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      <arglist>(const Eigen::Ref&lt; const StateVector &gt; &amp;x, const Eigen::Ref&lt; const ControlVector &gt; &amp;u, Eigen::Ref&lt; StateVector &gt; f) const override=0</arglist>
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      <arglist>() const override</arglist>
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      <arglist>(double pos_x, double pos_y, double theta, Eigen::Ref&lt; Eigen::VectorXd &gt; x) const override</arglist>
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      <arglist>() const override</arglist>
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      <arglist>() const override</arglist>
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      <arglist>(const teb_local_planner::PoseSE2 &amp;odom_pose, const geometry_msgs::Twist &amp;odom_twist, Eigen::Ref&lt; Eigen::VectorXd &gt; x) const override</arglist>
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      <arglist>(ros::NodeHandle &amp;nh, const teb_local_planner::ObstContainer &amp;obstacles, teb_local_planner::RobotFootprintModelPtr robot_model, const std::vector&lt; teb_local_planner::PoseSE2 &gt; &amp;via_points)</arglist>
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      <arglist>()=default</arglist>
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      <arglist>()</arglist>
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      <arglist>() const override</arglist>
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      <arglist>()</arglist>
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      <anchorfile>classmpc__local__planner_1_1Controller.html</anchorfile>
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      <arglist>(base_local_planner::CostmapModel *costmap_model, const std::vector&lt; geometry_msgs::Point &gt; &amp;footprint_spec, double inscribed_radius=0.0, double circumscribed_radius=0.0, double min_resolution_collision_check_angular=M_PI, int look_ahead_idx=-1)</arglist>
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    <member kind="function">
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      <arglist>()</arglist>
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      <arglist>() override</arglist>
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      <anchorfile>classmpc__local__planner_1_1Controller.html</anchorfile>
      <anchor>a3ef3dc5d7d7173917c52685ffa7439fa</anchor>
      <arglist>(bool estimate)</arglist>
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    <member kind="function">
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      <anchorfile>classmpc__local__planner_1_1Controller.html</anchorfile>
      <anchor>a0294a1198e0d3f923321471f9be9a9f5</anchor>
      <arglist>(corbo::OptimalControlProblemInterface::Ptr ocp)=delete</arglist>
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    <member kind="function">
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      <anchorfile>classmpc__local__planner_1_1Controller.html</anchorfile>
      <anchor>a5be472457f871a56ad9a62f961157b05</anchor>
      <arglist>(const mpc_local_planner_msgs::StateFeedback::ConstPtr &amp;msg)</arglist>
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      <anchorfile>classmpc__local__planner_1_1Controller.html</anchorfile>
      <anchor>aa68c518a4a120f1c4bef8f1227a98438</anchor>
      <arglist>(const PoseSE2 &amp;start, const PoseSE2 &amp;goal, const geometry_msgs::Twist &amp;vel, double dt, ros::Time t, corbo::TimeSeries::Ptr u_seq, corbo::TimeSeries::Ptr x_seq)</arglist>
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      <anchor>a08438909ad9fa2b59b58ccf1376352b3</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;initial_plan, const geometry_msgs::Twist &amp;vel, double dt, ros::Time t, corbo::TimeSeries::Ptr u_seq, corbo::TimeSeries::Ptr x_seq)</arglist>
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      <arglist>()</arglist>
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      <anchorfile>classmpc__local__planner_1_1Controller.html</anchorfile>
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      <arglist>(const ros::NodeHandle &amp;nh)</arglist>
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      <anchorfile>classmpc__local__planner_1_1Controller.html</anchorfile>
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      <arglist>(const ros::NodeHandle &amp;nh, const teb_local_planner::ObstContainer &amp;obstacles, teb_local_planner::RobotFootprintModelPtr robot_model, const std::vector&lt; teb_local_planner::PoseSE2 &gt; &amp;via_points)</arglist>
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    <member kind="function" protection="protected">
      <type>RobotDynamicsInterface::Ptr</type>
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      <anchorfile>classmpc__local__planner_1_1Controller.html</anchorfile>
      <anchor>a3f8f8f95296fe699a73a04614ee212c1</anchor>
      <arglist>(const ros::NodeHandle &amp;nh)</arglist>
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      <type>corbo::NlpSolverInterface::Ptr</type>
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      <anchorfile>classmpc__local__planner_1_1Controller.html</anchorfile>
      <anchor>a449ad23db1d39d6ad6c65f78acbb6d08</anchor>
      <arglist>(const ros::NodeHandle &amp;nh)</arglist>
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      <anchorfile>classmpc__local__planner_1_1Controller.html</anchorfile>
