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      <arglist>(const int32_t &amp;mapX, const int32_t &amp;mapY)</arglist>
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    <member kind="function">
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      <anchorfile>classrobot__model__services_1_1MapHelper.html</anchorfile>
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      <arglist>(const SimpleVector3 &amp;start, const SimpleVector3 &amp;goal)</arglist>
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    <member kind="function">
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      <anchorfile>classrobot__model__services_1_1MapHelper.html</anchorfile>
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      <arglist>()</arglist>
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      <arglist>(const int8_t &amp;occupancyValue)</arglist>
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      <arglist>(const std::string &amp;mapTopicName=&quot;map&quot;, const std::string &amp;getPlanServiceName=&quot;move_base/make_plan&quot;)</arglist>
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      <anchorfile>classrobot__model__services_1_1MapHelper.html</anchorfile>
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      <arglist>(const int32_t &amp;x, const int32_t &amp;y, SimpleVector3 &amp;result)</arglist>
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      <anchorfile>classrobot__model__services_1_1MapHelper.html</anchorfile>
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      <arglist>(const SimpleVector3 &amp;position, SimpleVector3 &amp;result)</arglist>
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      <anchorfile>classrobot__model__services_1_1MapHelper.html</anchorfile>
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      <arglist>(const double &amp;size, double &amp;result)</arglist>
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      <anchorfile>classrobot__model__services_1_1MapHelper.html</anchorfile>
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      <arglist>(int8_t thresholdValue)</arglist>
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    <member kind="function">
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      <anchorfile>classrobot__model__services_1_1MapHelper.html</anchorfile>
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      <arglist>(const SimpleVector3 &amp;position, int32_t &amp;x, int32_t &amp;y)</arglist>
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      <anchorfile>classrobot__model__services_1_1MapHelper.html</anchorfile>
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      <arglist>(const SimpleVector3 &amp;position, SimpleVector3 &amp;result)</arglist>
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    <member kind="function">
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      <name>worldToMapSize</name>
      <anchorfile>classrobot__model__services_1_1MapHelper.html</anchorfile>
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      <arglist>(const double &amp;size, double &amp;result)</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <name>getOccupancyValue</name>
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      <arglist>(const nav_msgs::OccupancyGrid &amp;map, const SimpleVector3 &amp;position)</arglist>
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      <name>getOccupancyValue</name>
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      <arglist>(const costmap_2d::Costmap2D &amp;costmap, const SimpleVector3 &amp;position)</arglist>
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      <arglist>(const nav_msgs::OccupancyGrid &amp;map, const int32_t &amp;mapX, const int32_t &amp;mapY)</arglist>
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      <arglist>(const costmap_2d::Costmap2D &amp;costmap, const int32_t &amp;mapX, const int32_t &amp;mapY)</arglist>
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      <arglist>(nav_msgs::OccupancyGrid map)</arglist>
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      <arglist>()</arglist>
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      <anchorfile>classrobot__model__services_1_1MapHelper.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>[256]</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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      <type>static SimpleSphereCoordinates</type>
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      <arglist>(const SimpleVector3 &amp;cartesian)</arglist>
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      <anchorfile>classrobot__model__services_1_1MathHelper.html</anchorfile>
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      <arglist>(const SimpleVector3 &amp;cartesian, SimpleSphereCoordinates &amp;sphere)</arglist>
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      <anchorfile>classrobot__model__services_1_1MathHelper.html</anchorfile>
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      <arglist>(const SimpleSphereCoordinates &amp;sphere)</arglist>
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      <anchorfile>classrobot__model__services_1_1MathHelper.html</anchorfile>
      <anchor>ac06b4302ffe94411eea69c559498a40d</anchor>
      <arglist>(const SimpleSphereCoordinates &amp;sphere, SimpleVector3 &amp;cartesian)</arglist>
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      <anchorfile>classrobot__model__services_1_1MathHelper.html</anchorfile>
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      <arglist>(double input)</arglist>
