=default</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual const Occupancy &amp;</type>
      <name>occupancy</name>
      <anchorfile>classGridCell.html</anchorfile>
      <anchor>a82a073aed5915ab0cdb0be333265030a</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator bool</name>
      <anchorfile>classGridCell.html</anchorfile>
      <anchor>aa60bfdaa43d383959827f86e7dbe5851</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator double</name>
      <anchorfile>classGridCell.html</anchorfile>
      <anchor>ae94f22c9c208cb42a54e074ee71a6a5f</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>operator+=</name>
      <anchorfile>classGridCell.html</anchorfile>
      <anchor>a435bac642f41f8094584b85c04dd9ed3</anchor>
      <arglist>(const AreaOccupancyObservation &amp;aoo)</arglist>
    </member>
    <member kind="function">
      <type>GridCell &amp;</type>
      <name>operator=</name>
      <anchorfile>classGridCell.html</anchorfile>
      <anchor>af80d504bece8e3d0650dabe0ffc27eb3</anchor>
      <arglist>(const GridCell &amp;gc)=default</arglist>
    </member>
    <member kind="function">
      <type>GridCell &amp;</type>
      <name>operator=</name>
      <anchorfile>classGridCell.html</anchorfile>
      <anchor>a1eb9e77db8df192e7b572fbc08192577</anchor>
      <arglist>(GridCell &amp;&amp;gc)=default</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual std::vector&lt; char &gt;</type>
      <name>serialize</name>
      <anchorfile>classGridCell.html</anchorfile>
      <anchor>a8ebe08c5e0d3f283951508e1810bff58</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~GridCell</name>
      <anchorfile>classGridCell.html</anchorfile>
      <anchor>a5e52fdd2b7b3de9d8627befc20d7a825</anchor>
      <arglist>()=default</arglist>
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    <member kind="variable" protection="protected">
      <type>Occupancy</type>
      <name>_occupancy</name>
      <anchorfile>classGridCell.html</anchorfile>
      <anchor>ab52012f78cf311c11dcda9f405b065d5</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>GridMap</name>
    <filename>classGridMap.html</filename>
    <base>OccupancyMap&lt; RegularSquaresGrid::Coord, double &gt;</base>
    <base>RegularSquaresGrid</base>
    <member kind="function">
      <type></type>
      <name>GridMap</name>
      <anchorfile>classGridMap.html</anchorfile>
      <anchor>acdf1337962d5a7dad46d381dddf925bc</anchor>
      <arglist>(std::shared_ptr&lt; GridCell &gt; prototype, const GridMapParams &amp;params=MapValues::gmp)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>load_state</name>
      <anchorfile>classGridMap.html</anchorfile>
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      <arglist>(const std::vector&lt; char &gt; &amp;)</arglist>
    </member>
    <member kind="function">
      <type>std::unique_ptr&lt; GridCell &gt;</type>
      <name>new_cell</name>
      <anchorfile>classGridMap.html</anchorfile>
      <anchor>a33f028b0f5b1954393833b23877f6da5</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>occupancy</name>
      <anchorfile>classGridMap.html</anchorfile>
      <anchor>ac4d1888a1312c38a161e19f3ac4e0bb9</anchor>
      <arglist>(const Coord &amp;area_id) const override</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual const GridCell &amp;</type>
      <name>operator[]</name>
      <anchorfile>classGridMap.html</anchorfile>
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      <arglist>(const Coord &amp;coord) const =0</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>reset</name>
      <anchorfile>classGridMap.html</anchorfile>
      <anchor>a92cd1fd03b349dd23ac9c3ca209a5d4a</anchor>
      <arglist>(const Coord &amp;area_id, const GridCell &amp;new_area)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual std::vector&lt; char &gt;</type>
      <name>save_state</name>
      <anchorfile>classGridMap.html</anchorfile>
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      <arglist>() const </arglist>
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    <member kind="function">
      <type>void</type>
      <name>update</name>
      <anchorfile>classGridMap.html</anchorfile>
      <anchor>a217ed730d2605364b1294ef0ce3f84c8</anchor>
      <arglist>(const Coord &amp;area_id, const AreaOccupancyObservation &amp;aoo) override</arglist>
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    <member kind="function" protection="protected">
      <type>std::shared_ptr&lt; GridCell &gt;</type>
      <name>cell_prototype</name>
      <anchorfile>classGridMap.html</anchorfile>
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      <arglist>() const </arglist>
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    <member kind="variable" protection="private">
      <type>std::shared_ptr&lt; GridCell &gt;</type>
      <name>_cell_prototype</name>
      <anchorfile>classGridMap.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="struct">
    <name>GridMapParams</name>
    <filename>structGridMapParams.html</filename>
    <member kind="variable">
      <type>int</type>
      <name>height_cells</name>
      <anchorfile>structGridMapParams.html</anchorfile>
      <anchor>a4b34f281597174d2f61ccd26809e79fb</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>double</type>
      <name>meters_per_cell</name>
      <anchorfile>structGridMapParams.html</anchorfile>
      <anchor>a8bde61bbb3dcaed6975c8a9b46b64757</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>int</type>
      <name>width_cells</name>
      <anchorfile>structGridMapParams.html</anchorfile>
      <anchor>a47ecc06cc211f5e5c528688c08216838</anchor>
      <arglist></arglist>
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  <compound kind="struct">
    <name>GridMapPatcher::GridMapPatch</name>
    <filename>structGridMapPatcher_1_1GridMapPatch.html</filename>
    <member kind="function">
      <type></type>
      <name>GridMapPatch</name>
      <anchorfile>structGridMapPatcher_1_1GridMapPatch.html</anchorfile>
      <anchor>a4082d82497e4e6228cb09c0b32fdb3ab</anchor>
      <arglist>(const DiscretePoint2D &amp;c, const Occupancy &amp;occ)</arglist>
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    <member kind="variable">
      <type>DiscretePoint2D</type>
      <name>coord</name>
      <anchorfile>structGridMapPatcher_1_1GridMapPatch.html</anchorfile>
      <anchor>a7a00958a2c741619d89ff856b3108e86</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Occupancy</type>
      <name>occupancy</name>
      <anchorfile>structGridMapPatcher_1_1GridMapPatch.html</anchorfile>
      <anchor>a2359aa51b583a0358f660917caddaf12</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>GridMapPatcher</name>
    <filename>classGridMapPatcher.html</filename>
    <class kind="struct">GridMapPatcher::GridMapPatch</class>
    <member kind="function">
      <type>void</type>
      <name>apply_text_raster</name>
      <anchorfile>classGridMapPatcher.html</anchorfile>
      <anchor>adaae7ae9c70ee83ffae49eb91d0de9ae</anchor>
      <arglist>(MapType &amp;dst_map, std::istream &amp;src_raster, const DiscretePoint2D &amp;dst_offset, int w_zoom=1, int h_zoom=1)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>apply_text_raster</name>
      <anchorfile>classGridMapPatcher.html</anchorfile>
      <anchor>a73f8efd063c267f01f8a5befa18a03a0</anchor>
      <arglist>(MapType &amp;dst_map, std::istream &amp;src_raster, int w_zoom=1, int h_zoom=1)</arglist>
    </member>
    <member kind="typedef" protection="private">
      <type>std::vector&lt; GridMapPatch &gt;</type>
      <name>GMPatches</name>
      <anchorfile>classGridMapPatcher.html</anchorfile>
      <anchor>a66f33d1af44b2c634a6cfc63c93ddde0</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>apply_patches</name>
      <anchorfile>classGridMapPatcher.html</anchorfile>
      <anchor>a5b33415bbbfb769eec656ada9ce9d8c6</anchor>
      <arglist>(MapType &amp;dst_map, const DiscretePoint2D &amp;offset, const GMPatches &amp;patches)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>apply_text_raster</name>
      <anchorfile>classGridMapPatcher.html</anchorfile>
      <anchor>a865096f4c0b0331503c5f7338ac4bf15</anchor>
      <arglist>(MapType &amp;dst_map, std::istream &amp;src_raster, bool autoalign, const DiscretePoint2D &amp;dst_offset, int w_zoom, int h_zoom)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>Occupancy</type>
      <name>char_to_occupancy</name>
      <anchorfile>classGridMapPatcher.html</anchorfile>
      <anchor>a70f47e16bfd56b5f3067b5e3a71d7c6a</anchor>
      <arglist>(char ch)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>GMPatches</type>
      <name>patches_by_text_raster</name>
      <anchorfile>classGridMapPatcher.html</anchorfile>
      <anchor>ae93a16d40d8599502ea8dbd36028a9e4</anchor>
      <arglist>(std::istream &amp;raster, int w_scale, int h_scale)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>_curr_raster_h</name>
      <anchorfile>classGridMapPatcher.html</anchorfile>
      <anchor>a0e02c88ddf09c51af6442624feac443f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>_curr_raster_w</name>
      <anchorfile>classGridMapPatcher.html</anchorfile>
      <anchor>a244d99a2ea89841ad932bd68dbab805f</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>GridMapPatcherTest</name>
    <filename>classGridMapPatcherTest.html</filename>
    <member kind="function" protection="protected">
      <type></type>
      <name>GridMapPatcherTest</name>
      <anchorfile>classGridMapPatcherTest.html</anchorfile>
      <anchor>adead01d65e35fede1e1b0a6b03f11fac</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>Rectangle</type>
      <name>scale_and_move_free_space</name>
      <anchorfile>classGridMapPatcherTest.html</anchorfile>
      <anchor>a0d19026802573b0b3e17d302d8b1b1cb</anchor>
      <arglist>(const Rectangle &amp;fs, const DiscretePoint2D &amp;offset, int w_scale, int h_scale)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>test_patching</name>
      <anchorfile>classGridMapPatcherTest.html</anchorfile>
      <anchor>a2bf6d873162149a7c9a47282d51e2c46</anchor>
      <arglist>(const TextRasterMapPrimitive &amp;mp, int w_scale, int h_scale, const DiscretePoint2D &amp;patch_offset={0, 0}, bool use_auto_offset=false)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>GridMapPatcher</type>
      <name>gm_patcher</name>
      <anchorfile>classGridMapPatcherTest.html</anchorfile>
      <anchor>acb30310d94d687b6f485b0c5b0acd3a1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>UnboundedPlainGridMap</type>
      <name>map</name>
      <anchorfile>classGridMapPatcherTest.html</anchorfile>
      <anchor>a464cb2e56fc41ffc99ffb75c9302b623</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr int</type>
      <name>Map_Height</name>
      <anchorfile>classGridMapPatcherTest.html</anchorfile>
      <anchor>a7cda90f188095fda29eeed620e8d435e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr double</type>
      <name>Map_Scale</name>
      <anchorfile>classGridMapPatcherTest.html</anchorfile>
      <anchor>abaeb9eddeeacfc4c7431727171c08efe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr int</type>
      <name>Map_Width</name>
      <anchorfile>classGridMapPatcherTest.html</anchorfile>
      <anchor>aa23061158d7b96891524402eace9ab24</anchor>
      <arglist></arglist>
    </member>
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  <compound kind="class">
    <name>GridMapScanAdder</name>
    <filename>classGridMapScanAdder.html</filename>
    <member kind="function">
      <type>GridMap &amp;</type>
      <name>append_scan</name>
      <anchorfile>classGridMapScanAdder.html</anchorfile>
      <anchor>a0fa4a2ccf177040fa538c581f5448c0f</anchor>
      <arglist>(GridMap &amp;map, const RobotPose &amp;pose, const LaserScan2D &amp;scan, double scan_quality, double scan_margin=0.0) const </arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>GridMapScanAdder</name>
      <anchorfile>classGridMapScanAdder.html</anchorfile>
      <anchor>a8213a742a87d44e70ff9b2e4826b639d</anchor>
      <arglist>(std::shared_ptr&lt; CellOccupancyEstimator &gt; e)</arglist>
    </member>
    <member kind="variable">
      <type>std::shared_ptr&lt; CellOccupancyEstimator &gt;</type>
      <name>_occ_est</name>
      <anchorfile>classGridMapScanAdder.html</anchorfile>
      <anchor>a20f24154492cf74dc158c42d4fecbff4</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef" protection="protected">
      <type>AreaOccupancyObservation</type>
      <name>AOO</name>
      <anchorfile>classGridMapScanAdder.html</anchorfile>
      <anchor>a603394b7648c0f302a749f7e42b98a61</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type>auto</type>
      <name>estimate_occupancy</name>
      <anchorfile>classGridMapScanAdder.html</anchorfile>
      <anchor>abd574e5424bdbfaafee712f72dc3f3d1</anchor>
      <arglist>(const Segment2D &amp;beam, const Rectangle &amp;area_bnds, bool is_occupied) const </arglist>
    </member>
    <member kind="function" protection="protected" virtualness="pure">
      <type>virtual void</type>
      <name>handle_scan_point</name>
      <anchorfile>classGridMapScanAdder.html</anchorfile>
      <anchor>a7e172fe4a0c960ba1be927ce2d93b438</anchor>
      <arglist>(GridMap &amp;map, bool is_occ, double scan_quality, const Segment2D &amp;beam) const =0</arglist>
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  <compound kind="class">
    <name>GridMapToPgmDumber</name>
    <filename>classGridMapToPgmDumber.html</filename>
    <templarg></templarg>
    <base>WorldMapObserver&lt; GridMapType &gt;</base>
    <class kind="class">GridMapToPgmDumber::PgmHeader</class>
    <member kind="function">
      <type></type>
      <name>GridMapToPgmDumber</name>
      <anchorfile>classGridMapToPgmDumber.html</anchorfile>
      <anchor>ab38ee01a927c0e51ebed948c046f6290</anchor>
      <arglist>(const std::string &amp;base_fname)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>on_map_update</name>
      <anchorfile>classGridMapToPgmDumber.html</anchorfile>
      <anchor>a97335b328955eed429f77ce1196e952c</anchor>
      <arglist>(const GridMapType &amp;map) override</arglist>
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    <member kind="function" static="yes">
      <type>static void</type>
      <name>dump_map</name>
      <anchorfile>classGridMapToPgmDumber.html</anchorfile>
      <anchor>a148415ce513a5470fbe02f49f962f8a3</anchor>
      <arglist>(std::ofstream &amp;os, const GridMapType &amp;map)</arglist>
    </member>
    <member kind="typedef" protection="private">
      <type>unsigned char</type>
      <name>IntensityType</name>
      <anchorfile>classGridMapToPgmDumber.html</anchorfile>
      <anchor>a7c687d36c5d1eaf047aa37152f4abe78</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>_base_fname</name>
      <anchorfile>classGridMapToPgmDumber.html</anchorfile>
      <anchor>a809d697aa27a442b08fe2807b81e4a6d</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>unsigned long long</type>
      <name>_id</name>
      <anchorfile>classGridMapToPgmDumber.html</anchorfile>
      <anchor>a4cb6f9ec86b28d6b02157b5e05b4362b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type>static constexpr IntensityType</type>
      <name>Max_Intensity</name>
      <anchorfile>classGridMapToPgmDumber.html</anchorfile>
      <anchor>a147aee8e18fc3fc3e6add2efa6e53717</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>GridRasterizedRectangle</name>
    <filename>classGridRasterizedRectangle.html</filename>
    <member kind="function">
      <type></type>
      <name>GridRasterizedRectangle</name>
      <anchorfile>classGridRasterizedRectangle.html</anchorfile>
      <anchor>a2505a55e35563aa757776800a015a403</anchor>
      <arglist>(const RegularSquaresGrid &amp;grid, const LightWeightRectangle &amp;r, bool include_border=true)</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>has_next</name>
      <anchorfile>classGridRasterizedRectangle.html</anchorfile>
      <anchor>a4a946d508e9903fa26c5b95784d88c4e</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>RegularSquaresGrid::Coord</type>
      <name>next</name>
      <anchorfile>classGridRasterizedRectangle.html</anchorfile>
      <anchor>ae92a61aff35b0a24b63433a981f2837d</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>auto</type>
      <name>to_vector</name>
      <anchorfile>classGridRasterizedRectangle.html</anchorfile>
      <anchor>a19c76d19b10b1ad048f2fdd3d16c4162</anchor>
      <arglist>()&amp;&amp;</arglist>
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    <member kind="variable" protection="private">
      <type>RegularSquaresGrid::Coord</type>
      <name>_lb</name>
      <anchorfile>classGridRasterizedRectangle.html</anchorfile>
      <anchor>aba4577dce5731aa6a2f24a82d07b8d38</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>RegularSquaresGrid::Coord</type>
      <name>_rt</name>
      <anchorfile>classGridRasterizedRectangle.html</anchorfile>
      <anchor>abcaa13c3441d989ac569f3c45e412161</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>_x</name>
      <anchorfile>classGridRasterizedRectangle.html</anchorfile>
      <anchor>a2711661bdc184645bdd553ee76322836</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>_y</name>
      <anchorfile>classGridRasterizedRectangle.html</anchorfile>
      <anchor>a61a3ff7d3cc5e0e08d27549e381f18cf</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>GridScanMatcher</name>
    <filename>classGridScanMatcher.html</filename>
    <member kind="typedef">
      <type>std::shared_ptr&lt; GridScanMatcherObserver &gt;</type>
      <name>ObsPtr</name>
      <anchorfile>classGridScanMatcher.html</anchorfile>
      <anchor>a01639b2ded7ba0ed72ff2e0ab006ec51</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>std::shared_ptr&lt; ScanProbabilityEstimator &gt;</type>
      <name>SPE</name>
      <anchorfile>classGridScanMatcher.html</anchorfile>
      <anchor>a19dd8eef9897ae07a9ae58bffa8363eb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>ScanProbabilityEstimator::SPEParams</type>
      <name>SPEParams</name>
      <anchorfile>classGridScanMatcher.html</anchorfile>
      <anchor>af6f30479b6e1d1f9085ae5d983d546cd</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>LaserScan2D</type>
      <name>filter_scan</name>
      <anchorfile>classGridScanMatcher.html</anchorfile>
      <anchor>ad0cd624a44af068f8aeba7842e546fd7</anchor>
      <arglist>(const LaserScan2D &amp;scan, const RobotPose &amp;pose, const GridMap &amp;map)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>GridScanMatcher</name>
      <anchorfile>classGridScanMatcher.html</anchorfile>
      <anchor>a82805a2f9c116adf6eb67bf98aad13a6</anchor>
      <arglist>(SPE estimator, double max_x_error=0, double max_y_error=0, double max_th_error=0)</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual double</type>
      <name>process_scan</name>
      <anchorfile>classGridScanMatcher.html</anchorfile>
      <anchor>a29eec28d80304562b9df02ba02684176</anchor>
      <arglist>(const TransformedLaserScan &amp;scan, const RobotPose &amp;init_pose, const GridMap &amp;map, RobotPoseDelta &amp;pose_delta)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
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      <anchorfile>classGridScanMatcher.html</anchorfile>
      <anchor>ab40af415815d7f5fce8bc0a86a74d9ac</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>scan_probability</name>
      <anchorfile>classGridScanMatcher.html</anchorfile>
      <anchor>ab6e9c0d105d08a92198f6a9db3f02c14</anchor>
      <arglist>(const LaserScan2D &amp;scan, const RobotPose &amp;pose, const GridMap &amp;map) const </arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>scan_probability</name>
      <anchorfile>classGridScanMatcher.html</anchorfile>
      <anchor>aca97c92f374a960e4fa73704b5e465c5</anchor>
      <arglist>(const LaserScan2D &amp;scan, const RobotPose &amp;pose, const GridMap &amp;map, const SPEParams &amp;p) const </arglist>
    </member>
    <member kind="function">
      <type>SPE</type>
      <name>scan_probability_estimator</name>
      <anchorfile>classGridScanMatcher.html</anchorfile>
      <anchor>addfebb2f5e3dc60fbd80dde09c4c17ea</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>void</type>
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      <anchorfile>classGridScanMatcher.html</anchorfile>
      <anchor>a4677e53c0e19c5edebaf279b1d7d7820</anchor>
      <arglist>(double x, double y=0, double th=0)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
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      <anchorfile>classGridScanMatcher.html</anchorfile>
      <anchor>a6afc9ff35b60b666f343d22e16877ae8</anchor>
      <arglist>(SPE spe)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>subscribe</name>
      <anchorfile>classGridScanMatcher.html</anchorfile>
      <anchor>a1df47feb5d22ba3d87af16ce88f795ff</anchor>
      <arglist>(std::shared_ptr&lt; GridScanMatcherObserver &gt; obs)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>unsubscribe</name>
      <anchorfile>classGridScanMatcher.html</anchorfile>
      <anchor>a8f30c99f69fec1d0b20e747548a8ae30</anchor>
      <arglist>(std::shared_ptr&lt; GridScanMatcherObserver &gt; obs)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~GridScanMatcher</name>
      <anchorfile>classGridScanMatcher.html</anchorfile>
      <anchor>a908cb4695c151d03ca736b2f87a90f89</anchor>
      <arglist>()=default</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>do_for_each_observer</name>
      <anchorfile>classGridScanMatcher.html</anchorfile>
      <anchor>aa40a7c0d5c30357fa77250579c5e379b</anchor>
      <arglist>(std::function&lt; void(ObsPtr)&gt; op)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>double</type>
      <name>max_th_error</name>
      <anchorfile>classGridScanMatcher.html</anchorfile>
      <anchor>a1f828f71bdc68ead533b433cab880e1b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>double</type>
      <name>max_x_error</name>
      <anchorfile>classGridScanMatcher.html</anchorfile>
      <anchor>a8740366b0c4710a0aa9f9fa81861d44f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>double</type>
      <name>max_y_error</name>
      <anchorfile>classGridScanMatcher.html</anchorfile>