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      <arglist>(const Eigen::VectorXd &amp;x0, const Eigen::VectorXd &amp;xf, const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;initial_plan, bool backward)</arglist>
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    <member kind="variable" protection="protected">
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchorfile>classmpc__local__planner_1_1Controller.html</anchorfile>
      <anchor>aba6948203dc71c7c3f85047cb20061da</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchorfile>classmpc__local__planner_1_1Controller.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>int</type>
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      <anchorfile>classmpc__local__planner_1_1Controller.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>corbo::DiscretizationGridInterface::Ptr</type>
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      <anchor>afdbc808482b03b9b85da398719c6b57d</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>bool</type>
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      <anchorfile>classmpc__local__planner_1_1Controller.html</anchorfile>
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      <arglist></arglist>
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      <type>StageInequalitySE2::Ptr</type>
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      <anchorfile>classmpc__local__planner_1_1Controller.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classmpc__local__planner_1_1Controller.html</anchorfile>
      <anchor>af3eac1ba941829430381e267ac79ff35</anchor>
      <arglist></arglist>
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      <anchorfile>classmpc__local__planner_1_1Controller.html</anchorfile>
      <anchor>abf232241b047de1c48e140f020e82f37</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
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      <anchorfile>classmpc__local__planner_1_1Controller.html</anchorfile>
      <anchor>a8ceb3b44bf9f43e4dfa86cc69c08decf</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
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      <arglist></arglist>
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      <anchor>a2aaf6c9760ba637e9282e86d49cdb5cd</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
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      <anchorfile>classmpc__local__planner_1_1Controller.html</anchorfile>
      <anchor>a417272f360d1f6754a2a87edcc821de4</anchor>
      <arglist></arglist>
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      <anchorfile>classmpc__local__planner_1_1Controller.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classmpc__local__planner_1_1Controller.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>Eigen::VectorXd</type>
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      <arglist></arglist>
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      <anchorfile>classmpc__local__planner_1_1Controller.html</anchorfile>
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      <anchorfile>classmpc__local__planner_1_1Controller.html</anchorfile>
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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">
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    <member kind="variable">
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      <name>costmap_converter_spin_thread</name>
      <anchorfile>structmpc__local__planner_1_1MpcLocalPlannerROS_1_1CostmapConverterPlugin.html</anchorfile>
      <anchor>a99e641c88a0a55f3cc23bf199cbaa622</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mpc_local_planner::CrankNicolsonDiffCollocationSE2</name>
    <filename>classmpc__local__planner_1_1CrankNicolsonDiffCollocationSE2.html</filename>
    <base>corbo::FiniteDifferencesCollocationInterface</base>
    <member kind="function">
      <type>void</type>
      <name>computeEqualityConstraint</name>
      <anchorfile>classmpc__local__planner_1_1CrankNicolsonDiffCollocationSE2.html</anchorfile>
      <anchor>ae687a1034e8e96d203ebc65095224b22</anchor>
      <arglist>(const StateVector &amp;x1, const InputVector &amp;u1, const StateVector &amp;x2, double dt, const corbo::SystemDynamicsInterface &amp;system, Eigen::Ref&lt; Eigen::VectorXd &gt; error) override</arglist>
    </member>
    <member kind="function">
      <type>corbo::FiniteDifferencesCollocationInterface::Ptr</type>
      <name>getInstance</name>
      <anchorfile>classmpc__local__planner_1_1CrankNicolsonDiffCollocationSE2.html</anchorfile>
      <anchor>a373185a9e470a916e0bad4b7efd5335a</anchor>
      <arglist>() const override</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mpc_local_planner::FiniteDifferencesGridSE2</name>
    <filename>classmpc__local__planner_1_1FiniteDifferencesGridSE2.html</filename>
    <base>mpc_local_planner::FullDiscretizationGridBaseSE2</base>
    <member kind="typedef">
      <type>corbo::BaseEdge</type>
      <name>BaseEdge</name>
      <anchorfile>classmpc__local__planner_1_1FiniteDifferencesGridSE2.html</anchorfile>
      <anchor>ae3d82f3235dbdd073761eb218666b727</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>corbo::BaseMixedEdge</type>
      <name>BaseMixedEdge</name>
      <anchorfile>classmpc__local__planner_1_1FiniteDifferencesGridSE2.html</anchorfile>
      <anchor>a73a45dfeca13942ade4f38bdde8cea47</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::shared_ptr&lt; FiniteDifferencesGridSE2 &gt;</type>
