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      <arglist></arglist>
      <enumvalue file="classdwb__critics_1_1MapGridCritic.html" anchor="a12e0b17353f643bf3d92f120bd21cc53ad55b30607c2a9a2616347d6edb789f6b">Last</enumvalue>
      <enumvalue file="classdwb__critics_1_1MapGridCritic.html" anchor="a12e0b17353f643bf3d92f120bd21cc53aa0ec87054b5e5b7847d0d8780a01a3d5">Sum</enumvalue>
      <enumvalue file="classdwb__critics_1_1MapGridCritic.html" anchor="a12e0b17353f643bf3d92f120bd21cc53adeb10517653c255364175796ace3553f">Product</enumvalue>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>propogateManhattanDistances</name>
      <anchorfile>classdwb__critics_1_1MapGridCritic.html</anchorfile>
      <anchor>a6aa45d2e8b4a72bbf6de479106e9dea3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>reset</name>
      <anchorfile>classdwb__critics_1_1MapGridCritic.html</anchorfile>
      <anchor>a2557ba65b34018dcaf2c2c875e1f2fff</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ScoreAggregationType</type>
      <name>aggregationType_</name>
      <anchorfile>classdwb__critics_1_1MapGridCritic.html</anchorfile>
      <anchor>ae271783cf506a2d6fb2b376272aa1ce6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>nav_grid::VectorNavGrid&lt; double &gt;</type>
      <name>cell_values_</name>
      <anchorfile>classdwb__critics_1_1MapGridCritic.html</anchorfile>
      <anchor>a3076818ff1bbfa5e5c6cfb05b326721a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>obstacle_score_</name>
      <anchorfile>classdwb__critics_1_1MapGridCritic.html</anchorfile>
      <anchor>a7724cadb1d1e61475ce77f40ad02b459</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::shared_ptr&lt; MapGridQueue &gt;</type>
      <name>queue_</name>
      <anchorfile>classdwb__critics_1_1MapGridCritic.html</anchorfile>
      <anchor>a1f39564e7483b4e53fe76f4a052b7905</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>stop_on_failure_</name>
      <anchorfile>classdwb__critics_1_1MapGridCritic.html</anchorfile>
      <anchor>a58f1ef3dfdc9c160259b9848d5ec6b3d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>unreachable_score_</name>
      <anchorfile>classdwb__critics_1_1MapGridCritic.html</anchorfile>
      <anchor>aa3994c24a5e1e09bce58ec20cbf622b8</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>dwb_critics::MapGridCritic::MapGridQueue</name>
    <filename>classdwb__critics_1_1MapGridCritic_1_1MapGridQueue.html</filename>
    <base>costmap_queue::CostmapQueue</base>
    <member kind="function">
      <type></type>
      <name>MapGridQueue</name>
      <anchorfile>classdwb__critics_1_1MapGridCritic_1_1MapGridQueue.html</anchorfile>
      <anchor>aaedea19ef749ee1c4b52c4c72a113c00</anchor>
      <arglist>(nav_core2::Costmap &amp;costmap, MapGridCritic &amp;parent)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>validCellToQueue</name>
      <anchorfile>classdwb__critics_1_1MapGridCritic_1_1MapGridQueue.html</anchorfile>
      <anchor>a1b82c979daaedbbd7e60bebde6b40266</anchor>
      <arglist>(const costmap_queue::CellData &amp;cell) override</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>MapGridCritic &amp;</type>
      <name>parent_</name>
      <anchorfile>classdwb__critics_1_1MapGridCritic_1_1MapGridQueue.html</anchorfile>
      <anchor>a1ea0005389387d756b389034923bcab9</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>dwb_critics::ObstacleFootprintCritic</name>
    <filename>classdwb__critics_1_1ObstacleFootprintCritic.html</filename>
    <base>dwb_critics::BaseObstacleCritic</base>
    <member kind="function">
      <type>double</type>
      <name>getScale</name>
      <anchorfile>classdwb__critics_1_1ObstacleFootprintCritic.html</anchorfile>
      <anchor>aec921d657736bab6210dfb218590f203</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>onInit</name>
      <anchorfile>classdwb__critics_1_1ObstacleFootprintCritic.html</anchorfile>
      <anchor>a4300211c8b873fe841b9b5586f53cca5</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>prepare</name>
      <anchorfile>classdwb__critics_1_1ObstacleFootprintCritic.html</anchorfile>
      <anchor>a1447bd551e6d9997a133ba63a472344c</anchor>