      <anchor>ac3e0c80d1cf3fb7d38c31f2ef044669b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>std::vector&lt; std::weak_ptr&lt; GridScanMatcherObserver &gt; &gt; &amp;</type>
      <name>observers</name>
      <anchorfile>classGridScanMatcher.html</anchorfile>
      <anchor>a97385c3ed672aa90a5234669bac0e143</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>_max_th_error</name>
      <anchorfile>classGridScanMatcher.html</anchorfile>
      <anchor>a039ece332e800df15d880b1514717765</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>_max_x_error</name>
      <anchorfile>classGridScanMatcher.html</anchorfile>
      <anchor>ad2d3e8169d608a0a3a35ed5dbdc62472</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>_max_y_error</name>
      <anchorfile>classGridScanMatcher.html</anchorfile>
      <anchor>a46194c70d32086ce76e2eecc2964cb80</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; std::weak_ptr&lt; GridScanMatcherObserver &gt; &gt;</type>
      <name>_observers</name>
      <anchorfile>classGridScanMatcher.html</anchorfile>
      <anchor>ac68fed091ee06886dce32bfeb416b2c6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>SPE</type>
      <name>_scan_prob_estimator</name>
      <anchorfile>classGridScanMatcher.html</anchorfile>
      <anchor>abb685ea7d8d77575d9e026c5f3ed34ca</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>GridScanMatcherObserver</name>
    <filename>classGridScanMatcherObserver.html</filename>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>on_matching_end</name>
      <anchorfile>classGridScanMatcherObserver.html</anchorfile>
      <anchor>a4fb0cf16596f65b69ebc75388be9f1a2</anchor>
      <arglist>(const RobotPose &amp;, const LaserScan2D &amp;, double)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>on_matching_start</name>
      <anchorfile>classGridScanMatcherObserver.html</anchorfile>
      <anchor>a20bc7d2a1af0951ae05e763f997f1bcc</anchor>
      <arglist>(const RobotPose &amp;, const TransformedLaserScan &amp;, const GridMap &amp;)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>on_pose_update</name>
      <anchorfile>classGridScanMatcherObserver.html</anchorfile>
      <anchor>a816a4d86a3dd98f192d5f3d37fc62926</anchor>
      <arglist>(const RobotPose &amp;, const LaserScan2D &amp;, double)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>on_scan_test</name>
      <anchorfile>classGridScanMatcherObserver.html</anchorfile>
      <anchor>aedb886f9bb51728fe4d839e179f91dd9</anchor>
      <arglist>(const RobotPose &amp;, const LaserScan2D &amp;, double)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>HillClimbingScanMatcher</name>
    <filename>classHillClimbingScanMatcher.html</filename>
    <base>PoseEnumerationScanMatcher</base>
    <member kind="function">
      <type></type>
      <name>HillClimbingScanMatcher</name>
      <anchorfile>classHillClimbingScanMatcher.html</anchorfile>
      <anchor>a74eef3f399a0bbb8e9d530fc2ccc47cc</anchor>
      <arglist>(std::shared_ptr&lt; ScanProbabilityEstimator &gt; estimator, unsigned max_lookup_attempts_failed, double translation_delta, double rotation_delta)</arglist>
    </member>
    <member kind="typedef" protection="private">
      <type>FailedRoundsLimitedPoseEnumerator&lt; Distorsion1DPoseEnumerator &gt;</type>
      <name>HCPE</name>
      <anchorfile>classHillClimbingScanMatcher.html</anchorfile>
      <anchor>a9043193bcf2bd4a82f4ee3a156ceb92b</anchor>
      <arglist></arglist>
    </member>
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  <compound kind="class">
    <name>HillClimbingScanMatcherSmokeTest</name>
    <filename>classHillClimbingScanMatcherSmokeTest.html</filename>
    <base>ScanMatcherTestBase&lt; UnboundedPlainGridMap &gt;</base>
    <member kind="typedef" protection="protected">
      <type>ObstacleBasedOccupancyObservationPE</type>
      <name>OOPE</name>
      <anchorfile>classHillClimbingScanMatcherSmokeTest.html</anchorfile>
      <anchor>a6ea5e04ed4070884b2183859cd229a48</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef" protection="protected">
      <type>typename ScanMatcherTestBase&lt; UnboundedPlainGridMap &gt;::DefaultSPE</type>
      <name>SPE</name>
      <anchorfile>classHillClimbingScanMatcherSmokeTest.html</anchorfile>
      <anchor>a03ffca18b7db355f10347b64d64b79e6</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef" protection="protected">
      <type>EvenSPW</type>
      <name>SPW</name>
      <anchorfile>classHillClimbingScanMatcherSmokeTest.html</anchorfile>
      <anchor>adea7dec5302791fe955edbb595a73164</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>HillClimbingScanMatcherSmokeTest</name>
      <anchorfile>classHillClimbingScanMatcherSmokeTest.html</anchorfile>
      <anchor>a65a3ba68f4564b809c4139fa81c38cc9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>init_pose_facing_top_cecum_bound</name>
      <anchorfile>classHillClimbingScanMatcherSmokeTest.html</anchorfile>
      <anchor>a2d6dc882bb23a65463431348147c9925</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>GridScanMatcher &amp;</type>
      <name>scan_matcher</name>
      <anchorfile>classHillClimbingScanMatcherSmokeTest.html</anchorfile>
      <anchor>aa24ae973690855637b8bb498125b4927</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>HillClimbingScanMatcher</type>
      <name>_hcsm</name>
      <anchorfile>classHillClimbingScanMatcherSmokeTest.html</anchorfile>
      <anchor>a46540b0bc31da58ef86f399ee66ef3f6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr int</type>
      <name>Cecum_Patch_H</name>
      <anchorfile>classHillClimbingScanMatcherSmokeTest.html</anchorfile>
      <anchor>a67a10489615c7bcf45054266abc407e3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr int</type>
      <name>Cecum_Patch_W</name>
      <anchorfile>classHillClimbingScanMatcherSmokeTest.html</anchorfile>
      <anchor>a180593f044b4ce191cfc88cf6d084773</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr double</type>
      <name>Init_Ang_Step</name>
      <anchorfile>classHillClimbingScanMatcherSmokeTest.html</anchorfile>
      <anchor>a9ab0b634218afeb26ab7520e4966e9df</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr double</type>
      <name>Init_Lin_Step</name>
      <anchorfile>classHillClimbingScanMatcherSmokeTest.html</anchorfile>
      <anchor>a076225a38df4a4434fa32b2e51246c1f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr int</type>
      <name>LS_FoW</name>
      <anchorfile>classHillClimbingScanMatcherSmokeTest.html</anchorfile>
      <anchor>a47a040028f84818db8d98600aae76c1d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr double</type>
      <name>LS_Max_Dist</name>
      <anchorfile>classHillClimbingScanMatcherSmokeTest.html</anchorfile>
      <anchor>ade37086c4ba8774b9bbbb2cf56aa588d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr int</type>
      <name>LS_Pts_Nm</name>
      <anchorfile>classHillClimbingScanMatcherSmokeTest.html</anchorfile>
      <anchor>a1489eb924adaa21af7c360eb34e37dc1</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr int</type>
      <name>Map_Height</name>
      <anchorfile>classHillClimbingScanMatcherSmokeTest.html</anchorfile>
      <anchor>aa2057a335317757079aa37ff69aaada0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr double</type>
      <name>Map_Scale</name>
      <anchorfile>classHillClimbingScanMatcherSmokeTest.html</anchorfile>
      <anchor>a78683550b4b589028f2c84412912d6bb</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr int</type>
      <name>Map_Width</name>
      <anchorfile>classHillClimbingScanMatcherSmokeTest.html</anchorfile>
      <anchor>abfdeea39d08fbce161311acfadc57398</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr int</type>
      <name>Max_SM_Shirnks_Nm</name>
      <anchorfile>classHillClimbingScanMatcherSmokeTest.html</anchorfile>
      <anchor>a5a92abfd6216058f86e922226ab8e97c</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr int</type>
      <name>Patch_Scale</name>
      <anchorfile>classHillClimbingScanMatcherSmokeTest.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>HillClimbingSMFixed</name>
    <filename>classHillClimbingSMFixed.html</filename>
    <base>GridScanMatcher</base>
    <member kind="function">
      <type></type>
      <name>HillClimbingSMFixed</name>
      <anchorfile>classHillClimbingSMFixed.html</anchorfile>
      <anchor>a82d28172cd168b87b1e2f19242749ff8</anchor>
      <arglist>(SPE est, int max_shrinks_nm=5, double lin_delta=0.1, double ang_delta=0.1)</arglist>
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    <member kind="function">
      <type>double</type>
      <name>process_scan</name>
      <anchorfile>classHillClimbingSMFixed.html</anchorfile>
      <anchor>a3275dfed5d36d6415abed4534c6c7bbf</anchor>
      <arglist>(const TransformedLaserScan &amp;raw_scan, const RobotPose &amp;init_pose, const GridMap &amp;map, RobotPoseDelta &amp;pose_delta) override</arglist>
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    <member kind="enumvalue" protection="private">
      <name>Dec</name>
      <anchorfile>classHillClimbingSMFixed.html</anchorfile>
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      <arglist></arglist>
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      <type></type>
      <name>Dim</name>
      <anchorfile>classHillClimbingSMFixed.html</anchorfile>
      <anchor>af59cd3e3c2b3d3b768ba2ec8fd4ebb8a</anchor>
      <arglist></arglist>
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      <name>X</name>
      <anchorfile>classHillClimbingSMFixed.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classHillClimbingSMFixed.html</anchorfile>
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      <arglist></arglist>
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      <name>Th</name>
      <anchorfile>classHillClimbingSMFixed.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classHillClimbingSMFixed.html</anchorfile>
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      <arglist></arglist>
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      <name>DimNm</name>
      <anchorfile>classHillClimbingSMFixed.html</anchorfile>
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      <arglist></arglist>
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      <name>Dir</name>
      <anchorfile>classHillClimbingSMFixed.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classHillClimbingSMFixed.html</anchorfile>
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      <arglist></arglist>
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      <name>Dec</name>
      <anchorfile>classHillClimbingSMFixed.html</anchorfile>
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      <arglist></arglist>
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      <name>DirNm</name>
      <anchorfile>classHillClimbingSMFixed.html</anchorfile>
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      <arglist></arglist>
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    <member kind="enumvalue" protection="private">
      <name>DirNm</name>
      <anchorfile>classHillClimbingSMFixed.html</anchorfile>
      <anchor>a2241654866c52505d461333fef41ee1fa81a9eb2f66802e17f4285b1a0c7c8dc2</anchor>
      <arglist></arglist>
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    <member kind="enumvalue" protection="private">
      <name>Inc</name>
      <anchorfile>classHillClimbingSMFixed.html</anchorfile>
      <anchor>a2241654866c52505d461333fef41ee1faabd805c274fed475987807a3f85f572a</anchor>
      <arglist></arglist>
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    <member kind="enumvalue" protection="private">
      <name>Th</name>
      <anchorfile>classHillClimbingSMFixed.html</anchorfile>
      <anchor>af59cd3e3c2b3d3b768ba2ec8fd4ebb8aa31ee73d5f6d9064cf73367fc6bef8d78</anchor>
      <arglist></arglist>
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    <member kind="enumvalue" protection="private">
      <name>X</name>
      <anchorfile>classHillClimbingSMFixed.html</anchorfile>
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      <arglist></arglist>
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      <name>Y</name>
      <anchorfile>classHillClimbingSMFixed.html</anchorfile>
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      <arglist></arglist>
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    <member kind="function" protection="private">
      <type>RobotPose</type>
      <name>shift</name>
      <anchorfile>classHillClimbingSMFixed.html</anchorfile>
      <anchor>ad2ff9fcba0f6093f5ae9fd39a0d27239</anchor>
      <arglist>(const RobotPose &amp;current_pose, double a_step, double l_step, size_t action)</arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
      <name>_angular_delta</name>
      <anchorfile>classHillClimbingSMFixed.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
      <name>_linear_delta</name>
      <anchorfile>classHillClimbingSMFixed.html</anchorfile>
      <anchor>a3ecf4dda0f3685744b16d4c5ee15f565</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>unsigned</type>
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      <arglist></arglist>
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      <arglist>(Location loc, double x, double y)</arglist>
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      <arglist></arglist>
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  <compound kind="struct">
    <name>LaserScan2D</name>
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      <type>std::vector&lt; ScanPoint2D &gt;</type>
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      <arglist></arglist>
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      <type>const Points &amp;</type>
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      <arglist>() const </arglist>
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      <type>Points &amp;</type>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>LaserScan2D</type>
      <name>to_cartesian</name>
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      <arglist>(double angle) const </arglist>
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      <type>std::shared_ptr&lt; TrigonometryProvider &gt;</type>
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      <arglist></arglist>
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      <type>Points</type>
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      <arglist></arglist>
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      <type>void</type>
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      <arglist>(double d_angle, const ScanPoint2D &amp;expected, const ScanPoint2D &amp;actual)</arglist>
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      <arglist></arglist>
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  <compound kind="class">
    <name>LaserScanGenerator</name>
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      <type>LaserScan2D</type>
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      <arglist>(const GridMap &amp;map, const RobotPose &amp;pose, double occ_threshold=1)</arglist>
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      <name>LaserScanGenerator</name>
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      <arglist>(LaserScannerParams ls_params={})</arglist>
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      <type>LaserScannerParams</type>
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      <arglist></arglist>
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  <compound kind="class">
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    <member kind="typedef" protection="protected">
      <type>std::vector&lt; ScanPoint2D &gt;</type>
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      <arglist></arglist>
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      <type>void</type>
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      <arglist>(const ScanPoint2D &amp;expected, const ScanPoint2D &amp;actual, const ScanPoint2D &amp;abs_err)</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
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      <arglist>(const ScanPoints &amp;expected, const ScanPoints &amp;actual, const ScanPoint2D &amp;sp_err={Map_Scale/2, 0.001})</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
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      <anchorfile>classLaserScanGeneratorTest.html</anchorfile>
      <anchor>a12d93ce37a8b29191ee9494e12cc45e8</anchor>
      <arglist>(int l, int r, int u, int d)</arglist>
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      <type></type>
      <name>LaserScanGeneratorTest</name>
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      <arglist>()</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
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      <arglist>(const MapPrimitive &amp;mp, int scale)</arglist>
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      <type>void</type>
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      <arglist>(const MapPrimitive &amp;mp, const RobotPoseDelta &amp;rpd, int scale=Patch_Scale)</arglist>
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      <type>LaserScanGenerator</type>
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      <arglist></arglist>
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      <type>UnboundedPlainGridMap</type>
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      <arglist></arglist>
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      <type>RobotPose</type>
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      <anchorfile>classLaserScanGeneratorTest.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr int</type>
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      <arglist></arglist>
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      <type>static constexpr double</type>
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      <arglist></arglist>
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      <type>static constexpr int</type>
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      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr int</type>
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      <arglist></arglist>
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  <compound kind="class">
    <name>LaserScanGridWorld</name>
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    <member kind="typedef">
      <type>typename World&lt; TransformedLaserScan, Map &gt;::MapType</type>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>TransformedLaserScan</type>
      <name>ScanType</name>
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      <arglist></arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
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      <anchorfile>classLaserScanGridWorld.html</anchorfile>
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      <arglist>(ScanType &amp;tr_scan)=0</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classLaserScanGridWorld.html</anchorfile>
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      <arglist>(ScanType &amp;scan) override</arglist>
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  <compound kind="class">
    <name>LaserScanGridWorld&lt; GmappingWorld::MapType &gt;</name>
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    <base>World&lt; TransformedLaserScan, GmappingWorld::MapType &gt;</base>
    <member kind="typedef">
      <type>typename World&lt; TransformedLaserScan, GmappingWorld::MapType &gt;::MapType</type>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>TransformedLaserScan</type>
      <name>ScanType</name>
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      <arglist></arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
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      <anchorfile>classLaserScanGridWorld.html</anchorfile>
      <anchor>a5622862c74edb83a9b532eee1302c291</anchor>
      <arglist>(ScanType &amp;tr_scan)=0</arglist>
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    <member kind="function">
      <type>void</type>
      <name>handle_sensor_data</name>
      <anchorfile>classLaserScanGridWorld.html</anchorfile>
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      <arglist>(ScanType &amp;scan) override</arglist>
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  <compound kind="class">
    <name>LaserScanGridWorld&lt; MapT &gt;</name>
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    <base>World&lt; TransformedLaserScan, MapT &gt;</base>
    <member kind="typedef">
      <type>typename World&lt; TransformedLaserScan, MapT &gt;::MapType</type>
      <name>MapType</name>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>TransformedLaserScan</type>
      <name>ScanType</name>
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      <arglist></arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>handle_observation</name>
      <anchorfile>classLaserScanGridWorld.html</anchorfile>
      <anchor>a5622862c74edb83a9b532eee1302c291</anchor>
      <arglist>(ScanType &amp;tr_scan)=0</arglist>
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    <member kind="function">
      <type>void</type>
      <name>handle_sensor_data</name>
      <anchorfile>classLaserScanGridWorld.html</anchorfile>
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      <arglist>(ScanType &amp;scan) override</arglist>
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  <compound kind="class">
    <name>LaserScanGridWorld&lt; UnboundedLazyTiledGridMap &gt;</name>
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    <member kind="typedef">
      <type>typename World&lt; TransformedLaserScan, UnboundedLazyTiledGridMap &gt;::MapType</type>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>TransformedLaserScan</type>
      <name>ScanType</name>
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      <arglist></arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
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      <anchorfile>classLaserScanGridWorld.html</anchorfile>
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      <arglist>(ScanType &amp;tr_scan)=0</arglist>
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    <member kind="function">