      <name>Ptr</name>
      <anchorfile>classmpc__local__planner_1_1FiniteDifferencesGridSE2.html</anchorfile>
      <anchor>a795caf9336e39c9ef00ff5f6cec4807f</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>FiniteDifferencesGridSE2</name>
      <anchorfile>classmpc__local__planner_1_1FiniteDifferencesGridSE2.html</anchorfile>
      <anchor>abfa2a874d6e71c5d2b6b50c76ef13bbf</anchor>
      <arglist>()=default</arglist>
    </member>
    <member kind="function">
      <type>corbo::DiscretizationGridInterface::Ptr</type>
      <name>getInstance</name>
      <anchorfile>classmpc__local__planner_1_1FiniteDifferencesGridSE2.html</anchorfile>
      <anchor>abf9856bd01f7a050bf3f5216e4da91cc</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~FiniteDifferencesGridSE2</name>
      <anchorfile>classmpc__local__planner_1_1FiniteDifferencesGridSE2.html</anchorfile>
      <anchor>a53dcaa59a116390feba4e5f3ce1075bf</anchor>
      <arglist>()=default</arglist>
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    <member kind="function" static="yes">
      <type>static corbo::Factory&lt; corbo::DiscretizationGridInterface &gt; &amp;</type>
      <name>getFactory</name>
      <anchorfile>classmpc__local__planner_1_1FiniteDifferencesGridSE2.html</anchorfile>
      <anchor>a43251f8d18374d0e55e7510b0349517a</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
      <name>createEdges</name>
      <anchorfile>classmpc__local__planner_1_1FiniteDifferencesGridSE2.html</anchorfile>
      <anchor>a323045b5df2bc2fcaad73c959e7ecedc</anchor>
      <arglist>(NlpFunctions &amp;nlp_fun, OptimizationEdgeSet &amp;edges, SystemDynamicsInterface::Ptr dynamics) override</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>isDtFixedIntended</name>
      <anchorfile>classmpc__local__planner_1_1FiniteDifferencesGridSE2.html</anchorfile>
      <anchor>a08e519093730dbca9b6d2e67da82fca9</anchor>
      <arglist>() const override</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mpc_local_planner::FiniteDifferencesVariableGridSE2</name>
    <filename>classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html</filename>
    <base>mpc_local_planner::FiniteDifferencesGridSE2</base>
    <member kind="enumeration">
      <type></type>
      <name>GridAdaptStrategy</name>
      <anchorfile>classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html</anchorfile>
      <anchor>a8167676c3aacf021c436a747f2a681e5</anchor>
      <arglist></arglist>
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      <enumvalue file="classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html" anchor="a8167676c3aacf021c436a747f2a681e5a8872bba1e904dfdde42c6cf80bd0cb3a">TimeBasedAggressiveEstimate</enumvalue>
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    </member>
    <member kind="typedef">
      <type>std::shared_ptr&lt; FiniteDifferencesVariableGridSE2 &gt;</type>
      <name>Ptr</name>
      <anchorfile>classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html</anchorfile>
      <anchor>a5010684233a3e94bda9802008df35cec</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>std::unique_ptr&lt; FiniteDifferencesVariableGridSE2 &gt;</type>
      <name>UPtr</name>
      <anchorfile>classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html</anchorfile>
      <anchor>a7e6111da4227648eea8e24254074bf8b</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>disableGridAdaptation</name>
      <anchorfile>classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html</anchorfile>
      <anchor>a4625a50b30215f06880615abb0542412</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>FiniteDifferencesVariableGridSE2</name>
      <anchorfile>classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html</anchorfile>
      <anchor>a0408e28eb05f0c33aba4e249088569ca</anchor>
      <arglist>()=default</arglist>
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    <member kind="function">
      <type>corbo::DiscretizationGridInterface::Ptr</type>
      <name>getInstance</name>
      <anchorfile>classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html</anchorfile>
      <anchor>ada992f4cd7deb2819602139d458f00de</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setDtBounds</name>
      <anchorfile>classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html</anchorfile>
      <anchor>a960ae15c7ca4cab9100595ea0c28e24d</anchor>
      <arglist>(double dt_lb, double dt_ub)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setGridAdaptSimpleShrinkingHorizon</name>
      <anchorfile>classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html</anchorfile>
      <anchor>af5e329531f964808985c04ae92e5ef73</anchor>
      <arglist>(bool adapt_first_iter=false)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setGridAdaptTimeBasedAggressiveEstimate</name>
      <anchorfile>classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html</anchorfile>
      <anchor>a28d13b002f989e241c085fa4ab01b7c6</anchor>
      <arglist>(int n_max, double dt_hyst_ratio=0.1, bool adapt_first_iter=false)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setGridAdaptTimeBasedSingleStep</name>
      <anchorfile>classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html</anchorfile>
      <anchor>af3c5b803b7a575d8970aa46f5c7d2a13</anchor>
      <arglist>(int n_max, double dt_hyst_ratio=0.1, bool adapt_first_iter=false)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setNmin</name>