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      <anchorfile>classrobot__model__services_1_1MathHelper.html</anchorfile>
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      <arglist>(const boost::shared_ptr&lt; PowerSet &gt; &amp;powerSetPtr, const std::size_t min, const std::size_t max)</arglist>
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      <arglist>(const boost::shared_ptr&lt; PowerSet &gt; &amp;setPtr, const std::size_t min)</arglist>
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      <anchorfile>classrobot__model__services_1_1MathHelper.html</anchorfile>
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      <arglist>(const SimpleVector3 &amp;X, const SimpleVector3 &amp;Y)</arglist>
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      <anchorfile>classrobot__model__services_1_1MathHelper.html</anchorfile>
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      <arglist>(const SimpleVector3 &amp;X, const SimpleVector3 &amp;Y)</arglist>
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      <anchorfile>classrobot__model__services_1_1MathHelper.html</anchorfile>
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      <arglist>(SimpleVector3 v1, SimpleVector3 v2)</arglist>
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      <anchorfile>classrobot__model__services_1_1MathHelper.html</anchorfile>
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      <arglist>(const Precision &amp;firstAngle, const Precision &amp;secondAngle)</arglist>
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      <arglist>(const int &amp;numberOfPoints)</arglist>
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      <arglist>(const std::size_t &amp;idx, const SimpleVector3 &amp;X)</arglist>
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      <arglist>(const Precision &amp;heading, const Precision &amp;attitude, const Precision &amp;bank)</arglist>
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      <arglist>(const Precision &amp;mean, const Precision &amp;standardDeviation)</arglist>
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      <arglist>()</arglist>
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      <arglist>(const SimpleVectorX &amp;mean, const SimpleVectorX &amp;standardDeviation)</arglist>
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      <arglist>(const SimpleQuaternion &amp;orientation)</arglist>
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      <arglist>(const SimpleQuaternion &amp;orientation, SimpleVector3 &amp;resultAxis)</arglist>
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      <arglist>(const boost::shared_ptr&lt; Set &gt; &amp;setPtr)</arglist>
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      <arglist>(boost::shared_ptr&lt; std::set&lt; boost::shared_ptr&lt; Set &gt; &gt; &gt; &amp;powerSetPtr)</arglist>
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      <arglist>(boost::shared_ptr&lt; Set &gt; &amp;setPtr)</arglist>
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      <arglist>(double input)</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>(const geometry_msgs::Point &amp;sourcePosition, const geometry_msgs::Point &amp;targetPosition)</arglist>
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      <name>getRobotPose</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>a7c687b43e5248cdddfb9e73cb844e250</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isPoseReachable</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>a0cca63f8febc7be64b260d8aa25317c7</anchor>
      <arglist>(const SimpleVector3 &amp;position, const SimpleQuaternion &amp;orientation)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isPositionAllowed</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>afc82fa0c7df12a0b11dcd12d4cd373e0</anchor>
      <arglist>(const geometry_msgs::Point &amp;position)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isPositionReachable</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>a1a83473c2db265975424192dee43dbb9</anchor>
      <arglist>(const geometry_msgs::Point &amp;sourcePosition, const geometry_msgs::Point &amp;targetPosition)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MILDRobotModel</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>acded108a5e9ac7a93da230245c7c2bd5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setPanAngleLimits</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>accb82693a3e03029ebf3d1e551e2d346</anchor>
      <arglist>(float minAngleDegrees, float maxAngleDegrees)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setRotationAngleLimits</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>ab54757f9ee75cd592ace97fbbb47a226</anchor>
      <arglist>(float minAngleDegrees, float maxAngleDegrees)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setTiltAngleLimits</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>a67de27d2932e3a04c77150758ed8bfaf</anchor>
      <arglist>(float minAngleDegrees, float maxAngleDegrees)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~MILDRobotModel</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>a0c7f7a326aa7f9954f06e8cab957a9fe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>tf::TransformListener</type>
      <name>listener</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>af34ceba8886353818d5365dfccf111be</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>DebugHelperPtr</type>