      <type>void</type>
      <name>handle_sensor_data</name>
      <anchorfile>classLaserScanGridWorld.html</anchorfile>
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      <arglist>(ScanType &amp;scan) override</arglist>
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  <compound kind="struct">
    <name>LaserScannerParams</name>
    <filename>structLaserScannerParams.html</filename>
    <member kind="function">
      <type>constexpr</type>
      <name>LaserScannerParams</name>
      <anchorfile>structLaserScannerParams.html</anchorfile>
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      <arglist>(double mx_dist, double h_a_inc, double h_half_sector)</arglist>
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    <member kind="function">
      <type>constexpr</type>
      <name>LaserScannerParams</name>
      <anchorfile>structLaserScannerParams.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="variable">
      <type>const double</type>
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      <anchorfile>structLaserScannerParams.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable">
      <type>const double</type>
      <name>h_hsector</name>
      <anchorfile>structLaserScannerParams.html</anchorfile>
      <anchor>ad78faebaa5162831ba3107a535b3e484</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>const double</type>
      <name>max_dist</name>
      <anchorfile>structLaserScannerParams.html</anchorfile>
      <anchor>adb29a63b48cb36fa90010c6e30427390</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>LaserScanObserver</name>
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    <base>TopicObserver&lt; sensor_msgs::LaserScan &gt;</base>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>handle_transformed_msg</name>
      <anchorfile>classLaserScanObserver.html</anchorfile>
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      <arglist>(const ScanPtr msg, const tf::StampedTransform &amp;t)</arglist>
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    <member kind="function">
      <type></type>
      <name>LaserScanObserver</name>
      <anchorfile>classLaserScanObserver.html</anchorfile>
      <anchor>ac8d9064a0db6c4c2811ee25ea013076b</anchor>
      <arglist>(DstPtr slam, bool skip_max_vals, bool use_cached_trig)</arglist>
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    <member kind="function">
      <type>const RobotPose &amp;</type>
      <name>odometry_pose</name>
      <anchorfile>classLaserScanObserver.html</anchorfile>
      <anchor>a52031774a090c876a02a3ee2a7994f97</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classLaserScanObserver.html</anchorfile>
      <anchor>a14180e3981ce929d946902ff2a432874</anchor>
      <arglist>(const RobotPose &amp;pose)</arglist>
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    <member kind="typedef" protection="private">
      <type>std::shared_ptr&lt; SensorDataObserver&lt; TransformedLaserScan &gt;&gt;</type>
      <name>DstPtr</name>
      <anchorfile>classLaserScanObserver.html</anchorfile>
      <anchor>ae6ce3bf579b86784d99d63d924ee2e87</anchor>
      <arglist></arglist>
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    <member kind="typedef" protection="private">
      <type>boost::shared_ptr&lt; sensor_msgs::LaserScan &gt;</type>
      <name>ScanPtr</name>
      <anchorfile>classLaserScanObserver.html</anchorfile>
      <anchor>a6fc2b0d2101d20905d54c3a873716826</anchor>
      <arglist></arglist>
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    <member kind="function" protection="private">
      <type>std::shared_ptr&lt; TrigonometryProvider &gt;</type>
      <name>trig_provider</name>
      <anchorfile>classLaserScanObserver.html</anchorfile>
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      <arglist>(const ScanPtr msg)</arglist>
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    <member kind="variable" protection="private">
      <type>RobotPose</type>
      <name>_prev_pose</name>
      <anchorfile>classLaserScanObserver.html</anchorfile>
      <anchor>a9dbf3d2bac9562e2b47bea618f0c97c5</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>bool</type>
      <name>_skip_max_vals</name>
      <anchorfile>classLaserScanObserver.html</anchorfile>
      <anchor>aedf3443ca17fa3c7adcbae24e40f1a8d</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>DstPtr</type>
      <name>_slam</name>
      <anchorfile>classLaserScanObserver.html</anchorfile>
      <anchor>a1e1f32e93a62b5435fbe50a483ab160d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>_use_cached_trig_provider</name>
      <anchorfile>classLaserScanObserver.html</anchorfile>
      <anchor>a8779787fcd47958bd0588b94ad3a75b2</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>LastWriteWinsGridCell</name>
    <filename>classLastWriteWinsGridCell.html</filename>
    <base>GridCell</base>
    <member kind="function">
      <type>std::unique_ptr&lt; GridCell &gt;</type>
      <name>clone</name>
      <anchorfile>classLastWriteWinsGridCell.html</anchorfile>
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      <arglist>() const override</arglist>
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    <member kind="function">
      <type></type>
      <name>LastWriteWinsGridCell</name>
      <anchorfile>classLastWriteWinsGridCell.html</anchorfile>
      <anchor>a0891b3f23cc98cbe8c433a92062e3a0a</anchor>
      <arglist>(double prob=0.5)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>operator+=</name>
      <anchorfile>classLastWriteWinsGridCell.html</anchorfile>
      <anchor>a3606343c18ea1cdb7b460d331a5a0c21</anchor>
      <arglist>(const AreaOccupancyObservation &amp;aoo) override</arglist>
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  <compound kind="class">
    <name>LaunchPropertiesProvider</name>
    <filename>classLaunchPropertiesProvider.html</filename>
    <base>PropertiesProvider</base>
    <member kind="function">
      <type>bool</type>
      <name>get_bool</name>
      <anchorfile>classLaunchPropertiesProvider.html</anchorfile>
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      <arglist>(const std::string &amp;id, bool dflt) const override</arglist>
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      <arglist>(double max_x_error, double max_y_error)</arglist>
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      <arglist></arglist>
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      <arglist>(int w_, int h_, int o_x, int o_y)</arglist>
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      <arglist>(const GridMap &amp;map)</arglist>
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      <arglist></arglist>
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      <arglist>() const </arglist>
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      <arglist>() const =0</arglist>
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      <arglist>() const </arglist>
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      <type>static constexpr int</type>
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      <arglist></arglist>
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      <type>bool</type>
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      <arglist>(const std::string &amp;id, bool dflt) const override</arglist>
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      <type>double</type>
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      <arglist>(const std::string &amp;id, double dflt) const override</arglist>
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      <arglist>(const std::string &amp;id, int dflt) const override</arglist>
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      <type>str</type>
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      <arglist>(const std::string &amp;id, const str &amp;dflt) const override</arglist>
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      <arglist>(const std::string &amp;id, unsigned dflt) const override</arglist>
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      <arglist>(const std::string &amp;id) const </arglist>
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      <arglist>(const MapPropertiesProvider &amp;that)</arglist>
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      <type>void</type>
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      <anchorfile>classMapPropertiesProvider.html</anchorfile>
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      <arglist>(const std::string &amp;id, const std::string &amp;value)</arglist>
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      <type>std::unordered_map&lt; std::string, std::string &gt;</type>
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      <arglist></arglist>
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      <type>static constexpr GridMapParams</type>
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      <arglist></arglist>
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      <type>static constexpr int</type>
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      <arglist></arglist>
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      <type>static constexpr double</type>
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      <arglist></arglist>
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      <type>static constexpr int</type>
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      <arglist></arglist>
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    <name>Match</name>
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      <type>double</type>
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      <anchorfile>structMatch.html</anchorfile>
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      <arglist>(double threashold=0) const </arglist>
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      <type>bool</type>
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      <arglist>() const </arglist>
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    <member kind="function">
      <type></type>
      <name>Match</name>
      <anchorfile>structMatch.html</anchorfile>
      <anchor>a71635cc0cf7241a38a699b0b7ac9727f</anchor>
      <arglist>(double rot, const Rect &amp;tdrift, SPEPtr scan_prob_est, std::shared_ptr&lt; LaserScan2D &gt; filtered_lscan, bool is_rotated, const RobotPose &amp;robot_pose, GridMap &amp;grid_map, bool is_root=true)</arglist>
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      <arglist>(const Rect &amp;tdrift, const Match &amp;that)</arglist>
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      <type>bool</type>
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      <arglist>(const Match &amp;that) const </arglist>
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      <type>static Match</type>
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      <anchorfile>structMatch.html</anchorfile>
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      <arglist>()</arglist>
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      <type>std::shared_ptr&lt; LaserScan2D &gt;</type>
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      <anchorfile>structMatch.html</anchorfile>
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      <arglist></arglist>
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      <type>GridMap *</type>
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      <arglist></arglist>
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      <type>const RobotPose *</type>
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      <arglist></arglist>
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      <type>double</type>
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      <arglist></arglist>
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      <type>double</type>
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      <arglist></arglist>
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      <type>bool</type>
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      <arglist></arglist>
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      <type>SPEPtr</type>
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      <arglist></arglist>
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      <type>Rect</type>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>ScanProbabilityEstimator::SPEParams</type>
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      <arglist></arglist>
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      <type>std::shared_ptr&lt; ScanProbabilityEstimator &gt;</type>
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      <arglist></arglist>
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      <type>void</type>
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      <arglist>()</arglist>
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      <arglist>(double prob)</arglist>
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      <type>double</type>
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      <arglist></arglist>
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      <type>double</type>
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      <arglist></arglist>
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    <name>MaxOccupancyObservationPE</name>
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    <base>OccupancyObservationProbabilityEstimator</base>
    <member kind="function">
      <type>double</type>
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      <anchorfile>classMaxOccupancyObservationPE.html</anchorfile>
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      <arglist>(const AreaOccupancyObservation &amp;aoo, const LightWeightRectangle &amp;area, const GridMap &amp;map) const override</arglist>
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  <compound kind="class">
    <name>MaxOOPETest</name>
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    <base>BaseOOPETest</base>
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      <type>MaxOccupancyObservationPE</type>
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      <arglist></arglist>
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  <compound kind="class">
    <name>MeanOccupancyObservationPE</name>
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    <base>OccupancyObservationProbabilityEstimator</base>
    <member kind="function">
      <type>double</type>
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      <arglist>(const AreaOccupancyObservation &amp;aoo, const LightWeightRectangle &amp;area, const GridMap &amp;map) const override</arglist>
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  <compound kind="class">
    <name>MeanOOPETest</name>
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    <base>BaseOOPETest</base>
    <member kind="typedef" protection="protected">
      <type>MeanOccupancyObservationPE</type>
      <name>OOPE</name>
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      <arglist></arglist>
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  <compound kind="class">
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    <base>GridCell</base>
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      <type>std::unique_ptr&lt; GridCell &gt;</type>
      <name>clone</name>
      <anchorfile>classMockGridCell.html</anchorfile>
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      <arglist>() const override</arglist>
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    <member kind="function">
      <type>double</type>
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      <anchorfile>classMockGridCell.html</anchorfile>
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      <arglist>(const AreaOccupancyObservation &amp;aoo) const override</arglist>
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      <type></type>
      <name>MockGridCell</name>
      <anchorfile>classMockGridCell.html</anchorfile>
      <anchor>ab286385776642db67875241cb9edfce3</anchor>
      <arglist>(double occ_prob=Default_Occ_Prob)</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classMockGridCell.html</anchorfile>
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      <arglist>(const AreaOccupancyObservation &amp;aoo) override</arglist>
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    <member kind="variable" static="yes">
      <type>static constexpr double</type>
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      <anchorfile>classMockGridCell.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>MonteCarloScanMatcher</name>
    <filename>classMonteCarloScanMatcher.html</filename>
    <base>PoseEnumerationScanMatcher</base>
    <member kind="function">
      <type></type>
      <name>MonteCarloScanMatcher</name>
      <anchorfile>classMonteCarloScanMatcher.html</anchorfile>
      <anchor>a6cee549e46b48917c7d08197162c86cf</anchor>
      <arglist>(std::shared_ptr&lt; ScanProbabilityEstimator &gt; estimator, unsigned seed, double translation_dispersion, double rotation_dispersion, unsigned failed_attempts_per_dispersion, unsigned total_attempts)</arglist>
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  </compound>
  <compound kind="class">
    <name>ObservationStampedRoboPoseTfPublisher</name>
    <filename>classObservationStampedRoboPoseTfPublisher.html</filename>
    <templarg></templarg>
    <base>RobotPoseTfPublisher</base>
    <base>TopicObserver&lt; ObsType &gt;</base>
    <member kind="function">
      <type>void</type>
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      <anchorfile>classObservationStampedRoboPoseTfPublisher.html</anchorfile>
      <anchor>a28d89df0cbc458f036545b0d0125cfdc</anchor>
      <arglist>(const boost::shared_ptr&lt; ObsType &gt; obs, const tf::StampedTransform &amp;) override</arglist>
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    <member kind="function">
      <type></type>
      <name>ObservationStampedRoboPoseTfPublisher</name>
      <anchorfile>classObservationStampedRoboPoseTfPublisher.html</anchorfile>
      <anchor>add311e6e1b61c934525007a01ae52a02</anchor>
      <arglist>(const std::string &amp;tf_map_frame_id, const std::string &amp;tf_robot_frame_id)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>ros::Time</type>
      <name>robot_pose_timestamp</name>
      <anchorfile>classObservationStampedRoboPoseTfPublisher.html</anchorfile>
      <anchor>a59de0ffa8c32e695a152071bc88f2c0a</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Time</type>
      <name>_observation_time</name>
      <anchorfile>classObservationStampedRoboPoseTfPublisher.html</anchorfile>
      <anchor>a7c4742acc9af765d6d1657852b754bc7</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>ObstacleBasedOccupancyObservationPE</name>
    <filename>classObstacleBasedOccupancyObservationPE.html</filename>
    <base>OccupancyObservationProbabilityEstimator</base>
    <member kind="function">
      <type>double</type>
      <name>probability</name>
      <anchorfile>classObstacleBasedOccupancyObservationPE.html</anchorfile>
      <anchor>a99104ddae5252defc538729654bf4981</anchor>
      <arglist>(const AreaOccupancyObservation &amp;aoo, const LightWeightRectangle &amp;, const GridMap &amp;map) const override</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ObstacleBasedOOPETest</name>
    <filename>classObstacleBasedOOPETest.html</filename>
    <base>BaseOOPETest</base>
    <member kind="typedef" protection="protected">
      <type>ObstacleBasedOccupancyObservationPE</type>
      <name>OOPE</name>
      <anchorfile>classObstacleBasedOOPETest.html</anchorfile>
      <anchor>aac037a39150e3bd4d71d5b8d41c5eec9</anchor>
      <arglist></arglist>
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  <compound kind="struct">
    <name>Occupancy</name>
    <filename>structOccupancy.html</filename>
    <member kind="function">
      <type>bool</type>
      <name>is_valid</name>
      <anchorfile>structOccupancy.html</anchorfile>
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      <arglist>() const </arglist>
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    <member kind="function">
      <type>constexpr</type>
      <name>Occupancy</name>
      <anchorfile>structOccupancy.html</anchorfile>
      <anchor>a9d11ec7c8129993ab690133d3ef7c1d5</anchor>
      <arglist>(double prob=0, double quality=0)</arglist>
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    <member kind="function">
      <type></type>
      <name>operator double</name>
      <anchorfile>structOccupancy.html</anchorfile>
      <anchor>ad51e45de6f834b0ba03c1799cf8b632d</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>structOccupancy.html</anchorfile>
      <anchor>aa9cd9212314ed703197892b8db160efa</anchor>
      <arglist>(const Occupancy &amp;that) const </arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Occupancy</type>
      <name>invalid</name>
      <anchorfile>structOccupancy.html</anchorfile>
      <anchor>a94cc091c7b45ab17350f8fdf941375e4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>estimation_quality</name>
      <anchorfile>structOccupancy.html</anchorfile>
      <anchor>a43a0fb6a092ec861b5bf4510c9c4c92e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>prob_occ</name>
      <anchorfile>structOccupancy.html</anchorfile>
      <anchor>a669c69fe668d9d897754600a13de2e66</anchor>
      <arglist></arglist>
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    <name>OccupancyGridPublisher</name>
    <filename>classOccupancyGridPublisher.html</filename>
    <templarg></templarg>
    <base>WorldMapObserver&lt; GridMapType &gt;</base>
    <member kind="function">
      <type></type>
      <name>OccupancyGridPublisher</name>
      <anchorfile>classOccupancyGridPublisher.html</anchorfile>
      <anchor>a6cf212249e9720ff461c4a5941e89c03</anchor>
      <arglist>(ros::Publisher pub, const std::string &amp;tf_map_frame_id, double publ_interval_secs=5.0)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>on_map_update</name>
      <anchorfile>classOccupancyGridPublisher.html</anchorfile>
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      <arglist>(const GridMapType &amp;map) override</arglist>