      <anchorfile>classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html</anchorfile>
      <anchor>aec42e67d5f0d50ad83322b5e234509ef</anchor>
      <arglist>(int n_min)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~FiniteDifferencesVariableGridSE2</name>
      <anchorfile>classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html</anchorfile>
      <anchor>a91f9f39217731e0fd8eb16bbd509d578</anchor>
      <arglist>()=default</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static corbo::Factory&lt; corbo::DiscretizationGridInterface &gt; &amp;</type>
      <name>getFactory</name>
      <anchorfile>classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html</anchorfile>
      <anchor>abf713b89ab09720a20609739dd1cb06f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>adaptGrid</name>
      <anchorfile>classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html</anchorfile>
      <anchor>a1f35ff251a69ae6b3350a8ab46615550</anchor>
      <arglist>(bool new_run, NlpFunctions &amp;nlp_fun) override</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>adaptGridSimpleShrinkingHorizon</name>
      <anchorfile>classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html</anchorfile>
      <anchor>a8b8379bc7de816be9fb51cc9dfdf6769</anchor>
      <arglist>(NlpFunctions &amp;nlp_fun)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>adaptGridTimeBasedAggressiveEstimate</name>
      <anchorfile>classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html</anchorfile>
      <anchor>a71e80f75f30609d2d2be06759a185ca7</anchor>
      <arglist>(NlpFunctions &amp;nlp_fun)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>adaptGridTimeBasedSingleStep</name>
      <anchorfile>classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html</anchorfile>
      <anchor>ac3408924774d17dba522b4f8fce362df</anchor>
      <arglist>(NlpFunctions &amp;nlp_fun)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>isDtFixedIntended</name>
      <anchorfile>classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html</anchorfile>
      <anchor>ae4839f59ebd190ae30b95ea322d55df4</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>isGridAdaptActive</name>
      <anchorfile>classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html</anchorfile>
      <anchor>a385d2e9bdf36962caf5d059d383f6c35</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>isMovingHorizonWarmStartActive</name>
      <anchorfile>classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html</anchorfile>
      <anchor>a5afd9ec894f279261e99659526ec65f3</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>_adapt_first_iter</name>
      <anchorfile>classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html</anchorfile>
      <anchor>a1099d0b7eee1bddc8f5d36edb0031ed0</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
      <name>_dt_hyst_ratio</name>
      <anchorfile>classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html</anchorfile>
      <anchor>a13d01c24c80c8c7b186444ffc6fa02b4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>GridAdaptStrategy</type>
      <name>_grid_adapt</name>
      <anchorfile>classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html</anchorfile>
      <anchor>a68816e7b4b00ba9ef22fffb98fdd83b9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>_n_max</name>
      <anchorfile>classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html</anchorfile>
      <anchor>a208f901ae6943445a6ed5d2a189c89f4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>_n_min</name>
      <anchorfile>classmpc__local__planner_1_1FiniteDifferencesVariableGridSE2.html</anchorfile>
      <anchor>a4affc4ebc0351baca61b887b5e249cc9</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mpc_local_planner::ForwardDiffCollocationSE2</name>
    <filename>classmpc__local__planner_1_1ForwardDiffCollocationSE2.html</filename>
    <base>corbo::FiniteDifferencesCollocationInterface</base>
    <member kind="function">
      <type>void</type>
      <name>computeEqualityConstraint</name>
      <anchorfile>classmpc__local__planner_1_1ForwardDiffCollocationSE2.html</anchorfile>
      <anchor>a4db6d8b2fdff938db2d541ec7e8fe699</anchor>
      <arglist>(const StateVector &amp;x1, const InputVector &amp;u1, const StateVector &amp;x2, double dt, const corbo::SystemDynamicsInterface &amp;system, Eigen::Ref&lt; Eigen::VectorXd &gt; error) override</arglist>
    </member>
    <member kind="function">
      <type>corbo::FiniteDifferencesCollocationInterface::Ptr</type>
      <name>getInstance</name>
      <anchorfile>classmpc__local__planner_1_1ForwardDiffCollocationSE2.html</anchorfile>
      <anchor>a5c82b03df348cab3309c3cc15b38a583</anchor>
      <arglist>() const override</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mpc_local_planner::FullDiscretizationGridBaseSE2</name>
    <filename>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</filename>
    <base>corbo::DiscretizationGridInterface</base>
    <member kind="enumeration">
      <type></type>
      <name>CostIntegrationRule</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a5649e5a591cf84f47ffb7e3f38bfa5d1</anchor>
      <arglist></arglist>
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    </member>
    <member kind="typedef">
      <type>corbo::NlpFunctions</type>
      <name>NlpFunctions</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a4c182735aef894bad417bf3377d4f721</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>corbo::OptimizationEdgeSet</type>