      <name>mDebugHelperPtr</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>a72fbc0042fc1323aeec6a11e66c3a4a2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>mFrameName_map</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>a23ff0f424aa9de573e63f170b83c406d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>mFrameName_mild_base</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>a731da6762eb1bbfb469b7374a9bc9ed6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>mFrameName_mild_camera_left</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>a12b68011e2ef239f68b1cd60aafa6a03</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>mFrameName_mild_camera_mount_link</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>ab0d52984b3efea8ed34bf9543b084360</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>mFrameName_mild_camera_right</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>a7e0b05474b914a04065b8602b244e633</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>mFrameName_mild_ptu_base_link</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>ace2621a29d2a289f208c2bc8347ad707</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>mFrameName_mild_ptu_pan_link</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>a45a5e71b08e37b02de22186519f76c8a</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>mFrameName_mild_ptu_pan_link_rotated</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>a8e3cd56d9c03440da7ed1abaa48a2afa</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>mFrameName_mild_ptu_tilt_link</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>a7e8f6b47d74a70c268a22dc7baec5d21</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>mFrameName_mild_ptu_tilt_link_rotated</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>a373972a029d0803250680998a8a93674</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>MapHelperPtr</type>
      <name>mMapHelperPtr</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>a7260bd45012064f499a356c89c971f46</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>float</type>
      <name>mOmegaPan</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>a50f9e89910b40e54a58e9b7df201ea23</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>float</type>
      <name>mOmegaRot</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>a29500eeb152757768f1a99b3970a48c1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>float</type>
      <name>mOmegaTilt</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>a2150960fe2a34fb57bb46c59f40cc79e</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>boost::tuple&lt; float, float &gt;</type>
      <name>mPanLimits</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>a0e35435af16975f19534fbf0d618b0bb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::tuple&lt; float, float &gt;</type>
      <name>mRotationLimits</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>a7314a879fb57a476b522d031260b1026</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>float</type>
      <name>mSigma</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>adb856f947e17cb58fcc4147ad6cb16d4</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>boost::tuple&lt; float, float &gt;</type>
      <name>mTiltLimits</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>af87260373e02f956911cb88ec70e7e40</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::NodeHandle</type>
      <name>n</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>a938ebc8bdda2c18b3e8e875465312243</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::ServiceClient</type>
      <name>navigationCostClient</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>a65df018a70adf665becaf756c82cddd2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>float</type>
      <name>speedFactorBaseMove</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>a087479521ffa06d5616c0870bc292736</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>float</type>
      <name>speedFactorBaseRot</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>a97a0987d89773765dadfc0b310a35ee6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>float</type>
      <name>speedFactorPTU</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>a17aa4a817eadc47bacbced7d41f0392d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>float</type>
      <name>tolerance</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>a595d98aa76869d867612633650dfb932</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>useGlobalPlanner</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>a2c916747445049f82bb029fc11eb0546</anchor>
      <arglist></arglist>
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    <member kind="function" protection="private">
      <type>void</type>
      <name>initMapHelper</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModel.html</anchorfile>
      <anchor>a1c568e3f41fc3ac8d793c209155dc478</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>robot_model_services::MILDRobotModelWithApproximatedIK</name>
    <filename>classrobot__model__services_1_1MILDRobotModelWithApproximatedIK.html</filename>
    <base>robot_model_services::MILDRobotModel</base>
    <member kind="function">
      <type>RobotStatePtr</type>
      <name>calculateRobotState</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModelWithApproximatedIK.html</anchorfile>
      <anchor>a86f6090a46906008a45b96cadbfd23a5</anchor>
      <arglist>(const RobotStatePtr &amp;sourceRobotState, const SimpleVector3 &amp;position, const SimpleQuaternion &amp;orientation)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MILDRobotModelWithApproximatedIK</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModelWithApproximatedIK.html</anchorfile>