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    <member kind="variable" protection="private">
      <type>ros::Time</type>
      <name>_last_pub_time</name>
      <anchorfile>classOccupancyGridPublisher.html</anchorfile>
      <anchor>a1afd85211705ba30040cc2e12c738af4</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>ros::Publisher</type>
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      <anchorfile>classOccupancyGridPublisher.html</anchorfile>
      <anchor>a2b4d4faba09a0b2aa693d5f31dafd110</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Duration</type>
      <name>_publishing_interval</name>
      <anchorfile>classOccupancyGridPublisher.html</anchorfile>
      <anchor>a486faa932fa3c64866bf88d2efdf6cc6</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>_tf_map_frame_id</name>
      <anchorfile>classOccupancyGridPublisher.html</anchorfile>
      <anchor>a009676dc6a13f49cacbccd3cb37cbc79</anchor>
      <arglist></arglist>
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    <name>OccupancyMap</name>
    <filename>classOccupancyMap.html</filename>
    <templarg>AreaId</templarg>
    <templarg>OccupancyInfo</templarg>
    <member kind="function" protection="private" virtualness="pure">
      <type>virtual OccupancyInfo</type>
      <name>occupancy</name>
      <anchorfile>classOccupancyMap.html</anchorfile>
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      <arglist>(const AreaId &amp;) const =0</arglist>
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    <member kind="function" protection="private" virtualness="pure">
      <type>virtual void</type>
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      <anchorfile>classOccupancyMap.html</anchorfile>
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      <arglist>(const AreaId &amp;, const AreaOccupancyObservation &amp;)=0</arglist>
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  <compound kind="class">
    <name>OccupancyMap&lt; RegularSquaresGrid::Coord, double &gt;</name>
    <filename>classOccupancyMap.html</filename>
    <member kind="function" protection="private" virtualness="pure">
      <type>virtual double</type>
      <name>occupancy</name>
      <anchorfile>classOccupancyMap.html</anchorfile>
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      <arglist>(const RegularSquaresGrid::Coord &amp;) const =0</arglist>
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    <member kind="function" protection="private" virtualness="pure">
      <type>virtual void</type>
      <name>update</name>
      <anchorfile>classOccupancyMap.html</anchorfile>
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      <arglist>(const RegularSquaresGrid::Coord &amp;, const AreaOccupancyObservation &amp;)=0</arglist>
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    <name>OccupancyObservationProbabilityEstimator</name>
    <filename>classOccupancyObservationProbabilityEstimator.html</filename>
    <member kind="function" virtualness="pure">
      <type>virtual double</type>
      <name>probability</name>
      <anchorfile>classOccupancyObservationProbabilityEstimator.html</anchorfile>
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      <arglist>(const AreaOccupancyObservation &amp;aoo, const LightWeightRectangle &amp;area, const GridMap &amp;map) const =0</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~OccupancyObservationProbabilityEstimator</name>
      <anchorfile>classOccupancyObservationProbabilityEstimator.html</anchorfile>
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      <arglist>()=default</arglist>
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    <name>OOPEAssumptionsTest</name>
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    <base>BaseOOPETest</base>
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  <compound kind="class">
    <name>OverlapWeghtedOOPETest</name>
    <filename>classOverlapWeghtedOOPETest.html</filename>
    <base>BaseOOPETest</base>
    <member kind="typedef" protection="protected">
      <type>OverlapWeightedOccupancyObservationPE</type>
      <name>OOPE</name>
      <anchorfile>classOverlapWeghtedOOPETest.html</anchorfile>
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      <arglist></arglist>
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    <base>OccupancyObservationProbabilityEstimator</base>
    <member kind="function">
      <type>double</type>
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      <anchorfile>classOverlapWeightedOccupancyObservationPE.html</anchorfile>
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      <arglist>(const AreaOccupancyObservation &amp;aoo, const LightWeightRectangle &amp;area, const GridMap &amp;map) const override</arglist>
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    <name>Particle</name>
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    <member kind="function">
      <type></type>
      <name>Particle</name>
      <anchorfile>classParticle.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
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      <anchorfile>classParticle.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>set_weight</name>
      <anchorfile>classParticle.html</anchorfile>
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      <arglist>(double w)</arglist>
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    <member kind="function">
      <type>double</type>
      <name>weight</name>
      <anchorfile>classParticle.html</anchorfile>
      <anchor>ac434aae76a97d4b2bcc5ec1385be74cd</anchor>
      <arglist>() const </arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~Particle</name>
      <anchorfile>classParticle.html</anchorfile>
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      <arglist>()=default</arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
      <name>_weight</name>
      <anchorfile>classParticle.html</anchorfile>
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      <arglist></arglist>
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    <name>ParticleFactory</name>
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    <templarg>ParticleT</templarg>
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      <type>virtual std::shared_ptr&lt; ParticleT &gt;</type>
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      <arglist>()=0</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~ParticleFactory</name>
      <anchorfile>classParticleFactory.html</anchorfile>
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      <arglist>()=default</arglist>
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  <compound kind="class">
    <name>ParticleFactory&lt; GmappingWorld &gt;</name>
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    <member kind="function" virtualness="pure">
      <type>virtual std::shared_ptr&lt; GmappingWorld &gt;</type>
      <name>create_particle</name>
      <anchorfile>classParticleFactory.html</anchorfile>
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      <arglist>()=0</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~ParticleFactory</name>
      <anchorfile>classParticleFactory.html</anchorfile>
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      <arglist>()=default</arglist>
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  <compound kind="class">
    <name>ParticleFilter</name>
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    <templarg>ParticleT</templarg>
    <member kind="function">
      <type>const ParticleT &amp;</type>
      <name>heaviest_particle</name>
      <anchorfile>classParticleFilter.html</anchorfile>
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      <arglist>() const </arglist>
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    <member kind="function">
      <type>ParticleT &amp;</type>
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      <anchorfile>classParticleFilter.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classParticleFilter.html</anchorfile>
      <anchor>a83c1e107b83172eb771f61215d22c499</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>ParticleFilter</name>
      <anchorfile>classParticleFilter.html</anchorfile>
      <anchor>adbaf18ba396226f173f0fb35fac713e3</anchor>
      <arglist>(std::shared_ptr&lt; ParticleFactory&lt; ParticleT &gt;&gt; p_ftry, unsigned n=1)</arglist>
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    <member kind="function">
      <type>std::vector&lt; ParticlePtr &gt; &amp;</type>
      <name>particles</name>
      <anchorfile>classParticleFilter.html</anchorfile>
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      <arglist>()</arglist>
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      <anchorfile>classParticleFilter.html</anchorfile>
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      <arglist>() const </arglist>
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    <member kind="function">
      <type>bool</type>
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      <anchorfile>classParticleFilter.html</anchorfile>
      <anchor>acf397d6a1edf069b18e9fc6f47e19310</anchor>
      <arglist>()</arglist>
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      <type>std::shared_ptr&lt; ParticleT &gt;</type>
      <name>ParticlePtr</name>
      <anchorfile>classParticleFilter.html</anchorfile>
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      <arglist></arglist>
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      <type>std::shared_ptr&lt; ParticleFactory&lt; ParticleT &gt; &gt;</type>
      <name>_particle_supplier</name>
      <anchorfile>classParticleFilter.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::vector&lt; ParticlePtr &gt;</type>
      <name>_particles</name>
      <anchorfile>classParticleFilter.html</anchorfile>
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      <arglist></arglist>
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      <type>UniformResamling&lt; ParticlePtr &gt;</type>
      <name>_resampler</name>
      <anchorfile>classParticleFilter.html</anchorfile>
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      <arglist></arglist>
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    <name>ParticleFilter&lt; GmappingWorld &gt;</name>
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    <member kind="function">
      <type>const GmappingWorld &amp;</type>
      <name>heaviest_particle</name>
      <anchorfile>classParticleFilter.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
      <type>GmappingWorld &amp;</type>
      <name>heaviest_particle</name>
      <anchorfile>classParticleFilter.html</anchorfile>
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      <arglist>()</arglist>
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      <type>void</type>
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      <anchorfile>classParticleFilter.html</anchorfile>
      <anchor>a83c1e107b83172eb771f61215d22c499</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>ParticleFilter</name>
      <anchorfile>classParticleFilter.html</anchorfile>
      <anchor>adbaf18ba396226f173f0fb35fac713e3</anchor>
      <arglist>(std::shared_ptr&lt; ParticleFactory&lt; GmappingWorld &gt;&gt; p_ftry, unsigned n=1)</arglist>
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    <member kind="function">
      <type>std::vector&lt; ParticlePtr &gt; &amp;</type>
      <name>particles</name>
      <anchorfile>classParticleFilter.html</anchorfile>
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      <arglist>()</arglist>
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      <anchorfile>classParticleFilter.html</anchorfile>
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      <arglist>() const</arglist>
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      <type>bool</type>
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      <anchorfile>classParticleFilter.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="typedef" protection="private">
      <type>std::shared_ptr&lt; GmappingWorld &gt;</type>
      <name>ParticlePtr</name>
      <anchorfile>classParticleFilter.html</anchorfile>
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      <arglist></arglist>
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      <type>std::shared_ptr&lt; ParticleFactory&lt; GmappingWorld &gt; &gt;</type>
      <name>_particle_supplier</name>
      <anchorfile>classParticleFilter.html</anchorfile>
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      <arglist></arglist>
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      <type>std::vector&lt; ParticlePtr &gt;</type>
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      <anchorfile>classParticleFilter.html</anchorfile>
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      <arglist></arglist>
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      <type>UniformResamling&lt; ParticlePtr &gt;</type>
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      <anchorfile>classParticleFilter.html</anchorfile>
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      <arglist></arglist>
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    <member kind="function">
      <type></type>
      <name>PgmHeader</name>
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      <arglist>(int w, int h, unsigned max_v)</arglist>
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      <type>void</type>
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      <anchorfile>classGridMapToPgmDumber_1_1PgmHeader.html</anchorfile>
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      <arglist>(std::ostream &amp;os) const </arglist>
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      <arglist>(std::ostream &amp;os, T value) const </arglist>
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    <member kind="function" protection="private">
      <type>void</type>
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      <anchorfile>classGridMapToPgmDumber_1_1PgmHeader.html</anchorfile>
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      <arglist>(std::ostream &amp;os) const </arglist>
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      <anchorfile>classGridMapToPgmDumber_1_1PgmHeader.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>char</type>
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      <anchorfile>classGridMapToPgmDumber_1_1PgmHeader.html</anchorfile>
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      <arglist>[2]</arglist>
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      <type>unsigned</type>
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      <anchorfile>classGridMapToPgmDumber_1_1PgmHeader.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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    <base>GridMap</base>
    <member kind="function">
      <type>const GridCell &amp;</type>
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      <anchorfile>classPlainGridMap.html</anchorfile>
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      <arglist>(const Coord &amp;c) const override</arglist>
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    <member kind="function">
      <type></type>
      <name>PlainGridMap</name>
      <anchorfile>classPlainGridMap.html</anchorfile>
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      <arglist>(std::shared_ptr&lt; GridCell &gt; prototype, const GridMapParams &amp;params=MapValues::gmp)</arglist>
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      <type>const GridCell &amp;</type>
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      <anchorfile>classPlainGridMap.html</anchorfile>
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      <arglist>(const Coord &amp;ic) const </arglist>
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    <member kind="variable" protection="protected">
      <type>std::vector&lt; std::vector&lt; std::unique_ptr&lt; GridCell &gt; &gt; &gt;</type>
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      <anchorfile>classPlainGridMap.html</anchorfile>
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      <arglist></arglist>
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    <filename>classPlainScanIntegrationTest.html</filename>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>map_contains_scan</name>
      <anchorfile>classPlainScanIntegrationTest.html</anchorfile>
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      <arglist>(const GridMap &amp;map, const LaserScan2D &amp;scan)</arglist>
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    <member kind="function" protection="protected">
      <type>bool</type>
      <name>map_includes</name>
      <anchorfile>classPlainScanIntegrationTest.html</anchorfile>
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      <arglist>(const GridMap &amp;outer, const GridMap &amp;inner) const </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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      <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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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(const RobotPose &amp;pose) override</arglist>
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      <arglist>(const std::string &amp;tf_map_frame_id, const std::string &amp;tf_odom_frame_id, bool is_async=false)</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <type>tf::Transform</type>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>tf::Transform</type>
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      <arglist></arglist>
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      <type>std::mutex</type>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>() const </arglist>
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      <arglist>(bool)=0</arglist>
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      <arglist>(const RobotPose &amp;prev_pose)=0</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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      <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>(const Coord &amp;coord) const </arglist>
    </member>
    <member kind="function">
      <type>Coord</type>
      <name>world_to_cell</name>
      <anchorfile>classRegularSquaresGrid.html</anchorfile>
      <anchor>acdb1ef00a4f10112e83ce13a418bc0af</anchor>
      <arglist>(const Point2D &amp;pt) const </arglist>
    </member>
    <member kind="function">
      <type>Coord</type>
      <name>world_to_cell</name>
      <anchorfile>classRegularSquaresGrid.html</anchorfile>
      <anchor>a384df4519b6696b8389a19091f5fcacf</anchor>
      <arglist>(double x, double y) const </arglist>
    </member>
    <member kind="function">
      <type>Coord</type>
      <name>world_to_cell</name>
      <anchorfile>classRegularSquaresGrid.html</anchorfile>
      <anchor>a2c2b8ccfa91c1e0b24b4f58f16af034d</anchor>
      <arglist>(double x, double y, double scale) const </arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; Coord &gt;</type>
      <name>world_to_cells</name>
      <anchorfile>classRegularSquaresGrid.html</anchorfile>
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      <arglist>(const Segment2D &amp;s) const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~RegularSquaresGrid</name>
      <anchorfile>classRegularSquaresGrid.html</anchorfile>
      <anchor>a8c22585fb9eee2d9213cedb065b4feb2</anchor>
      <arglist>()=default</arglist>
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    <member kind="variable" static="yes">
      <type>static constexpr double</type>
      <name>Dbl_Inf</name>
      <anchorfile>classRegularSquaresGrid.html</anchorfile>
      <anchor>aaf77d96fca1422f6f1e15225a3390f05</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type>Coord</type>
      <name>external2internal</name>
      <anchorfile>classRegularSquaresGrid.html</anchorfile>
      <anchor>a8ec43d39160a144a7339147b33eb9041</anchor>
      <arglist>(const Coord &amp;coord) const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>has_internal_cell</name>
      <anchorfile>classRegularSquaresGrid.html</anchorfile>
      <anchor>aa79c57a997044f610534cb5f96f62b7e</anchor>
      <arglist>(const Coord &amp;c) const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>set_height</name>
      <anchorfile>classRegularSquaresGrid.html</anchorfile>
      <anchor>a3dbac2f3f6702cf92f1cf4e5885a83f0</anchor>
      <arglist>(unsigned h)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>set_scale</name>
      <anchorfile>classRegularSquaresGrid.html</anchorfile>
      <anchor>a5e197e49ba342a2e3e2c6529878cc98e</anchor>
      <arglist>(double s)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>set_width</name>
      <anchorfile>classRegularSquaresGrid.html</anchorfile>
      <anchor>ac87e1dad4a4c21d527f7f8ebae18726c</anchor>
      <arglist>(unsigned w)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>_height</name>
      <anchorfile>classRegularSquaresGrid.html</anchorfile>
      <anchor>afa142cb95c042b9ef60c5834c1fd1ad7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>_m_per_cell</name>
      <anchorfile>classRegularSquaresGrid.html</anchorfile>
      <anchor>a7e3851d973f7ef3c5b783694f54c2cee</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>_width</name>
      <anchorfile>classRegularSquaresGrid.html</anchorfile>
      <anchor>a3d9ea4e5ff8b70bff35377e34cdc880f</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>RescalableCachingGridMap</name>
    <filename>classRescalableCachingGridMap.html</filename>
    <templarg></templarg>
    <base>GridMap</base>
    <member kind="function">
      <type>unsigned</type>
      <name>coarsest_scale_id</name>
      <anchorfile>classRescalableCachingGridMap.html</anchorfile>
      <anchor>a834f16cc7bd66d87755524ebec45be33</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>has_cell</name>
      <anchorfile>classRescalableCachingGridMap.html</anchorfile>
      <anchor>a7d47bfe3e85f8472a9735047164cc0d9</anchor>
      <arglist>(const Coord &amp;c) const override</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>height</name>