      <arglist>(const geometry_msgs::Pose2D &amp;pose, const nav_2d_msgs::Twist2D &amp;vel, const geometry_msgs::Pose2D &amp;goal, const nav_2d_msgs::Path2D &amp;global_plan) override</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>scorePose</name>
      <anchorfile>classdwb__critics_1_1ObstacleFootprintCritic.html</anchorfile>
      <anchor>a384ed9ce7089a93743dc5f05a5c61add</anchor>
      <arglist>(const nav_core2::Costmap &amp;costmap, const geometry_msgs::Pose2D &amp;pose) override</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>scorePose</name>
      <anchorfile>classdwb__critics_1_1ObstacleFootprintCritic.html</anchorfile>
      <anchor>aff5e09e27d6801870b1b52dd080b7650</anchor>
      <arglist>(const nav_core2::Costmap &amp;costmap, const geometry_msgs::Pose2D &amp;pose, const nav_2d_msgs::Polygon2D &amp;oriented_footprint)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>nav_2d_msgs::Polygon2D</type>
      <name>footprint_spec_</name>
      <anchorfile>classdwb__critics_1_1ObstacleFootprintCritic.html</anchorfile>
      <anchor>aa75c38b625119808e9ef3223b23d05e0</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>dwb_critics::OscillationCritic</name>
    <filename>classdwb__critics_1_1OscillationCritic.html</filename>
    <base>dwb_local_planner::TrajectoryCritic</base>
    <class kind="class">dwb_critics::OscillationCritic::CommandTrend</class>
    <member kind="function">
      <type>void</type>
      <name>debrief</name>
      <anchorfile>classdwb__critics_1_1OscillationCritic.html</anchorfile>
      <anchor>a9a0db77fa723209e915447fa9287bf57</anchor>
      <arglist>(const nav_2d_msgs::Twist2D &amp;cmd_vel) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>onInit</name>
      <anchorfile>classdwb__critics_1_1OscillationCritic.html</anchorfile>
      <anchor>acfd0bada79df6c143a36c869af827bcd</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>prepare</name>
      <anchorfile>classdwb__critics_1_1OscillationCritic.html</anchorfile>
      <anchor>a813e5d731efd3f3ec5f8ce4e59b2595c</anchor>
      <arglist>(const geometry_msgs::Pose2D &amp;pose, const nav_2d_msgs::Twist2D &amp;vel, const geometry_msgs::Pose2D &amp;goal, const nav_2d_msgs::Path2D &amp;global_plan) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>reset</name>
      <anchorfile>classdwb__critics_1_1OscillationCritic.html</anchorfile>
      <anchor>ae915171108e0090f129032b38efc58eb</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>scoreTrajectory</name>
      <anchorfile>classdwb__critics_1_1OscillationCritic.html</anchorfile>
      <anchor>af47cdf7448e49ce240ecea59bd72cff6</anchor>
      <arglist>(const dwb_msgs::Trajectory2D &amp;traj) override</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>resetAvailable</name>
      <anchorfile>classdwb__critics_1_1OscillationCritic.html</anchorfile>
      <anchor>ad1dded2e9299268ac26a6803e228a6a8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>setOscillationFlags</name>
      <anchorfile>classdwb__critics_1_1OscillationCritic.html</anchorfile>
      <anchor>a4470a1f0da14781d41a8a4e4f89805a4</anchor>
      <arglist>(const nav_2d_msgs::Twist2D &amp;cmd_vel)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>oscillation_reset_angle_</name>
      <anchorfile>classdwb__critics_1_1OscillationCritic.html</anchorfile>
      <anchor>a5f236358110e5cc546f7a7db67cf4024</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>oscillation_reset_dist_</name>
      <anchorfile>classdwb__critics_1_1OscillationCritic.html</anchorfile>
      <anchor>a19d1ca4a3a36d46f9f7aa752a383ec01</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>oscillation_reset_dist_sq_</name>
      <anchorfile>classdwb__critics_1_1OscillationCritic.html</anchorfile>
      <anchor>ae940433f8e2add7a3ab286e642a25866</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>oscillation_reset_time_</name>
      <anchorfile>classdwb__critics_1_1OscillationCritic.html</anchorfile>
      <anchor>a022b2be74214679f455158bf0dbf0127</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>geometry_msgs::Pose2D</type>
      <name>pose_</name>
      <anchorfile>classdwb__critics_1_1OscillationCritic.html</anchorfile>