      <anchor>a7e3a7bdf9289d8e75be194cfd53db7e9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~MILDRobotModelWithApproximatedIK</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModelWithApproximatedIK.html</anchorfile>
      <anchor>a9422384dadd6e2c1913d1f9f9d76ef2e</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>robot_model_services::MILDRobotModelWithApproximatedIKFactory</name>
    <filename>classrobot__model__services_1_1MILDRobotModelWithApproximatedIKFactory.html</filename>
    <base>robot_model_services::RobotModelAbstractFactory</base>
    <member kind="function">
      <type>RobotModelPtr</type>
      <name>createRobotModel</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModelWithApproximatedIKFactory.html</anchorfile>
      <anchor>a4cc16a9b0b37d06675ae132182944592</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MILDRobotModelWithApproximatedIKFactory</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModelWithApproximatedIKFactory.html</anchorfile>
      <anchor>a60a33a20893196fbb2f740939fc0eac8</anchor>
      <arglist>(float minTiltAngleDegrees, float maxTiltAngleDegrees, float minPanAngleDegrees, float maxPanAngleDegrees)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>float</type>
      <name>mMaxPanAngleDegrees</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModelWithApproximatedIKFactory.html</anchorfile>
      <anchor>abe48cfea9a2816a83d31dfb2263e1622</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>float</type>
      <name>mMaxTiltAngleDegrees</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModelWithApproximatedIKFactory.html</anchorfile>
      <anchor>ade9731bea8236a4692e5aea5da39a4ed</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>float</type>
      <name>mMinPanAngleDegrees</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModelWithApproximatedIKFactory.html</anchorfile>
      <anchor>a3db253f4b0c8562a82168b7b35ce6c36</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>float</type>
      <name>mMinTiltAngleDegrees</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModelWithApproximatedIKFactory.html</anchorfile>
      <anchor>a5d294139d2fa7e5b52088369f3e441ee</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>robot_model_services::MILDRobotModelWithExactIK</name>
    <filename>classrobot__model__services_1_1MILDRobotModelWithExactIK.html</filename>
    <base>robot_model_services::MILDRobotModel</base>
    <member kind="function">
      <type>PTUConfig</type>
      <name>calculateCameraPoseCorrection</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModelWithExactIK.html</anchorfile>
      <anchor>a9ab1436842da32b6d961b1059e1bb900</anchor>
      <arglist>(const RobotStatePtr &amp;sourceRobotState, const SimpleVector3 &amp;position, const SimpleQuaternion &amp;orientation)</arglist>
    </member>
    <member kind="function">
      <type>RobotStatePtr</type>
      <name>calculateRobotState</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModelWithExactIK.html</anchorfile>
      <anchor>ab22b064f80a49064c6020fe9bf12d4c2</anchor>
      <arglist>(const RobotStatePtr &amp;sourceRobotState, const SimpleVector3 &amp;position, const SimpleQuaternion &amp;orientation)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MILDRobotModelWithExactIK</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModelWithExactIK.html</anchorfile>
      <anchor>a658d417dc9201ac7d5b00861b346cb00</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setViewPointDistance</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModelWithExactIK.html</anchorfile>
      <anchor>a0f953cc4a63068b3b5674a6e811687d7</anchor>
      <arglist>(float viewPointDistance)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~MILDRobotModelWithExactIK</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModelWithExactIK.html</anchorfile>
      <anchor>a87b986a6b2f0834cf3644df9f4ac7e60</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>ros::Publisher</type>
      <name>vis_pub</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModelWithExactIK.html</anchorfile>
      <anchor>a037f605542203d2e736a83d230cf2217</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>acosClamped</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModelWithExactIK.html</anchorfile>
      <anchor>a12936fca6ae5194694288d5a8aae5ff5</anchor>
      <arglist>(double value)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>getBaseAngleFromBaseFrame</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModelWithExactIK.html</anchorfile>
      <anchor>aa9a81597eaf72aac6c51b709caf37641</anchor>
      <arglist>(Eigen::Affine3d &amp;baseFrame)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>double</type>
      <name>getPanAngleFromPanJointPose</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModelWithExactIK.html</anchorfile>
      <anchor>ab489b0b14a132cdc1572eab15d52e2d4</anchor>
      <arglist>(Eigen::Affine3d &amp;panJointFrame, MILDRobotStatePtr &amp;robotState)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>getTiltAngleAndTiltBasePointProjected</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModelWithExactIK.html</anchorfile>
      <anchor>af59e3f3e67dafbcc46cc439c20de88b7</anchor>
      <arglist>(Eigen::Vector3d &amp;planeNormal, Eigen::Vector3d &amp;targetViewVector, Eigen::Vector3d &amp;target_view_center_point, double &amp;tilt, Eigen::Vector3d &amp;tilt_base_point_projected)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>Eigen::Affine3d</type>