      <anchorfile>classRescalableCachingGridMap.html</anchorfile>
      <anchor>aa592df29fc5bb4f5402cc6515431c8e5</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>RescalableCachingGridMap &amp;</type>
      <name>operator=</name>
      <anchorfile>classRescalableCachingGridMap.html</anchorfile>
      <anchor>aa7f6123c5bbd057707e4830e1bf9cac9</anchor>
      <arglist>(const RescalableCachingGridMap &amp;)=delete</arglist>
    </member>
    <member kind="function">
      <type>RescalableCachingGridMap &amp;</type>
      <name>operator=</name>
      <anchorfile>classRescalableCachingGridMap.html</anchorfile>
      <anchor>a78c8e409c079caace1b83df6db58e184</anchor>
      <arglist>(RescalableCachingGridMap &amp;&amp;)=default</arglist>
    </member>
    <member kind="function">
      <type>const GridCell &amp;</type>
      <name>operator[]</name>
      <anchorfile>classRescalableCachingGridMap.html</anchorfile>
      <anchor>a41d95659f9034d2e13f4bf66d021d87e</anchor>
      <arglist>(const Coord &amp;coord) const override</arglist>
    </member>
    <member kind="function">
      <type>Coord</type>
      <name>origin</name>
      <anchorfile>classRescalableCachingGridMap.html</anchorfile>
      <anchor>a79cf79eb1d632f87426382f17420f294</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>RescalableCachingGridMap</name>
      <anchorfile>classRescalableCachingGridMap.html</anchorfile>
      <anchor>a5f8d2895e3241bf811cd84aa9c317b3f</anchor>
      <arglist>(std::shared_ptr&lt; GridCell &gt; prototype, const GridMapParams &amp;params=MapValues::gmp)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>RescalableCachingGridMap</name>
      <anchorfile>classRescalableCachingGridMap.html</anchorfile>
      <anchor>a48dce8b6bf14bda1716be27d04bea7f8</anchor>
      <arglist>(const RescalableCachingGridMap &amp;)=delete</arglist>
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    <member kind="function">
      <type></type>
      <name>RescalableCachingGridMap</name>
      <anchorfile>classRescalableCachingGridMap.html</anchorfile>
      <anchor>a0fe4fe7a3feb5eb0b44e668e51070356</anchor>
      <arglist>(RescalableCachingGridMap &amp;&amp;)=default</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>rescale</name>
      <anchorfile>classRescalableCachingGridMap.html</anchorfile>
      <anchor>a6aa8af80c75c976b1f8ec68072bbbef6</anchor>
      <arglist>(double target_scale) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>reset</name>
      <anchorfile>classRescalableCachingGridMap.html</anchorfile>
      <anchor>ade14a09a954e34bb9b0de6bfad7c35a1</anchor>
      <arglist>(const Coord &amp;area_id, const GridCell &amp;area) override</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>scale</name>
      <anchorfile>classRescalableCachingGridMap.html</anchorfile>
      <anchor>a7a6a61a82683bd119f8d8d2679bbd878</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>unsigned</type>
      <name>scale_id</name>
      <anchorfile>classRescalableCachingGridMap.html</anchorfile>
      <anchor>ac65160f7be932bb9f5b8e1d0950ff438</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>unsigned</type>
      <name>scales_nm</name>
      <anchorfile>classRescalableCachingGridMap.html</anchorfile>
      <anchor>a08ce623dceed7f0bdbecdbba4c722196</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>set_scale_id</name>
      <anchorfile>classRescalableCachingGridMap.html</anchorfile>
      <anchor>aa9baed21012d82078239421ef8e09875</anchor>
      <arglist>(unsigned scale_id)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>update</name>
      <anchorfile>classRescalableCachingGridMap.html</anchorfile>
      <anchor>aeaf6e4d3d1eebba4be099b3094f9bdb7</anchor>
      <arglist>(const Coord &amp;area_id, const AreaOccupancyObservation &amp;aoo) override</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>width</name>
      <anchorfile>classRescalableCachingGridMap.html</anchorfile>
      <anchor>a08b623eea975ce777006b03ccc5dee8c</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static constexpr unsigned</type>
      <name>finest_scale_id</name>
      <anchorfile>classRescalableCachingGridMap.html</anchorfile>
      <anchor>a20325c67481238cf608dffd6d78e80ba</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static constexpr unsigned</type>
      <name>Map_Scale_Factor</name>
      <anchorfile>classRescalableCachingGridMap.html</anchorfile>
      <anchor>ab1f56ed6fe4e4e2cec2ff8a2b358b9b3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef" protection="private">
      <type>std::vector&lt; std::unique_ptr&lt; GridMap &gt;&gt;</type>
      <name>MapCache</name>
      <anchorfile>classRescalableCachingGridMap.html</anchorfile>
      <anchor>abb93199c690fc4e531e68ecb1b58bf38</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="private">
      <type>const GridMap &amp;</type>
      <name>active_map</name>
      <anchorfile>classRescalableCachingGridMap.html</anchorfile>
      <anchor>a40a4bb830fc21d9c4d7109c8a5677049</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>GridMap &amp;</type>
      <name>active_map</name>
      <anchorfile>classRescalableCachingGridMap.html</anchorfile>
      <anchor>a0a615b2fe824902dba62d40b7a1479dc</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>ensure_map_cache_is_continuous</name>
      <anchorfile>classRescalableCachingGridMap.html</anchorfile>
      <anchor>a3be73dfbacfe51a9a855bd20fb38780e</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>const GridMap &amp;</type>
      <name>map</name>
      <anchorfile>classRescalableCachingGridMap.html</anchorfile>
      <anchor>ad7a5ad75a64fa0c5c60c14c8711f895f</anchor>
      <arglist>(unsigned scale_id) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>GridMap &amp;</type>
      <name>map</name>
      <anchorfile>classRescalableCachingGridMap.html</anchorfile>
      <anchor>a120f0285406f5c2aaeb08f90778d0b33</anchor>
      <arglist>(unsigned scale_id)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>on_area_update</name>
      <anchorfile>classRescalableCachingGridMap.html</anchorfile>
      <anchor>a3f0c4a5b53496d1f2bbf7c33c8c2bf49</anchor>
      <arglist>(const Coord &amp;area_id)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>GridMap *</type>
      <name>_active_map</name>
      <anchorfile>classRescalableCachingGridMap.html</anchorfile>
      <anchor>ad58618df17c740f118881932bfedffc7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::shared_ptr&lt; MapCache &gt;</type>
      <name>_map_cache</name>
      <anchorfile>classRescalableCachingGridMap.html</anchorfile>
      <anchor>a347c7e926b88f611c536fdbddac450f2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>unsigned</type>
      <name>_scale_id</name>
      <anchorfile>classRescalableCachingGridMap.html</anchorfile>
      <anchor>a487b56538ca34860f30a3658f6953ebf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type>static constexpr int</type>
      <name>Coarsest_Map_H</name>
      <anchorfile>classRescalableCachingGridMap.html</anchorfile>
      <anchor>a1cfb55f8af5b72445092472b93db1435</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type>static constexpr int</type>
      <name>Coarsest_Map_W</name>
      <anchorfile>classRescalableCachingGridMap.html</anchorfile>
      <anchor>a942994c66942b1ed9b543143eb2bd2a7</anchor>
      <arglist></arglist>
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  </compound>
  <compound kind="class">
    <name>RescalableCachingGridMapTest</name>
    <filename>classRescalableCachingGridMapTest.html</filename>
    <member kind="typedef" protection="protected">
      <type>RescalableCachingGridMap&lt; BackMapType &gt;</type>
      <name>TesteeMapType</name>
      <anchorfile>classRescalableCachingGridMapTest.html</anchorfile>
      <anchor>a2537bfe00c1f4e2786fa01d94cdc9529</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type>double</type>
      <name>estimate_max_value</name>
      <anchorfile>classRescalableCachingGridMapTest.html</anchorfile>
      <anchor>a36e4006b319cd1d0a423c1ad11e6cbb4</anchor>
      <arglist>(const GridMap &amp;map, const Rectangle &amp;area) const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>RescalableCachingGridMapTest</name>
      <anchorfile>classRescalableCachingGridMapTest.html</anchorfile>
      <anchor>aa926b0dee9963226a9af8dacfef8c9df</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>smoke_map_init</name>
      <anchorfile>classRescalableCachingGridMapTest.html</anchorfile>
      <anchor>ae1decd91078dcc0958ca0a5580635aec</anchor>
      <arglist>(GridMap &amp;map)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>test_max_scale_id_estimation</name>
      <anchorfile>classRescalableCachingGridMapTest.html</anchorfile>
      <anchor>aefc717c5e4ee05c3f813b4a788048625</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>test_read_write_inside_map</name>
      <anchorfile>classRescalableCachingGridMapTest.html</anchorfile>
      <anchor>a019237369acd42c903bd350b25b67526</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::shared_ptr&lt; GridCell &gt;</type>
      <name>cell_proto</name>
      <anchorfile>classRescalableCachingGridMapTest.html</anchorfile>
      <anchor>a7662d19731e333d44686af1a854a2b9b</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>RobotPose</name>
    <filename>classRobotPose.html</filename>
    <member kind="function">
      <type>const RobotPose</type>
      <name>operator+</name>
      <anchorfile>classRobotPose.html</anchorfile>
      <anchor>a326cebffbc1cf81d2e38bf00ff66c530</anchor>
      <arglist>(const RobotPoseDelta &amp;delta) const </arglist>
    </member>
    <member kind="function">
      <type>const RobotPose &amp;</type>
      <name>operator+=</name>
      <anchorfile>classRobotPose.html</anchorfile>
      <anchor>a9eb66ecfd1590495158ae98b4afeb7f1</anchor>
      <arglist>(const RobotPoseDelta &amp;delta)</arglist>
    </member>
    <member kind="function">
      <type>const RobotPoseDelta</type>
      <name>operator-</name>
      <anchorfile>classRobotPose.html</anchorfile>
      <anchor>a5ff721d6110af77e3eed610f4eaa2697</anchor>
      <arglist>(const RobotPose &amp;that) const </arglist>
    </member>
    <member kind="function">
      <type>RobotPose &amp;</type>
      <name>operator=</name>
      <anchorfile>classRobotPose.html</anchorfile>
      <anchor>a4f279deb90e9f429595345ef536ac573</anchor>
      <arglist>(const RobotPose &amp;that)</arglist>
    </member>
    <member kind="function">
      <type>auto</type>
      <name>point</name>
      <anchorfile>classRobotPose.html</anchorfile>
      <anchor>afee86a28ccb03f4416209b3047fc278c</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type></type>
      <name>RobotPose</name>
      <anchorfile>classRobotPose.html</anchorfile>
      <anchor>a11293657bded526f25839806e332777b</anchor>
      <arglist>(double x, double y, double theta)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>RobotPose</name>
      <anchorfile>classRobotPose.html</anchorfile>
      <anchor>ac94654754a685c34fd486ff0bb566eef</anchor>
      <arglist>(const RobotPoseDelta &amp;rpd)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>RobotPose</name>
      <anchorfile>classRobotPose.html</anchorfile>
      <anchor>a9c11b53a65ec4e7ab215d33acfdf4c4f</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>RobotPose</name>
      <anchorfile>classRobotPose.html</anchorfile>
      <anchor>a6419ce5ad796b3a5524f5be84f6dd90b</anchor>
      <arglist>(const RobotPose &amp;that)</arglist>
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    <member kind="function">
      <type></type>
      <name>RobotPose</name>
      <anchorfile>classRobotPose.html</anchorfile>
      <anchor>ac0e14f1beadbf407b92be8dc9f74c06b</anchor>
      <arglist>(const RobotPose &amp;&amp;that)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~RobotPose</name>
      <anchorfile>classRobotPose.html</anchorfile>
      <anchor>a7238b0489896a85027d23c444dffb320</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>theta</name>
      <anchorfile>classRobotPose.html</anchorfile>
      <anchor>a504858cf7fbb1737b7b88eb8df6de8a3</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>double</type>
      <name>x</name>
      <anchorfile>classRobotPose.html</anchorfile>
      <anchor>a68c712d63697303260b1c28fa95a6641</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>y</name>
      <anchorfile>classRobotPose.html</anchorfile>
      <anchor>a4cdc7ef89f623d0100c1f5361f31580e</anchor>
      <arglist></arglist>
    </member>
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  <compound kind="class">
    <name>RobotPoseDelta</name>
    <filename>classRobotPoseDelta.html</filename>
    <member kind="function">
      <type>RobotPoseDelta</type>
      <name>abs</name>
      <anchorfile>classRobotPoseDelta.html</anchorfile>
      <anchor>ac14151214d5b0bb18cede520092170b1</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>is_abs_less</name>
      <anchorfile>classRobotPoseDelta.html</anchorfile>
      <anchor>abad48a27cd871a44bc6133610fa09842</anchor>
      <arglist>(const RobotPoseDelta &amp;that) const </arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>operator bool</name>
      <anchorfile>classRobotPoseDelta.html</anchorfile>
      <anchor>a09d8844f8eaee2ab14ae64e2cc6f6620</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>RobotPoseDelta</type>
      <name>operator+</name>
      <anchorfile>classRobotPoseDelta.html</anchorfile>
      <anchor>a850c6199ac23a7c228f0c7eee061646e</anchor>
      <arglist>(const RobotPoseDelta &amp;rhs) const </arglist>
    </member>
    <member kind="function">
      <type>RobotPoseDelta &amp;</type>
      <name>operator+=</name>
      <anchorfile>classRobotPoseDelta.html</anchorfile>
      <anchor>a3b7601203e2074beca1dd2c1923a5a63</anchor>
      <arglist>(const RobotPoseDelta &amp;delta)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classRobotPoseDelta.html</anchorfile>
      <anchor>aa2f1f46429f5dc1ff9d91966b89e69e1</anchor>
      <arglist>(const RobotPoseDelta &amp;rhs) const </arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>reset</name>
      <anchorfile>classRobotPoseDelta.html</anchorfile>
      <anchor>a87b0c5e717aeb5a1fd5c4f154f0db353</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>RobotPoseDelta</name>
      <anchorfile>classRobotPoseDelta.html</anchorfile>
      <anchor>ab4b6bc555100e69582ab0c83b984d44f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>constexpr</type>
      <name>RobotPoseDelta</name>
      <anchorfile>classRobotPoseDelta.html</anchorfile>
      <anchor>acfd0a851a637cfa870313a46cf240e5a</anchor>
      <arglist>(double d_x, double d_y, double d_th)</arglist>
    </member>
    <member kind="function">
      <type>constexpr</type>
      <name>RobotPoseDelta</name>
      <anchorfile>classRobotPoseDelta.html</anchorfile>
      <anchor>ae29cd3b33e8c890ad05adf6fb12eab92</anchor>
      <arglist>(const Point2D &amp;offset, double d_th)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>sq_dist</name>
      <anchorfile>classRobotPoseDelta.html</anchorfile>
      <anchor>a39878d794e9d75ab4b942b8603b9fb4b</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>theta</name>
      <anchorfile>classRobotPoseDelta.html</anchorfile>
      <anchor>ab6eb4f084901c0de8b07428cff1633e5</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>double</type>
      <name>x</name>
      <anchorfile>classRobotPoseDelta.html</anchorfile>
      <anchor>a1e03cb1b9244773147e2b74c97bc6e11</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>double</type>
      <name>y</name>
      <anchorfile>classRobotPoseDelta.html</anchorfile>
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      <arglist></arglist>
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  </compound>
  <compound kind="class">
    <name>RobotPoseDeltaRV</name>
    <filename>classRobotPoseDeltaRV.html</filename>
    <templarg>RandomEngineT</templarg>
    <member kind="function">
      <type>RobotPoseDeltaRV &amp;</type>
      <name>operator=</name>
      <anchorfile>classRobotPoseDeltaRV.html</anchorfile>
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      <arglist>(const RobotPoseDeltaRV &amp;rpd_rv)</arglist>
    </member>
    <member kind="function">
      <type>RobotPoseDeltaRV &amp;</type>
      <name>operator=</name>
      <anchorfile>classRobotPoseDeltaRV.html</anchorfile>
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      <arglist>(RobotPoseDeltaRV &amp;&amp;rpd_rv)=default</arglist>
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    <member kind="function">
      <type></type>
      <name>RobotPoseDeltaRV</name>
      <anchorfile>classRobotPoseDeltaRV.html</anchorfile>
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      <arglist>(const RandomVariable1D&lt; RandomEngineT &gt; &amp;x_rv, const RandomVariable1D&lt; RandomEngineT &gt; &amp;y_rv, const RandomVariable1D&lt; RandomEngineT &gt; &amp;th_rv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>RobotPoseDeltaRV</name>
      <anchorfile>classRobotPoseDeltaRV.html</anchorfile>
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      <arglist>(const RobotPoseDeltaRV &amp;rpd_rv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>RobotPoseDeltaRV</name>
      <anchorfile>classRobotPoseDeltaRV.html</anchorfile>
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      <arglist>(RobotPoseDeltaRV &amp;&amp;rpd_rv)=default</arglist>
    </member>
    <member kind="function">
      <type>RobotPoseDelta</type>
      <name>sample</name>
      <anchorfile>classRobotPoseDeltaRV.html</anchorfile>
      <anchor>a18450c705ce65c3d9b460273ca9806f5</anchor>
      <arglist>(RandomEngineT &amp;re)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~RobotPoseDeltaRV</name>
      <anchorfile>classRobotPoseDeltaRV.html</anchorfile>
      <anchor>ab92c03f49595da188648d02e29ea277e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; RandomVariable1D&lt; RandomEngineT &gt; &gt;</type>
      <name>_th_rv</name>
      <anchorfile>classRobotPoseDeltaRV.html</anchorfile>
      <anchor>abcea2e1c803556d6bf599f49084eb712</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; RandomVariable1D&lt; RandomEngineT &gt; &gt;</type>
      <name>_x_rv</name>
      <anchorfile>classRobotPoseDeltaRV.html</anchorfile>
      <anchor>a553fb4ac9f3c639519481d5a8b051678</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; RandomVariable1D&lt; RandomEngineT &gt; &gt;</type>
      <name>_y_rv</name>
      <anchorfile>classRobotPoseDeltaRV.html</anchorfile>
      <anchor>a13c94f5166b04107e7d9a024aba928a5</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>RobotPoseDeltaRV&lt; Engine &gt;</name>
    <filename>classRobotPoseDeltaRV.html</filename>
    <member kind="function">
      <type>RobotPoseDeltaRV &amp;</type>
      <name>operator=</name>
      <anchorfile>classRobotPoseDeltaRV.html</anchorfile>
      <anchor>af9dea7ea79dd028642befb58fa35fde8</anchor>
      <arglist>(const RobotPoseDeltaRV &amp;rpd_rv)</arglist>
    </member>
    <member kind="function">
      <type>RobotPoseDeltaRV &amp;</type>
      <name>operator=</name>
      <anchorfile>classRobotPoseDeltaRV.html</anchorfile>
      <anchor>ae55c6c0c745ee558713529ede2001c1a</anchor>
      <arglist>(RobotPoseDeltaRV &amp;&amp;rpd_rv)=default</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>RobotPoseDeltaRV</name>
      <anchorfile>classRobotPoseDeltaRV.html</anchorfile>
      <anchor>ae2f02db7bdbf20aaaed7dab49f9898d4</anchor>
      <arglist>(const RandomVariable1D&lt; Engine &gt; &amp;x_rv, const RandomVariable1D&lt; Engine &gt; &amp;y_rv, const RandomVariable1D&lt; Engine &gt; &amp;th_rv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>RobotPoseDeltaRV</name>
      <anchorfile>classRobotPoseDeltaRV.html</anchorfile>
      <anchor>a988a62e0a734587bc45cdfb98c291a8c</anchor>
      <arglist>(const RobotPoseDeltaRV &amp;rpd_rv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>RobotPoseDeltaRV</name>
      <anchorfile>classRobotPoseDeltaRV.html</anchorfile>
      <anchor>a807642a413ed8d25d89c3897118c0836</anchor>
      <arglist>(RobotPoseDeltaRV &amp;&amp;rpd_rv)=default</arglist>
    </member>
    <member kind="function">
      <type>RobotPoseDelta</type>
      <name>sample</name>
      <anchorfile>classRobotPoseDeltaRV.html</anchorfile>
      <anchor>a18450c705ce65c3d9b460273ca9806f5</anchor>
      <arglist>(Engine &amp;re)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~RobotPoseDeltaRV</name>
      <anchorfile>classRobotPoseDeltaRV.html</anchorfile>
      <anchor>ab92c03f49595da188648d02e29ea277e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; RandomVariable1D&lt; Engine &gt; &gt;</type>
      <name>_th_rv</name>
      <anchorfile>classRobotPoseDeltaRV.html</anchorfile>
      <anchor>abcea2e1c803556d6bf599f49084eb712</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; RandomVariable1D&lt; Engine &gt; &gt;</type>
      <name>_x_rv</name>
      <anchorfile>classRobotPoseDeltaRV.html</anchorfile>
      <anchor>a553fb4ac9f3c639519481d5a8b051678</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; RandomVariable1D&lt; Engine &gt; &gt;</type>
      <name>_y_rv</name>
      <anchorfile>classRobotPoseDeltaRV.html</anchorfile>
      <anchor>a13c94f5166b04107e7d9a024aba928a5</anchor>
      <arglist></arglist>
    </member>
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  <compound kind="class">
    <name>RobotPoseDeltaRV&lt; RandomEngine &gt;</name>
    <filename>classRobotPoseDeltaRV.html</filename>
    <member kind="function">
      <type>RobotPoseDeltaRV &amp;</type>
      <name>operator=</name>
      <anchorfile>classRobotPoseDeltaRV.html</anchorfile>
      <anchor>af9dea7ea79dd028642befb58fa35fde8</anchor>
      <arglist>(const RobotPoseDeltaRV &amp;rpd_rv)</arglist>
    </member>
    <member kind="function">
      <type>RobotPoseDeltaRV &amp;</type>
      <name>operator=</name>
      <anchorfile>classRobotPoseDeltaRV.html</anchorfile>
      <anchor>ae55c6c0c745ee558713529ede2001c1a</anchor>
      <arglist>(RobotPoseDeltaRV &amp;&amp;rpd_rv)=default</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>RobotPoseDeltaRV</name>
      <anchorfile>classRobotPoseDeltaRV.html</anchorfile>
      <anchor>ae2f02db7bdbf20aaaed7dab49f9898d4</anchor>