      <anchor>ac87533bd2428ed91804185a311ec0498</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Time</type>
      <name>prev_reset_time_</name>
      <anchorfile>classdwb__critics_1_1OscillationCritic.html</anchorfile>
      <anchor>a418513499480729f28c0ea2d833472c8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>geometry_msgs::Pose2D</type>
      <name>prev_stationary_pose_</name>
      <anchorfile>classdwb__critics_1_1OscillationCritic.html</anchorfile>
      <anchor>a2d4549b85884dc220bf6f86a4edea6aa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>CommandTrend</type>
      <name>theta_trend_</name>
      <anchorfile>classdwb__critics_1_1OscillationCritic.html</anchorfile>
      <anchor>a563de0451818716352356a261a4c28b2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>x_only_threshold_</name>
      <anchorfile>classdwb__critics_1_1OscillationCritic.html</anchorfile>
      <anchor>aa2ab6221076765542f5b755f14bba846</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>CommandTrend</type>
      <name>x_trend_</name>
      <anchorfile>classdwb__critics_1_1OscillationCritic.html</anchorfile>
      <anchor>a036f9f291dbabde1f6d19baf7cc7beec</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>CommandTrend</type>
      <name>y_trend_</name>
      <anchorfile>classdwb__critics_1_1OscillationCritic.html</anchorfile>
      <anchor>ab3ab406df7b672e302136111f4e0e18a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>dwb_critics::PathAlignCritic</name>
    <filename>classdwb__critics_1_1PathAlignCritic.html</filename>
    <base>dwb_critics::PathDistCritic</base>
    <member kind="function">
      <type>double</type>
      <name>getScale</name>
      <anchorfile>classdwb__critics_1_1PathAlignCritic.html</anchorfile>
      <anchor>a21386589a61e9f5b0eea165ba3740352</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>onInit</name>
      <anchorfile>classdwb__critics_1_1PathAlignCritic.html</anchorfile>
      <anchor>a2aa0c25455cbb30145ebad5d3cfedc28</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PathAlignCritic</name>
      <anchorfile>classdwb__critics_1_1PathAlignCritic.html</anchorfile>
      <anchor>a4347e0c7dfd74c694d1aa8541ad8e3b6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>prepare</name>
      <anchorfile>classdwb__critics_1_1PathAlignCritic.html</anchorfile>
      <anchor>ae1bc72321cd7fb566f780e6756c7fb96</anchor>
      <arglist>(const geometry_msgs::Pose2D &amp;pose, const nav_2d_msgs::Twist2D &amp;vel, const geometry_msgs::Pose2D &amp;goal, const nav_2d_msgs::Path2D &amp;global_plan) override</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>scorePose</name>
      <anchorfile>classdwb__critics_1_1PathAlignCritic.html</anchorfile>
      <anchor>acf463f3d18e979664f8dd3a682bedaba</anchor>
      <arglist>(const geometry_msgs::Pose2D &amp;pose) override</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>forward_point_distance_</name>
      <anchorfile>classdwb__critics_1_1PathAlignCritic.html</anchorfile>
      <anchor>a87d74bdc9ef2ebcda364197526c15f39</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>zero_scale_</name>
      <anchorfile>classdwb__critics_1_1PathAlignCritic.html</anchorfile>
      <anchor>ab0eb3589d04c67ad0df49c77945e43da</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>dwb_critics::PathDistCritic</name>
    <filename>classdwb__critics_1_1PathDistCritic.html</filename>
    <base>dwb_critics::MapGridCritic</base>
    <member kind="function">
      <type>bool</type>
      <name>prepare</name>
      <anchorfile>classdwb__critics_1_1PathDistCritic.html</anchorfile>
      <anchor>a7c559885d90c365817719870f928cd19</anchor>
      <arglist>(const geometry_msgs::Pose2D &amp;pose, const nav_2d_msgs::Twist2D &amp;vel, const geometry_msgs::Pose2D &amp;goal, const nav_2d_msgs::Path2D &amp;global_plan) override</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>dwb_critics::PreferForwardCritic</name>
    <filename>classdwb__critics_1_1PreferForwardCritic.html</filename>
    <base>dwb_local_planner::TrajectoryCritic</base>
    <member kind="function">
      <type>void</type>
      <name>onInit</name>
      <anchorfile>classdwb__critics_1_1PreferForwardCritic.html</anchorfile>