      <name>getTiltJointFrame</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModelWithExactIK.html</anchorfile>
      <anchor>a355ee12bce84aaece2112a2d9dbdfd5b</anchor>
      <arglist>(Eigen::Vector3d &amp;planeNormal, Eigen::Vector3d &amp;targetViewVector, Eigen::Vector3d &amp;tilt_base_point)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>resetIKVisualization</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModelWithExactIK.html</anchorfile>
      <anchor>a6aa1f0edeebb8ff8a045e80437afb827</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>setUpTFParameters</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModelWithExactIK.html</anchorfile>
      <anchor>a98460735a87ae06bad21273aa3dba4f7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>visualizeCameraPoseCorrection</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModelWithExactIK.html</anchorfile>
      <anchor>a3ee339ca7e947e16e660e4aaf503caa0</anchor>
      <arglist>(Eigen::Vector3d &amp;base_point, Eigen::Vector3d &amp;base_orientation, Eigen::Vector3d &amp;pan_joint_point, Eigen::Vector3d &amp;pan_rotated_point, Eigen::Vector3d &amp;tilt_base_point, Eigen::Vector3d &amp;cam_point, Eigen::Vector3d &amp;actual_view_center_point)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>visualizeIKArrow</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModelWithExactIK.html</anchorfile>
      <anchor>a254536dd81729fda717ac9227ee1ab94</anchor>
      <arglist>(Eigen::Vector3d &amp;pointStart, Eigen::Vector3d &amp;pointEnd, Eigen::Vector4d &amp;colorRGBA, std::string ns, Eigen::Vector3d &amp;scaleParameters, int id)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>visualizeIKArrowLarge</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModelWithExactIK.html</anchorfile>
      <anchor>a98d7ba91b3e45886cb7350003be18d60</anchor>
      <arglist>(Eigen::Vector3d &amp;pointStart, Eigen::Vector3d &amp;pointEnd, Eigen::Vector4d &amp;colorRGBA, std::string ns, int id)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>visualizeIKArrowSmall</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModelWithExactIK.html</anchorfile>
      <anchor>abe167f5a821f92659cfab047d85bc656</anchor>
      <arglist>(Eigen::Vector3d &amp;pointStart, Eigen::Vector3d &amp;pointEnd, Eigen::Vector4d &amp;colorRGBA, std::string ns, int id)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
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      <anchorfile>classrobot__model__services_1_1MILDRobotModelWithExactIK.html</anchorfile>
      <anchor>a13599d9636e691d5db051c7cf0b33a55</anchor>
      <arglist>(Eigen::Vector3d &amp;base_point, Eigen::Vector3d &amp;base_orientation, Eigen::Vector3d &amp;pan_joint_point, Eigen::Vector3d &amp;pan_rotated_point, Eigen::Vector3d &amp;tilt_base_point, Eigen::Vector3d &amp;tilt_base_point_projected, Eigen::Vector3d &amp;cam_point, Eigen::Vector3d &amp;actual_view_center_point)</arglist>
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      <arglist>(Eigen::Vector3d &amp;target_view_center_point, Eigen::Vector3d &amp;target_camera_point)</arglist>
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      <type>Eigen::Affine3d</type>
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      <anchorfile>classrobot__model__services_1_1MILDRobotModelWithExactIK.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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      <name>ikRatingModule</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModelWithExactIK.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>double</type>
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      <arglist></arglist>
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      <type>int</type>
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      <arglist></arglist>
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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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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>double</type>
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      <arglist>(float minTiltAngleDegrees, float maxTiltAngleDegrees, float minPanAngleDegrees, float maxPanAngleDegrees)</arglist>
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    <member kind="variable" protection="private">
      <type>float</type>
      <name>mMaxPanAngleDegrees</name>
      <anchorfile>classrobot__model__services_1_1MILDRobotModelWithExactIKFactory.html</anchorfile>
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      <type>float</type>
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      <arglist>(float pan, float tilt, float rotation, float x, float y)</arglist>
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      <arglist>()</arglist>
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    <member kind="function">
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      <arglist>(const RobotStatePtr &amp;targetRobotState)</arglist>
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      <arglist>()=0</arglist>
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      <arglist>()</arglist>
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      <arglist>(const geometry_msgs::Point &amp;sourcePosition, const geometry_msgs::Point &amp;targetPosition)=0</arglist>
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      <arglist>(const geometry_msgs::Point &amp;sourcePosition, const geometry_msgs::Point &amp;targetPosition)=0</arglist>
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    <member kind="function">
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