      <arglist>(const RandomVariable1D&lt; RandomEngine &gt; &amp;x_rv, const RandomVariable1D&lt; RandomEngine &gt; &amp;y_rv, const RandomVariable1D&lt; RandomEngine &gt; &amp;th_rv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>RobotPoseDeltaRV</name>
      <anchorfile>classRobotPoseDeltaRV.html</anchorfile>
      <anchor>a988a62e0a734587bc45cdfb98c291a8c</anchor>
      <arglist>(const RobotPoseDeltaRV &amp;rpd_rv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>RobotPoseDeltaRV</name>
      <anchorfile>classRobotPoseDeltaRV.html</anchorfile>
      <anchor>a807642a413ed8d25d89c3897118c0836</anchor>
      <arglist>(RobotPoseDeltaRV &amp;&amp;rpd_rv)=default</arglist>
    </member>
    <member kind="function">
      <type>RobotPoseDelta</type>
      <name>sample</name>
      <anchorfile>classRobotPoseDeltaRV.html</anchorfile>
      <anchor>a18450c705ce65c3d9b460273ca9806f5</anchor>
      <arglist>(RandomEngine &amp;re)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~RobotPoseDeltaRV</name>
      <anchorfile>classRobotPoseDeltaRV.html</anchorfile>
      <anchor>ab92c03f49595da188648d02e29ea277e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; RandomVariable1D&lt; RandomEngine &gt; &gt;</type>
      <name>_th_rv</name>
      <anchorfile>classRobotPoseDeltaRV.html</anchorfile>
      <anchor>abcea2e1c803556d6bf599f49084eb712</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; RandomVariable1D&lt; RandomEngine &gt; &gt;</type>
      <name>_x_rv</name>
      <anchorfile>classRobotPoseDeltaRV.html</anchorfile>
      <anchor>a553fb4ac9f3c639519481d5a8b051678</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; RandomVariable1D&lt; RandomEngine &gt; &gt;</type>
      <name>_y_rv</name>
      <anchorfile>classRobotPoseDeltaRV.html</anchorfile>
      <anchor>a13c94f5166b04107e7d9a024aba928a5</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>RobotPoseTfPublisher</name>
    <filename>classRobotPoseTfPublisher.html</filename>
    <base>WorldPoseObserver</base>
    <member kind="function">
      <type>void</type>
      <name>on_pose_update</name>
      <anchorfile>classRobotPoseTfPublisher.html</anchorfile>
      <anchor>aab129e22e4dd7eea6a4a3201b59a35d3</anchor>
      <arglist>(const RobotPose &amp;pose) override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>RobotPoseTfPublisher</name>
      <anchorfile>classRobotPoseTfPublisher.html</anchorfile>
      <anchor>a179e6b284580b15d8ecba89227822a07</anchor>
      <arglist>(const std::string &amp;tf_map_frame_id, const std::string &amp;tf_robot_frame_id)</arglist>
    </member>
    <member kind="function" protection="private" virtualness="virtual">
      <type>virtual ros::Time</type>
      <name>robot_pose_timestamp</name>
      <anchorfile>classRobotPoseTfPublisher.html</anchorfile>
      <anchor>a5c18de1ae9482d26401164e9913ba954</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>tf::TransformBroadcaster</type>
      <name>_tf_brcst</name>
      <anchorfile>classRobotPoseTfPublisher.html</anchorfile>
      <anchor>a6c670e7461681288993174d8989086b2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>_tf_map_frame_id</name>
      <anchorfile>classRobotPoseTfPublisher.html</anchorfile>
      <anchor>a266e8cdc6f558eefc84c919ec4880817</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>_tf_robot_frame_id</name>
      <anchorfile>classRobotPoseTfPublisher.html</anchorfile>
      <anchor>a22de081c2d370115805d5c5d962989b0</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>RobotPoseTumTrajectoryDumper</name>
    <filename>classRobotPoseTumTrajectoryDumper.html</filename>
    <base>WorldPoseObserver</base>
    <member kind="function">
      <type>void</type>
      <name>log_robot_pose</name>
      <anchorfile>classRobotPoseTumTrajectoryDumper.html</anchorfile>
      <anchor>ad0c8d2fb77cd231b33c0afd43daa9d3b</anchor>
      <arglist>(const ros::Time &amp;time, const RobotPose &amp;pose)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>on_pose_update</name>
      <anchorfile>classRobotPoseTumTrajectoryDumper.html</anchorfile>
      <anchor>a10427064b10aaac52cb13afab12f7aa0</anchor>
      <arglist>(const RobotPose &amp;pose) override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>RobotPoseTumTrajectoryDumper</name>
      <anchorfile>classRobotPoseTumTrajectoryDumper.html</anchorfile>
      <anchor>ac5502f737e07001610a8629b9754c17e</anchor>
      <arglist>(const std::string &amp;fname, bool flush_every_entry=false)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>_flush_every_entry</name>
      <anchorfile>classRobotPoseTumTrajectoryDumper.html</anchorfile>
      <anchor>a3e1c8a8ed1e4dee7c91d07bb67634055</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::ofstream</type>
      <name>_fstream</name>
      <anchorfile>classRobotPoseTumTrajectoryDumper.html</anchorfile>
      <anchor>a116dc4675c82c04362cd9d8def764878</anchor>
      <arglist></arglist>
    </member>
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  <compound kind="class">
    <name>RSGInfinityScalingTest</name>
    <filename>classRSGInfinityScalingTest.html</filename>
    <member kind="function" protection="protected">
      <type></type>
      <name>RSGInfinityScalingTest</name>
      <anchorfile>classRSGInfinityScalingTest.html</anchorfile>
      <anchor>a45b358961ac69bf696f48fcb449257be</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>test_grid_access</name>
      <anchorfile>classRSGInfinityScalingTest.html</anchorfile>
      <anchor>a085510830c41e24d778f72ab4e527fa8</anchor>
      <arglist>(double x, double y)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>RegularSquaresGrid</type>
      <name>grid</name>
      <anchorfile>classRSGInfinityScalingTest.html</anchorfile>
      <anchor>a9c2b2a7253e1b55da1740aa8b1c2a20b</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr double</type>
      <name>Inf</name>
      <anchorfile>classRSGInfinityScalingTest.html</anchorfile>
      <anchor>a73422ba5b61293c44ddac79b98a068bf</anchor>
      <arglist></arglist>
    </member>
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  <compound kind="class">
    <name>RSGSegmentRasterizationTest</name>
    <filename>classRSGSegmentRasterizationTest.html</filename>
    <member kind="function">
      <type></type>
      <name>RSGSegmentRasterizationTest</name>
      <anchorfile>classRSGSegmentRasterizationTest.html</anchorfile>
      <anchor>acd4c2c520c54647123db8006ef95a3d6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>Point2D</type>
      <name>cell_middle</name>
      <anchorfile>classRSGSegmentRasterizationTest.html</anchorfile>
      <anchor>a0b1cddfee996d6851cdd6db89310eb2a</anchor>
      <arglist>(const DiscretePoint2D &amp;pnt)</arglist>
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    <member kind="variable" protection="protected">
      <type>RegularSquaresGrid</type>
      <name>grid</name>
      <anchorfile>classRSGSegmentRasterizationTest.html</anchorfile>
      <anchor>a518b9f16fb5ca03c72bbe1b7c206c772</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr double</type>
      <name>Grid_Scale</name>
      <anchorfile>classRSGSegmentRasterizationTest.html</anchorfile>
      <anchor>a18924294ac7afaeee87d6b9b3ff9f242</anchor>
      <arglist></arglist>
    </member>
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  <compound kind="class">
    <name>SafeRescalableMap</name>
    <filename>classSafeRescalableMap.html</filename>
    <member kind="function">
      <type></type>
      <name>operator GridMap &amp;</name>
      <anchorfile>classSafeRescalableMap.html</anchorfile>
      <anchor>a8eff18b9d8aae0263b5348a25f336da0</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>SafeRescalableMap &amp;</type>
      <name>operator=</name>
      <anchorfile>classSafeRescalableMap.html</anchorfile>
      <anchor>a3400a27585eed87f251d0f57d47ffb3d</anchor>
      <arglist>(const SafeRescalableMap &amp;)=delete</arglist>
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    <member kind="function">
      <type>SafeRescalableMap &amp;</type>
      <name>operator=</name>
      <anchorfile>classSafeRescalableMap.html</anchorfile>
      <anchor>aed8b4da2ab70b1835f3f875bb41d5770</anchor>
      <arglist>(SafeRescalableMap &amp;&amp;)=delete</arglist>
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    <member kind="function">
      <type></type>
      <name>SafeRescalableMap</name>
      <anchorfile>classSafeRescalableMap.html</anchorfile>
      <anchor>a3d53c14ecd28ab5f2a85efef8f099293</anchor>
      <arglist>(const GridMap &amp;map)</arglist>
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    <member kind="function">
      <type></type>
      <name>SafeRescalableMap</name>
      <anchorfile>classSafeRescalableMap.html</anchorfile>
      <anchor>a588c293954549cee8510dbf3a193a5ea</anchor>
      <arglist>(const SafeRescalableMap &amp;)=delete</arglist>
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    <member kind="function">
      <type></type>
      <name>SafeRescalableMap</name>
      <anchorfile>classSafeRescalableMap.html</anchorfile>
      <anchor>a10f7d33b5001b1c1849cf00c211de448</anchor>
      <arglist>(SafeRescalableMap &amp;&amp;)=delete</arglist>
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    <member kind="function">
      <type></type>
      <name>~SafeRescalableMap</name>
      <anchorfile>classSafeRescalableMap.html</anchorfile>
      <anchor>ad9502a75d2e4472f82f34f588447b0e4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>GridMap &amp;</type>
      <name>_map</name>
      <anchorfile>classSafeRescalableMap.html</anchorfile>
      <anchor>a43f62ecd33a5a2c323ad81225a2a4a33</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>_vanilla_scale</name>
      <anchorfile>classSafeRescalableMap.html</anchorfile>
      <anchor>a961f6bbd22406a7425f03e7653f5466d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ScanMatcherSearchSpaceBuilder</name>
    <filename>classScanMatcherSearchSpaceBuilder.html</filename>
    <base>GridScanMatcherObserver</base>
    <member kind="function">
      <type>std::shared_ptr&lt; GridMap &gt;</type>
      <name>map</name>
      <anchorfile>classScanMatcherSearchSpaceBuilder.html</anchorfile>
      <anchor>ae37c10f5e3c70750d49a58402f243809</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>on_scan_test</name>
      <anchorfile>classScanMatcherSearchSpaceBuilder.html</anchorfile>
      <anchor>a2c4f9e0b83a681aa86c34f396e52f8e5</anchor>
      <arglist>(const RobotPose &amp;pose, const LaserScan2D &amp;, double score) override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ScanMatcherSearchSpaceBuilder</name>
      <anchorfile>classScanMatcherSearchSpaceBuilder.html</anchorfile>
      <anchor>a171fe3caf5bdc405252f2a185e5f34c8</anchor>
      <arglist>(double resolution)</arglist>
    </member>
    <member kind="variable" protection="private">
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      <name>_map</name>
      <anchorfile>classScanMatcherSearchSpaceBuilder.html</anchorfile>
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      <arglist></arglist>
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    <name>ScanMatcherTestBase</name>
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    <templarg>MapType</templarg>
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      <type>WeightedMeanPointProbabilitySPE</type>
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      <arglist></arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
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      <arglist>(const TextRasterMapPrimitive &amp;mp, const DiscretePoint2D &amp;offset, int w_scale, int h_scale)</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual RobotPoseDelta</type>
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      <arglist>()</arglist>
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      <type>virtual bool</type>
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      <anchorfile>classScanMatcherTestBase.html</anchorfile>
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      <arglist>(const TransformedLaserScan &amp;raw_scan, const RobotPoseDelta &amp;init_noise, const RobotPoseDelta &amp;noise)</arglist>
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    <member kind="function" protection="protected" virtualness="pure">
      <type>virtual GridScanMatcher &amp;</type>
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      <anchorfile>classScanMatcherTestBase.html</anchorfile>
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      <arglist>()=0</arglist>
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      <type></type>
      <name>ScanMatcherTestBase</name>
      <anchorfile>classScanMatcherTestBase.html</anchorfile>
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      <arglist>(std::shared_ptr&lt; ScanProbabilityEstimator &gt; prob_est, int map_w, int map_h, double map_scale, const LaserScannerParams &amp;dflt_lsp)</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
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      <anchorfile>classScanMatcherTestBase.html</anchorfile>
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      <arglist>(const LaserScannerParams &amp;lsp, const RobotPoseDelta &amp;noise, const RobotPoseDelta &amp;acc_error)</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
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      <anchorfile>classScanMatcherTestBase.html</anchorfile>
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      <arglist>(const RobotPoseDelta &amp;noise, const RobotPoseDelta &amp;acc_error)</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
      <name>test_scan_matcher</name>
      <anchorfile>classScanMatcherTestBase.html</anchorfile>
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      <arglist>(const RobotPoseDelta &amp;noise)</arglist>
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    <member kind="variable" protection="protected">
      <type>LaserScannerParams</type>
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      <anchorfile>classScanMatcherTestBase.html</anchorfile>
      <anchor>a7b37af2b8c4fd497a2fe452440032ff9</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>MapType</type>
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      <anchorfile>classScanMatcherTestBase.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>RobotPose</type>
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      <anchorfile>classScanMatcherTestBase.html</anchorfile>
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      <arglist></arglist>
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      <type>std::shared_ptr&lt; ScanProbabilityEstimator &gt;</type>
      <name>spe</name>
      <anchorfile>classScanMatcherTestBase.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr RobotPoseDelta</type>
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      <anchorfile>classScanMatcherTestBase.html</anchorfile>
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      <arglist></arglist>
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      <type>WeightedMeanPointProbabilitySPE</type>
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      <anchorfile>classScanMatcherTestBase.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classScanMatcherTestBase.html</anchorfile>
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      <arglist>(const TextRasterMapPrimitive &amp;mp, const DiscretePoint2D &amp;offset, int w_scale, int h_scale)</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual RobotPoseDelta</type>
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      <arglist>()</arglist>
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      <type>virtual bool</type>
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      <anchorfile>classScanMatcherTestBase.html</anchorfile>
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      <arglist>(const TransformedLaserScan &amp;raw_scan, const RobotPoseDelta &amp;init_noise, const RobotPoseDelta &amp;noise)</arglist>
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    <member kind="function" protection="protected" virtualness="pure">
      <type>virtual GridScanMatcher &amp;</type>
      <name>scan_matcher</name>
      <anchorfile>classScanMatcherTestBase.html</anchorfile>
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      <arglist>()=0</arglist>
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      <anchorfile>classScanMatcherTestBase.html</anchorfile>
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      <arglist>(std::shared_ptr&lt; ScanProbabilityEstimator &gt; prob_est, int map_w, int map_h, double map_scale, const LaserScannerParams &amp;dflt_lsp)</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
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      <arglist>(const LaserScannerParams &amp;lsp, const RobotPoseDelta &amp;noise, const RobotPoseDelta &amp;acc_error)</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
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      <anchorfile>classScanMatcherTestBase.html</anchorfile>
      <anchor>a433ccc8bf114f28d50c0a5b666d5f5d9</anchor>
      <arglist>(const RobotPoseDelta &amp;noise, const RobotPoseDelta &amp;acc_error)</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
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      <anchorfile>classScanMatcherTestBase.html</anchorfile>
      <anchor>a1aab5ea25291bc8a094330d61151daa3</anchor>
      <arglist>(const RobotPoseDelta &amp;noise)</arglist>
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    <member kind="variable" protection="protected">
      <type>LaserScannerParams</type>
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      <anchorfile>classScanMatcherTestBase.html</anchorfile>
      <anchor>a7b37af2b8c4fd497a2fe452440032ff9</anchor>
      <arglist></arglist>
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      <type>Map</type>
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      <arglist></arglist>
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      <type>RobotPose</type>
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      <anchorfile>classScanMatcherTestBase.html</anchorfile>
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      <arglist></arglist>
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      <type>std::shared_ptr&lt; ScanProbabilityEstimator &gt;</type>
      <name>spe</name>
      <anchorfile>classScanMatcherTestBase.html</anchorfile>
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      <arglist></arglist>
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      <type>static constexpr RobotPoseDelta</type>
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      <anchorfile>classScanMatcherTestBase.html</anchorfile>
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      <arglist></arglist>
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      <type>WeightedMeanPointProbabilitySPE</type>
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      <arglist></arglist>
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      <type>virtual void</type>
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      <arglist>(const TextRasterMapPrimitive &amp;mp, const DiscretePoint2D &amp;offset, int w_scale, int h_scale)</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual RobotPoseDelta</type>
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      <arglist>()</arglist>
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      <type>virtual bool</type>
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      <anchorfile>classScanMatcherTestBase.html</anchorfile>
      <anchor>ae31289e5f8ad85b8882ffd50588598c0</anchor>
      <arglist>(const TransformedLaserScan &amp;raw_scan, const RobotPoseDelta &amp;init_noise, const RobotPoseDelta &amp;noise)</arglist>
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    <member kind="function" protection="protected" virtualness="pure">
      <type>virtual GridScanMatcher &amp;</type>
      <name>scan_matcher</name>
      <anchorfile>classScanMatcherTestBase.html</anchorfile>
      <anchor>a30fa9958c3f65b83fadf463c85d876ed</anchor>
      <arglist>()=0</arglist>
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      <type></type>
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      <anchorfile>classScanMatcherTestBase.html</anchorfile>
      <anchor>acb3c89ab904256c0b2f2b2ddd3beb40b</anchor>
      <arglist>(std::shared_ptr&lt; ScanProbabilityEstimator &gt; prob_est, int map_w, int map_h, double map_scale, const LaserScannerParams &amp;dflt_lsp)</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
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      <anchorfile>classScanMatcherTestBase.html</anchorfile>
      <anchor>a5397f9c0f95d67929b069e843e0c97b5</anchor>
      <arglist>(const LaserScannerParams &amp;lsp, const RobotPoseDelta &amp;noise, const RobotPoseDelta &amp;acc_error)</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
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      <anchorfile>classScanMatcherTestBase.html</anchorfile>
      <anchor>a433ccc8bf114f28d50c0a5b666d5f5d9</anchor>
      <arglist>(const RobotPoseDelta &amp;noise, const RobotPoseDelta &amp;acc_error)</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
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      <anchorfile>classScanMatcherTestBase.html</anchorfile>
      <anchor>a1aab5ea25291bc8a094330d61151daa3</anchor>
      <arglist>(const RobotPoseDelta &amp;noise)</arglist>
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    <member kind="variable" protection="protected">
      <type>LaserScannerParams</type>
      <name>default_lsp</name>
      <anchorfile>classScanMatcherTestBase.html</anchorfile>
      <anchor>a7b37af2b8c4fd497a2fe452440032ff9</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>RescalableMap</type>
      <name>map</name>
      <anchorfile>classScanMatcherTestBase.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>RobotPose</type>
      <name>rpose</name>
      <anchorfile>classScanMatcherTestBase.html</anchorfile>
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      <arglist></arglist>
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      <type>std::shared_ptr&lt; ScanProbabilityEstimator &gt;</type>