      <anchor>a1ce2e5a679d7b1ea8dda54be0f65043b</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PreferForwardCritic</name>
      <anchorfile>classdwb__critics_1_1PreferForwardCritic.html</anchorfile>
      <anchor>a53fc4cf8939e0d405d1f2871248ac39a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>scoreTrajectory</name>
      <anchorfile>classdwb__critics_1_1PreferForwardCritic.html</anchorfile>
      <anchor>a6c2d3748c008d528725cd56a270ad6fc</anchor>
      <arglist>(const dwb_msgs::Trajectory2D &amp;traj) override</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>penalty_</name>
      <anchorfile>classdwb__critics_1_1PreferForwardCritic.html</anchorfile>
      <anchor>a54a22b923abcfb7ab0c8143e14989cce</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>strafe_theta_</name>
      <anchorfile>classdwb__critics_1_1PreferForwardCritic.html</anchorfile>
      <anchor>aeeb4a2ae4f6bf7803b29b40b38c0262c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>strafe_x_</name>
      <anchorfile>classdwb__critics_1_1PreferForwardCritic.html</anchorfile>
      <anchor>a8a5fea3c01963959d5b523745e437831</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>theta_scale_</name>
      <anchorfile>classdwb__critics_1_1PreferForwardCritic.html</anchorfile>
      <anchor>aa53efc8d86dc5ddc080a173a142b963d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>dwb_critics::RotateToGoalCritic</name>
    <filename>classdwb__critics_1_1RotateToGoalCritic.html</filename>
    <base>dwb_local_planner::TrajectoryCritic</base>
    <member kind="function">
      <type>void</type>
      <name>onInit</name>
      <anchorfile>classdwb__critics_1_1RotateToGoalCritic.html</anchorfile>
      <anchor>af83594cc5ccee9b6313be19439f099fd</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>prepare</name>
      <anchorfile>classdwb__critics_1_1RotateToGoalCritic.html</anchorfile>
      <anchor>a03a5874c2ad6e616e83a4f2de454da9f</anchor>
      <arglist>(const geometry_msgs::Pose2D &amp;pose, const nav_2d_msgs::Twist2D &amp;vel, const geometry_msgs::Pose2D &amp;goal, const nav_2d_msgs::Path2D &amp;global_plan) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>reset</name>
      <anchorfile>classdwb__critics_1_1RotateToGoalCritic.html</anchorfile>
      <anchor>a70632f7cd978e4b59ace51446228302f</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>scoreRotation</name>
      <anchorfile>classdwb__critics_1_1RotateToGoalCritic.html</anchorfile>
      <anchor>aa31e5cb2f084fc3b6e129aab9bc7b196</anchor>
      <arglist>(const dwb_msgs::Trajectory2D &amp;traj)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>scoreTrajectory</name>
      <anchorfile>classdwb__critics_1_1RotateToGoalCritic.html</anchorfile>
      <anchor>ad6d528c5da2e8449f1770e6225d58c93</anchor>
      <arglist>(const dwb_msgs::Trajectory2D &amp;traj) override</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>current_xy_speed_sq_</name>
      <anchorfile>classdwb__critics_1_1RotateToGoalCritic.html</anchorfile>
      <anchor>a7a31f42cd177b265fdec18c52b1045fc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>goal_yaw_</name>
      <anchorfile>classdwb__critics_1_1RotateToGoalCritic.html</anchorfile>
      <anchor>a344d3d488768d43f3b06202b5e55c2e2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>in_window_</name>
      <anchorfile>classdwb__critics_1_1RotateToGoalCritic.html</anchorfile>
      <anchor>aa3fbaac8909990116cc798c26a474d53</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>lookahead_time_</name>
      <anchorfile>classdwb__critics_1_1RotateToGoalCritic.html</anchorfile>
      <anchor>a1b87b8e15fe109bb1a86064af7b7c63b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>rotating_</name>
      <anchorfile>classdwb__critics_1_1RotateToGoalCritic.html</anchorfile>
      <anchor>a1d32db8d8f222740d4251fb1a9e58c32</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>slowing_factor_</name>
      <anchorfile>classdwb__critics_1_1RotateToGoalCritic.html</anchorfile>
      <anchor>aafe95f2c7b2541eb176d784900c2e188</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
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