      <name>spe</name>
      <anchorfile>classScanMatcherTestBase.html</anchorfile>
      <anchor>a56b1a31942d3c9c79d7c68055148b1ad</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr RobotPoseDelta</type>
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      <anchorfile>classScanMatcherTestBase.html</anchorfile>
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      <arglist></arglist>
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    <member kind="typedef" protection="protected">
      <type>WeightedMeanPointProbabilitySPE</type>
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      <arglist></arglist>
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      <type>virtual void</type>
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      <arglist>(const TextRasterMapPrimitive &amp;mp, const DiscretePoint2D &amp;offset, int w_scale, int h_scale)</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual RobotPoseDelta</type>
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      <arglist>()</arglist>
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      <type>virtual bool</type>
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      <arglist>(const TransformedLaserScan &amp;raw_scan, const RobotPoseDelta &amp;init_noise, const RobotPoseDelta &amp;noise)</arglist>
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    <member kind="function" protection="protected" virtualness="pure">
      <type>virtual GridScanMatcher &amp;</type>
      <name>scan_matcher</name>
      <anchorfile>classScanMatcherTestBase.html</anchorfile>
      <anchor>a30fa9958c3f65b83fadf463c85d876ed</anchor>
      <arglist>()=0</arglist>
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      <type></type>
      <name>ScanMatcherTestBase</name>
      <anchorfile>classScanMatcherTestBase.html</anchorfile>
      <anchor>acb3c89ab904256c0b2f2b2ddd3beb40b</anchor>
      <arglist>(std::shared_ptr&lt; ScanProbabilityEstimator &gt; prob_est, int map_w, int map_h, double map_scale, const LaserScannerParams &amp;dflt_lsp)</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
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      <arglist>(const LaserScannerParams &amp;lsp, const RobotPoseDelta &amp;noise, const RobotPoseDelta &amp;acc_error)</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
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      <anchorfile>classScanMatcherTestBase.html</anchorfile>
      <anchor>a433ccc8bf114f28d50c0a5b666d5f5d9</anchor>
      <arglist>(const RobotPoseDelta &amp;noise, const RobotPoseDelta &amp;acc_error)</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
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      <anchorfile>classScanMatcherTestBase.html</anchorfile>
      <anchor>a1aab5ea25291bc8a094330d61151daa3</anchor>
      <arglist>(const RobotPoseDelta &amp;noise)</arglist>
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    <member kind="variable" protection="protected">
      <type>LaserScannerParams</type>
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      <anchorfile>classScanMatcherTestBase.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>UnboundedPlainGridMap</type>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>RobotPose</type>
      <name>rpose</name>
      <anchorfile>classScanMatcherTestBase.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::shared_ptr&lt; ScanProbabilityEstimator &gt;</type>
      <name>spe</name>
      <anchorfile>classScanMatcherTestBase.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected" static="yes">
      <type>static constexpr RobotPoseDelta</type>
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      <anchorfile>classScanMatcherTestBase.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
      <enumvalue file="structScanPoint2D.html" anchor="a90a8f9eb9021377bc2dc4739451096bfae266cfd65ad46a67fc54b0efd38e40dd">Polar</enumvalue>
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      <type>double</type>
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      <arglist>() const </arglist>
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      <type>double</type>
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      <arglist>() const </arglist>
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      <arglist>() const </arglist>
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      <arglist>(double d_x, double d_y, std::shared_ptr&lt; TrigonometryProvider &gt; tp) const </arglist>
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      <arglist>(const Point2D &amp;p, std::shared_ptr&lt; TrigonometryProvider &gt; tp) const </arglist>
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      <arglist>(double d_x, double d_y, double d_angle) const </arglist>
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      <arglist>(double d_x, double d_y) const </arglist>
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      <arglist>() const </arglist>
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      <arglist>(SPPT type, const double range, const double angle_rad, const double x, const double y)</arglist>
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      <arglist>(const LaserScan2D &amp;scan)</arglist>
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      <arglist>(const LaserScan2D::Points &amp;, PointId) const =0</arglist>
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      <arglist>(const LaserScan2D &amp;scan, const RobotPose &amp;pose, const GridMap &amp;map) const </arglist>
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      <arglist>(const LaserScan2D &amp;scan, const RobotPose &amp;, const GridMap &amp;)</arglist>
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      <arglist>(const AreaOccupancyObservation &amp;aoo, const LightWeightRectangle &amp;area, const GridMap &amp;map) const </arglist>
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      <arglist>()=default</arglist>
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      <arglist>(double probability)</arglist>
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      <arglist>()</arglist>
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      <arglist></arglist>
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      <anchorfile>classSingleStateHypothesisLaserScanGridWorld.html</anchorfile>
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      <arglist></arglist>
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    <name>SingleStateHypothesisLaserScanGridWorld&lt; UnboundedLazyTiledGridMap &gt;</name>
    <filename>classSingleStateHypothesisLaserScanGridWorld.html</filename>
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    <member kind="typedef">
      <type>typename LaserScanGridWorld&lt; UnboundedLazyTiledGridMap &gt;::MapType</type>
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      <anchorfile>classSingleStateHypothesisLaserScanGridWorld.html</anchorfile>
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      <arglist></arglist>
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    <member kind="typedef">
      <type>SingleStateHypothesisLSGWProperties</type>
      <name>Properties</name>
      <anchorfile>classSingleStateHypothesisLaserScanGridWorld.html</anchorfile>
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      <arglist></arglist>
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    <member kind="function">
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      <anchorfile>classSingleStateHypothesisLaserScanGridWorld.html</anchorfile>
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      <arglist>(std::shared_ptr&lt; GridScanMatcherObserver &gt; obs)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
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      <anchorfile>classSingleStateHypothesisLaserScanGridWorld.html</anchorfile>
      <anchor>a98736851d12963288ad8bdb0362430bd</anchor>
      <arglist>(TransformedLaserScan &amp;tr_scan)</arglist>
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    <member kind="function">
      <type>const MapType &amp;</type>
      <name>map</name>
      <anchorfile>classSingleStateHypothesisLaserScanGridWorld.html</anchorfile>
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      <arglist>() const override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>remove_sm_observer</name>
      <anchorfile>classSingleStateHypothesisLaserScanGridWorld.html</anchorfile>
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      <arglist>(std::shared_ptr&lt; GridScanMatcherObserver &gt; obs)</arglist>
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    <member kind="function">
      <type>auto</type>
      <name>scan_adder</name>
      <anchorfile>classSingleStateHypothesisLaserScanGridWorld.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function">
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      <anchorfile>classSingleStateHypothesisLaserScanGridWorld.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>SingleStateHypothesisLaserScanGridWorld</name>
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      <arglist>(const Properties &amp;props)</arglist>
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    <member kind="variable" protection="protected">
      <type>MapType</type>
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      <anchorfile>classSingleStateHypothesisLaserScanGridWorld.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>Properties</type>
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      <arglist></arglist>
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      <type></type>
      <name>SingleStateHypothesisLSGWProperties</name>
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      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>SingleStateHypothesisLSGWProperties</name>
      <anchorfile>structSingleStateHypothesisLSGWProperties.html</anchorfile>
      <anchor>a0af316bce80cb80c5a11eb101e0ca26e</anchor>
      <arglist>(double localized_scan_quality, double raw_scan_quality, std::size_t scan_margin, std::shared_ptr&lt; GridCell &gt; cell_prototype, std::shared_ptr&lt; GridScanMatcher &gt; gsm, std::shared_ptr&lt; GridMapScanAdder &gt; gmsa, GridMapParams map_props)</arglist>
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    <member kind="variable">
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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    <member kind="variable">
      <type>double</type>
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      <arglist></arglist>
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    <member kind="variable">
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      <arglist></arglist>
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    <member kind="variable">
      <type>double</type>
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      <arglist></arglist>
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      <arglist></arglist>
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    <member kind="variable">
      <type>bool</type>
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      <arglist></arglist>
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    <member kind="variable">
      <type>LightWeightRectangle</type>
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      <arglist></arglist>
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      <type>std::istream &amp;</type>
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      <arglist>() const override</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>() const =0</arglist>
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      <type>std::stringstream</type>
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      <arglist></arglist>
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    <name>LazyTiledGridMap::Tile</name>
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    <member kind="function">
      <type>std::shared_ptr&lt; GridCell &gt; &amp;</type>
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      <arglist>(const Coord &amp;cell_coord)</arglist>
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      <arglist>(const Coord &amp;cell_coord) const </arglist>
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      <name>Tile</name>
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      <arglist>(std::shared_ptr&lt; GridCell &gt; dflt)</arglist>
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    <member kind="variable" protection="private">
      <type>std::array&lt; std::shared_ptr&lt; GridCell &gt;, Tile_Size *Tile_Size &gt;</type>
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      <arglist></arglist>
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      <type>virtual void</type>
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      <anchorfile>classTopicObserver.html</anchorfile>
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      <arglist>(const boost::shared_ptr&lt; MType &gt;, const tf::StampedTransform &amp;)=0</arglist>
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      <type>virtual void</type>
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      <anchorfile>classTopicObserver.html</anchorfile>
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      <arglist>(const boost::shared_ptr&lt; ObservationType &gt;, const tf::StampedTransform &amp;)=0</arglist>
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      <type>virtual void</type>
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      <arglist>(const boost::shared_ptr&lt; ObsType &gt;, const tf::StampedTransform &amp;)=0</arglist>
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  <compound kind="class">
    <name>TopicObserver&lt; sensor_msgs::LaserScan &gt;</name>
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      <type>virtual void</type>
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      <anchorfile>classTopicObserver.html</anchorfile>
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      <arglist>(const boost::shared_ptr&lt; sensor_msgs::LaserScan &gt;, const tf::StampedTransform &amp;)=0</arglist>
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    <templarg>MsgType</templarg>
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      <type>void</type>
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      <arglist>(std::shared_ptr&lt; TopicObserver&lt; MsgType &gt;&gt; obs)</arglist>
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      <arglist>(ros::NodeHandle nh, const std::string &amp;topic_name, const std::string &amp;target_frame, const double buffer_duration=5.0, const uint32_t tf_filter_queue_size=1000, const uint32_t subscribers_queue_size=1000)</arglist>
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      <type>void</type>
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      <arglist>(const boost::shared_ptr&lt; MsgType &gt; msg)</arglist>
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      <type>std::unique_ptr&lt; tf::MessageFilter&lt; MsgType &gt; &gt;</type>
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      <arglist></arglist>
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      <type>std::vector&lt; std::weak_ptr&lt; TopicObserver&lt; MsgType &gt; &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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      <type>tf::TransformListener</type>
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      <arglist></arglist>
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    <member kind="variable">
      <type>RobotPoseDelta</type>
      <name>pose_delta</name>
      <anchorfile>structTransformedLaserScan.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable">
      <type>double</type>
      <name>quality</name>
      <anchorfile>structTransformedLaserScan.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable">
      <type>LaserScan2D</type>
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      <anchorfile>structTransformedLaserScan.html</anchorfile>
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      <arglist></arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual double</type>
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      <arglist>(double angle_rad) const =0</arglist>
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      <arglist>(double angle_rad)=0</arglist>
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      <type>virtual double</type>
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      <arglist>(double angle_rad) const =0</arglist>
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      <type>bool</type>
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      <anchorfile>classUnboundedLazyTiledGridMap.html</anchorfile>
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      <arglist>(const Coord &amp;) const override</arglist>
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      <anchorfile>classUnboundedLazyTiledGridMap.html</anchorfile>
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      <arglist>(const Coord &amp;ec) const override</arglist>
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      <arglist>() const override</arglist>
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      <arglist>(const Coord &amp;area_id, const GridCell &amp;new_area) override</arglist>
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      <anchorfile>classUnboundedLazyTiledGridMap.html</anchorfile>
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      <arglist>(std::shared_ptr&lt; GridCell &gt; prototype, const GridMapParams &amp;params=MapValues::gmp)</arglist>
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      <arglist>(const Coord &amp;area_id, const AreaOccupancyObservation &amp;aoo) override</arglist>
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      <arglist>(const DiscretePoint2D &amp;c)</arglist>
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      <anchorfile>classUnboundedLazyTiledGridMap.html</anchorfile>
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      <arglist></arglist>
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      <name>UnboundedLazyTiledGridMapTest</name>
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      <arglist>()</arglist>
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      <type>AreaOccupancyObservation</type>
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      <arglist></arglist>
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      <type>UnboundedLazyTiledGridMap</type>
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      <arglist></arglist>
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    <base>PlainGridMap</base>
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      <anchorfile>classUnboundedPlainGridMap.html</anchorfile>
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      <arglist>(const Coord &amp;) const override</arglist>
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      <arglist>(const std::vector&lt; char &gt; &amp;data) override</arglist>
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      <anchorfile>classUnboundedPlainGridMap.html</anchorfile>
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      <arglist>(const Coord &amp;ec) const override</arglist>
    </member>
    <member kind="function">
      <type>Coord</type>
      <name>origin</name>
      <anchorfile>classUnboundedPlainGridMap.html</anchorfile>
      <anchor>a04ebe065bf970351c05c420ecf5850ed</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>reset</name>
      <anchorfile>classUnboundedPlainGridMap.html</anchorfile>
      <anchor>abb940727872ba54360fa16a40bca905f</anchor>
      <arglist>(const Coord &amp;area_id, const GridCell &amp;new_area) override</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; char &gt;</type>
      <name>save_state</name>
      <anchorfile>classUnboundedPlainGridMap.html</anchorfile>
      <anchor>a6864ac763c4634d8782dbb1c55c1a58f</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type></type>
      <name>UnboundedPlainGridMap</name>
      <anchorfile>classUnboundedPlainGridMap.html</anchorfile>
      <anchor>a8545999bfdc8692b822afdb5711057e5</anchor>
      <arglist>(std::shared_ptr&lt; GridCell &gt; prototype, const GridMapParams &amp;params=MapValues::gmp)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>update</name>
      <anchorfile>classUnboundedPlainGridMap.html</anchorfile>
      <anchor>af1062067afef258811eaaacb42cc841c</anchor>
      <arglist>(const Coord &amp;area_id, const AreaOccupancyObservation &amp;aoo) override</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>std::tuple&lt; unsigned, unsigned &gt;</type>
      <name>determine_cells_nm</name>
      <anchorfile>classUnboundedPlainGridMap.html</anchorfile>
      <anchor>a5384449f8ed1d83f46ace131c5094589</anchor>
      <arglist>(int min, int val, int max) const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>ensure_inside</name>
      <anchorfile>classUnboundedPlainGridMap.html</anchorfile>
      <anchor>a4a9621020634e14610afc9a91d0fd53e</anchor>
      <arglist>(const Coord &amp;c)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Coord</type>
      <name>_origin</name>
      <anchorfile>classUnboundedPlainGridMap.html</anchorfile>
      <anchor>a6df0612b44a4f55c6b3bdf0b641b7552</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::shared_ptr&lt; GridCell &gt;</type>
      <name>_unknown_cell</name>
      <anchorfile>classUnboundedPlainGridMap.html</anchorfile>
      <anchor>a24f3a30a6a2b9db7089e50a5c9ecfc6c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type>static constexpr double</type>
      <name>Expansion_Rate</name>
      <anchorfile>classUnboundedPlainGridMap.html</anchorfile>
      <anchor>abdeb0c5ab4da80a0edc8fe02cec3cc61</anchor>
      <arglist></arglist>
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  </compound>
  <compound kind="class">
    <name>UnboundedPlainGridMapTest</name>
    <filename>classUnboundedPlainGridMapTest.html</filename>
    <member kind="function" protection="protected">
      <type></type>
      <name>UnboundedPlainGridMapTest</name>
      <anchorfile>classUnboundedPlainGridMapTest.html</anchorfile>
      <anchor>a3eaf57b1a8b7541a8d46a01c49d6bfa6</anchor>
      <arglist>()</arglist>
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    <member kind="variable" protection="protected">
      <type>AreaOccupancyObservation</type>
      <name>data</name>
      <anchorfile>classUnboundedPlainGridMapTest.html</anchorfile>
      <anchor>a57b74a5fab78ee848a5a10125698c918</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>UnboundedPlainGridMap</type>
      <name>map</name>
      <anchorfile>classUnboundedPlainGridMapTest.html</anchorfile>
      <anchor>a99eeb3ea06cd957da506c0d5fca3a773</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>UniformResamling</name>
    <filename>classUniformResamling.html</filename>
    <templarg>ParticlePtr</templarg>
    <member kind="function">
      <type>std::vector&lt; unsigned &gt;</type>
      <name>resample</name>
      <anchorfile>classUniformResamling.html</anchorfile>
      <anchor>a1153e289c2c4a463bc4883f283beb629</anchor>
      <arglist>(std::vector&lt; ParticlePtr &gt; particles)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>resampling_is_required</name>
      <anchorfile>classUniformResamling.html</anchorfile>
      <anchor>ad57204e7459baae2ff6bca6bf4ae7b6d</anchor>
      <arglist>(std::vector&lt; ParticlePtr &gt; particles)</arglist>
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  <compound kind="class">
    <name>UniformRV1D</name>
    <filename>classUniformRV1D.html</filename>
    <templarg></templarg>
    <base>RandomVariable1D&lt; Engine &gt;</base>
    <member kind="function">
      <type>std::unique_ptr&lt; RandomVariable1D&lt; Engine &gt; &gt;</type>
      <name>clone</name>
      <anchorfile>classUniformRV1D.html</anchorfile>
      <anchor>a7bfec23c94310cbd29c29aa298ae0516</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>double</type>
      <name>sample</name>
      <anchorfile>classUniformRV1D.html</anchorfile>
      <anchor>a56b149b6e04bf5a525a01c0df89ea184</anchor>
      <arglist>(Engine &amp;rnd_engine) override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>UniformRV1D</name>
      <anchorfile>classUniformRV1D.html</anchorfile>
      <anchor>a10e756829be648d678ec99a96384bc44</anchor>
      <arglist>(double from, double to)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::uniform_real_distribution</type>
      <name>_distr</name>
      <anchorfile>classUniformRV1D.html</anchorfile>
      <anchor>a53bfa92baaa8c79d3be7d768662ef7e2</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
      <name>_from</name>
      <anchorfile>classUniformRV1D.html</anchorfile>
      <anchor>af2043984d669265486dda69d0bd0b3fc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>_to</name>
      <anchorfile>classUniformRV1D.html</anchorfile>
      <anchor>a00625f99406048582890b388947abeae</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>VinyDSCell</name>
    <filename>classVinyDSCell.html</filename>
    <base>GridCell</base>
    <member kind="function">
      <type>const BaseTBM &amp;</type>
      <name>belief</name>
      <anchorfile>classVinyDSCell.html</anchorfile>
      <anchor>a904ee9b553e1304c92d0ce4a7e247c2f</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>std::unique_ptr&lt; GridCell &gt;</type>
      <name>clone</name>
      <anchorfile>classVinyDSCell.html</anchorfile>
      <anchor>a6bdb1f5ef8a3f531d6158b12e7da3d0d</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>std::size_t</type>
      <name>deserialize</name>
      <anchorfile>classVinyDSCell.html</anchorfile>
      <anchor>a3bd25914def24fefe8a678852a3ffcdd</anchor>
      <arglist>(const std::vector&lt; char &gt; &amp;data, std::size_t pos=0) override</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>discrepancy</name>
      <anchorfile>classVinyDSCell.html</anchorfile>
      <anchor>aa5ee4b1e6879f35df891dd74c130b1c5</anchor>
      <arglist>(const AreaOccupancyObservation &amp;aoo) const override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>operator+=</name>
      <anchorfile>classVinyDSCell.html</anchorfile>
      <anchor>a81c3c31669a00925761ea6b7557c149f</anchor>
      <arglist>(const AreaOccupancyObservation &amp;aoo) override</arglist>
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    <member kind="function">
      <type>std::vector&lt; char &gt;</type>
      <name>serialize</name>
      <anchorfile>classVinyDSCell.html</anchorfile>
      <anchor>acd7d1335872e316fbc887ce2ea7094ae</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>VinyDSCell</name>
      <anchorfile>classVinyDSCell.html</anchorfile>
      <anchor>a307808546e03c281601be8470c369021</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>BaseTBM</type>
      <name>_belief</name>
      <anchorfile>classVinyDSCell.html</anchorfile>
      <anchor>ae845f626c8020aacb254324b045889f5</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>VinySlamSPW</name>
    <filename>classVinySlamSPW.html</filename>
    <base>ScanPointWeighting</base>
    <member kind="function">
      <type>double</type>
      <name>weight</name>
      <anchorfile>classVinySlamSPW.html</anchorfile>
      <anchor>a326af156c2ee0bcc7865a364e7944685</anchor>
      <arglist>(const LaserScan2D::Points &amp;pts, PointId id) const override</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>VinyXDSCell</name>
    <filename>classVinyXDSCell.html</filename>
    <base>VinyDSCell</base>
    <member kind="function">
      <type>std::unique_ptr&lt; GridCell &gt;</type>
      <name>clone</name>
      <anchorfile>classVinyXDSCell.html</anchorfile>
      <anchor>a48f7dbbf9f54b078d40f874cfd0853fd</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>discrepancy</name>
      <anchorfile>classVinyXDSCell.html</anchorfile>
      <anchor>a38e46f7bb020d6662954f6ee54ff34c5</anchor>
      <arglist>(const AreaOccupancyObservation &amp;aoo) const override</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>VinyXWorld</name>
    <filename>classVinyXWorld.html</filename>
    <base>World&lt; TransformedLaserScan, VinyXMapT &gt;</base>
    <member kind="typedef">
      <type>SingleStateHypothesisLSGWProperties</type>
      <name>Properties</name>
      <anchorfile>classVinyXWorld.html</anchorfile>
      <anchor>ad25a337bcc0d3ae1cd623105a40fcd27</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SingleStateHypothesisLaserScanGridWorld&lt; VinyXMapT &gt;</type>
      <name>WorldT</name>
      <anchorfile>classVinyXWorld.html</anchorfile>
      <anchor>a881de904e64c5abcbbcfafdd9326e954</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>handle_observation</name>
      <anchorfile>classVinyXWorld.html</anchorfile>
      <anchor>a2e43f2e52ba1c3894991860e1198db5a</anchor>
      <arglist>(TransformedLaserScan &amp;obs) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>handle_sensor_data</name>
      <anchorfile>classVinyXWorld.html</anchorfile>
      <anchor>abcea1f6260cdf4eabe45c5970511f8d6</anchor>
      <arglist>(TransformedLaserScan &amp;scan) override</arglist>
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    <member kind="function">
      <type>const VinyXMapT &amp;</type>
      <name>map</name>
      <anchorfile>classVinyXWorld.html</anchorfile>
      <anchor>a47fef8023580a3ec008bdaf8d71d121c</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>const RobotPose &amp;</type>
      <name>pose</name>
      <anchorfile>classVinyXWorld.html</anchorfile>
      <anchor>aac9dcf89a4515623847a383b4026f6a6</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>update_robot_pose</name>
      <anchorfile>classVinyXWorld.html</anchorfile>
      <anchor>a589fa02bc388099dc596de7182936a22</anchor>
      <arglist>(const RobotPoseDelta &amp;delta) override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>VinyXWorld</name>
      <anchorfile>classVinyXWorld.html</anchorfile>
      <anchor>aa1ead26f3f28d29970bb03fd4e099cbc</anchor>
      <arglist>(const Properties &amp;props)</arglist>
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    <member kind="function">
      <type>const WorldT &amp;</type>
      <name>world</name>
      <anchorfile>classVinyXWorld.html</anchorfile>
      <anchor>a1401599cdc7483b4d1df6dde2291a20a</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>detect_peaks</name>
      <anchorfile>classVinyXWorld.html</anchorfile>
      <anchor>a2b85af1d58b08d08c13c90536a84e655</anchor>
      <arglist>(const TransformedLaserScan &amp;raw_scan)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; WorldT &gt;</type>
      <name>_hypotheses</name>
      <anchorfile>classVinyXWorld.html</anchorfile>
      <anchor>acf5b48a30f02fab7dd5edf514eae342b</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Properties</type>
      <name>_props</name>
      <anchorfile>classVinyXWorld.html</anchorfile>
      <anchor>a9c224b6bb8ce7494b2b20e66b95eff26</anchor>
      <arglist></arglist>
    </member>
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  <compound kind="class">
    <name>WallDistanceBlurringScanAdder</name>
    <filename>classWallDistanceBlurringScanAdder.html</filename>
    <base>GridMapScanAdder</base>
    <class kind="class">WallDistanceBlurringScanAdder::WallDistanceBlurringScanAdderBuilder</class>
    <member kind="typedef">
      <type>WallDistanceBlurringScanAdderBuilder</type>
      <name>ScanAdderProperties</name>
      <anchorfile>classWallDistanceBlurringScanAdder.html</anchorfile>
      <anchor>a10b88189d19b815c644136afa6bd32ff</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>WallDistanceBlurringScanAdder</name>
      <anchorfile>classWallDistanceBlurringScanAdder.html</anchorfile>
      <anchor>a9a9edc3ee01e2c0ee12fe4752012e9bf</anchor>
      <arglist>(const ScanAdderProperties &amp;props)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static WallDistanceBlurringScanAdderBuilder</type>
      <name>builder</name>
      <anchorfile>classWallDistanceBlurringScanAdder.html</anchorfile>
      <anchor>a224c672969f46f35b9ff5913fc641054</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>handle_scan_point</name>
      <anchorfile>classWallDistanceBlurringScanAdder.html</anchorfile>
      <anchor>a75ed5e65bf5695b5ec5cb7db180f55e4</anchor>
      <arglist>(GridMap &amp;map, bool is_occ, double scan_quality, const Segment2D &amp;beam) const override</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>blur_cell_dist</name>
      <anchorfile>classWallDistanceBlurringScanAdder.html</anchorfile>
      <anchor>a813d4ab53bf8d3234ccba76fcb5c80db</anchor>
      <arglist>(const GridMap &amp;map, const Segment2D &amp;beam, bool is_occ) const </arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>_max_usable_range_sq</name>
      <anchorfile>classWallDistanceBlurringScanAdder.html</anchorfile>
      <anchor>ac58c6f832ecd1cc8c72f649ec76e90d9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ScanAdderProperties</type>
      <name>_props</name>
      <anchorfile>classWallDistanceBlurringScanAdder.html</anchorfile>
      <anchor>a05771bfbd2cdcd771cefa7277f424c90</anchor>
      <arglist></arglist>
    </member>
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  <compound kind="class">
    <name>WallDistanceBlurringScanAdder::WallDistanceBlurringScanAdderBuilder</name>
    <filename>classWallDistanceBlurringScanAdder_1_1WallDistanceBlurringScanAdderBuilder.html</filename>
    <member kind="function">
      <type>auto</type>
      <name>build</name>
      <anchorfile>classWallDistanceBlurringScanAdder_1_1WallDistanceBlurringScanAdderBuilder.html</anchorfile>
      <anchor>a720358b7d18329e8dfc0c8759f11db41</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>WallDistanceBlurringScanAdderBuilder</name>
      <anchorfile>classWallDistanceBlurringScanAdder_1_1WallDistanceBlurringScanAdderBuilder.html</anchorfile>
      <anchor>a3affb80521382d40c5896fbcab0091f1</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="private">
      <type></type>
      <name>ADD_SETTER</name>
      <anchorfile>classWallDistanceBlurringScanAdder_1_1WallDistanceBlurringScanAdderBuilder.html</anchorfile>
      <anchor>a249fd07eb9dc79cba136cf6610257f51</anchor>
      <arglist>(double, blur_distance)</arglist>
    </member>
    <member kind="function" protection="private">
      <type></type>
      <name>ADD_SETTER</name>
      <anchorfile>classWallDistanceBlurringScanAdder_1_1WallDistanceBlurringScanAdderBuilder.html</anchorfile>
      <anchor>a5161ca7e39e9f65bdd14eb6190743166</anchor>
      <arglist>(std::shared_ptr&lt; CellOccupancyEstimator &gt;, occupancy_estimator)</arglist>
    </member>
    <member kind="function" protection="private">
      <type></type>
      <name>ADD_SETTER</name>
      <anchorfile>classWallDistanceBlurringScanAdder_1_1WallDistanceBlurringScanAdderBuilder.html</anchorfile>
      <anchor>af4f6574447aad1c1a185a2106782c4c8</anchor>
      <arglist>(double, max_usable_range)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>WeightedMeanPointProbabilitySPE</name>
    <filename>classWeightedMeanPointProbabilitySPE.html</filename>
    <base>ScanProbabilityEstimator</base>
    <member kind="function">
      <type>double</type>
      <name>estimate_scan_probability</name>
      <anchorfile>classWeightedMeanPointProbabilitySPE.html</anchorfile>
      <anchor>a6e2aa5ef9c72b42831e996a3d4844926</anchor>
      <arglist>(const LaserScan2D &amp;scan, const RobotPose &amp;pose, const GridMap &amp;map, const SPEParams &amp;params) const override</arglist>
    </member>
    <member kind="function">
      <type>LaserScan2D</type>
      <name>filter_scan</name>
      <anchorfile>classWeightedMeanPointProbabilitySPE.html</anchorfile>
      <anchor>a7ba112ef532ea70aaefe430e77556d8e</anchor>
      <arglist>(const LaserScan2D &amp;raw_scan, const RobotPose &amp;pose, const GridMap &amp;map) override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>WeightedMeanPointProbabilitySPE</name>
      <anchorfile>classWeightedMeanPointProbabilitySPE.html</anchorfile>
      <anchor>aae26e6c218f4f0db5e8537298922d82d</anchor>
      <arglist>(OOPE oope, SPW spw, unsigned skip_rate=0, double max_usable_range=-1)</arglist>
    </member>
    <member kind="typedef" protection="protected">
      <type>std::shared_ptr&lt; ScanPointWeighting &gt;</type>
      <name>SPW</name>
      <anchorfile>classWeightedMeanPointProbabilitySPE.html</anchorfile>
      <anchor>afb4aed7ee773bf1137926d0d269d86c2</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual AreaOccupancyObservation</type>
      <name>expected_scan_point_observation</name>
      <anchorfile>classWeightedMeanPointProbabilitySPE.html</anchorfile>
      <anchor>af7275338ffb532a2ffaf273f606a249d</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>should_skip_point</name>
      <anchorfile>classWeightedMeanPointProbabilitySPE.html</anchorfile>
      <anchor>ad6b16495189679039fb7b94f20dfcc48</anchor>
      <arglist>(const ScanPoint2D &amp;sp, const GridMap &amp;map, const GridMap::Coord &amp;area_id) const </arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>_pt_max_usable_range</name>
      <anchorfile>classWeightedMeanPointProbabilitySPE.html</anchorfile>
      <anchor>ad50cd2e6069c30b809f223c4e66209f3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>unsigned</type>
      <name>_pts_skip_rate</name>
      <anchorfile>classWeightedMeanPointProbabilitySPE.html</anchorfile>
      <anchor>ab1c84dc506b0c2ff294aab298a4a829a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>SPW</type>
      <name>_spw</name>
      <anchorfile>classWeightedMeanPointProbabilitySPE.html</anchorfile>
      <anchor>abd8def7636fcbf29da0245dde04fff9d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>World</name>
    <filename>classWorld.html</filename>
    <templarg>ObservationType</templarg>
    <templarg>MapT</templarg>
    <base>WorldObservable&lt; MapT &gt;</base>
    <base>SensorDataObserver&lt; ObservationType &gt;</base>
    <member kind="typedef">
      <type>MapT</type>
      <name>MapType</name>
      <anchorfile>classWorld.html</anchorfile>
      <anchor>a7aeef1b4a320989d098bf78cbd95c9d0</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual const MapType &amp;</type>
      <name>map</name>
      <anchorfile>classWorld.html</anchorfile>
      <anchor>a985c4aae6fa56f6d20896210d89bcfbc</anchor>
      <arglist>() const =0</arglist>
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      <arglist>()</arglist>
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      <arglist>() const </arglist>
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      <arglist>(const RobotPoseDelta &amp;delta)</arglist>
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      <arglist>() const </arglist>
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      <arglist>(ObservationType &amp;)=0</arglist>
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      <arglist>()=default</arglist>
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      <arglist></arglist>
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      <arglist>()</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(TransformedLaserScan &amp;)=0</arglist>
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      <arglist>() const =0</arglist>
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      <arglist>()</arglist>
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      <arglist>() const</arglist>
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      <arglist>(const RobotPoseDelta &amp;delta)</arglist>
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      <arglist>() const</arglist>
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      <arglist>(TransformedLaserScan &amp;)=0</arglist>
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      <arglist></arglist>
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      <arglist>() const =0</arglist>
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      <arglist>()</arglist>
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      <arglist>() const</arglist>
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      <arglist>(const RobotPoseDelta &amp;delta)</arglist>
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      <arglist>() const</arglist>
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      <arglist>(TransformedLaserScan &amp;)=0</arglist>
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      <arglist>()=default</arglist>
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      <arglist></arglist>
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    <member kind="typedef">
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      <arglist></arglist>
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      <arglist>() const =0</arglist>
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      <anchorfile>classWorld.html</anchorfile>
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      <arglist>()</arglist>
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      <arglist>() const</arglist>
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      <arglist>(const RobotPoseDelta &amp;delta)</arglist>
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      <arglist>() const</arglist>
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      <arglist>(TransformedLaserScan &amp;)=0</arglist>
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      <arglist>()=default</arglist>
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      <arglist>() const =0</arglist>
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      <arglist>()</arglist>
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      <arglist>() const</arglist>
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      <arglist>(const RobotPoseDelta &amp;delta)</arglist>
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      <arglist>() const</arglist>
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      <arglist>(TransformedLaserScan &amp;)=0</arglist>
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      <arglist>()=default</arglist>
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      <arglist></arglist>
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      <type>virtual void</type>
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      <arglist>(const MapType &amp;map)=0</arglist>
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      <arglist>(const GridMapType &amp;map)=0</arglist>
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      <arglist>(const MapType &amp;map)</arglist>
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      <anchorfile>classWorldObservable.html</anchorfile>
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      <arglist>(const RobotPose &amp;pose)</arglist>
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      <anchorfile>classWorldObservable.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(std::shared_ptr&lt; WorldMapObserver&lt; GmappingWorld::MapType &gt;&gt; obs)</arglist>
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      <arglist>(std::shared_ptr&lt; WorldPoseObserver &gt; obs)</arglist>
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      <arglist>(const GmappingWorld::MapType &amp;map)</arglist>
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      <anchorfile>classWorldObservable.html</anchorfile>
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      <arglist>(const RobotPose &amp;pose)</arglist>
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      <anchorfile>classWorldObservable.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classWorldObservable.html</anchorfile>
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      <arglist></arglist>
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      <arglist>(std::shared_ptr&lt; WorldMapObserver&lt; Map &gt;&gt; obs)</arglist>
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      <anchorfile>classWorldObservable.html</anchorfile>
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      <arglist>(std::shared_ptr&lt; WorldPoseObserver &gt; obs)</arglist>
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      <anchorfile>classWorldObservable.html</anchorfile>
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      <arglist>(const Map &amp;map)</arglist>
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