      <name>OptimizationEdgeSet</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>afac9ddd496a3678f58bdf32a508d7d20</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>corbo::PartiallyFixedVectorVertex</type>
      <name>PartiallyFixedVectorVertex</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a46839245bddf98f2c43d46ff6fdda7a3</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>std::shared_ptr&lt; FullDiscretizationGridBaseSE2 &gt;</type>
      <name>Ptr</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a5cba2b4ea373a60328283549ca152b21</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>corbo::ReferenceTrajectoryInterface</type>
      <name>ReferenceTrajectoryInterface</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>aa579c6a16da68813dbf652c3b6713401</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>corbo::ScalarVertex</type>
      <name>ScalarVertex</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a2866c0ecf97a9bd5182de2c2588ddf20</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>corbo::SystemDynamicsInterface</type>
      <name>SystemDynamicsInterface</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a52ffccb765913e0139ea1e0fb225a74f</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>corbo::TimeSeries</type>
      <name>TimeSeries</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>aeb2ceab09e47e84f25342ffdf55976d2</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>std::unique_ptr&lt; FullDiscretizationGridBaseSE2 &gt;</type>
      <name>UPtr</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a2ae44932f516fa6b873aff56021ec995</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>corbo::VectorVertex</type>
      <name>VectorVertex</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a12a983f33e3a1dd5c011eba8e8c20d0d</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>corbo::VertexInterface</type>
      <name>VertexInterface</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a311ecc133845277dcdb88e6739680a4a</anchor>
      <arglist></arglist>
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    <member kind="function">
      <type>void</type>
      <name>clear</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>abca4bb3300545cb2934d3c6e89ad8f46</anchor>
      <arglist>() override</arglist>
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    <member kind="function">
      <type>int</type>
      <name>findClosestPose</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a62a7cfb6ad0452072c5fd31c95aa0a34</anchor>
      <arglist>(double x_ref, double y_ref, int start_idx=0, double *distance=nullptr) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>FullDiscretizationGridBaseSE2</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a7aaa39a32a6b83ed75f7afc35f7158aa</anchor>
      <arglist>()=default</arglist>
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    <member kind="function">
      <type>std::vector&lt; VertexInterface * &gt; &amp;</type>
      <name>getActiveVertices</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a2bef34f81b391d6f73898f7d5e49f1c7</anchor>
      <arglist>() override</arglist>
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    <member kind="function">
      <type>double</type>
      <name>getDt</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>aa7cc024c0ded5342280845fc67e47e7e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getDtRef</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>ae2b16486aae67cc458d650b46cc76b3b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getFinalTime</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a7a447437ce0e200bcae26ffaeb9e1f48</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>getFirstControlInput</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a8e67cfa839edf07f3f395d8b0d7fe2a6</anchor>
      <arglist>(Eigen::VectorXd &amp;u0) override</arglist>
    </member>
    <member kind="function">
      <type>double</type>
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      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a899e1adec08cee87db574133310ce703</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>double</type>
      <name>getInitialDt</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a38a4da77d4a28a342cd42fb1e44b6e77</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getInitialN</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
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      <arglist>() const override</arglist>
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    <member kind="function" virtualness="pure">
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      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
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      <arglist>() const override=0</arglist>
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      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>ade9cce092360d0cf1038e6923f2b0cae</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>int</type>
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      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
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      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
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      <arglist>(int k) const</arglist>
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      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>ab2ebb53efd03178c68dd225ef8cf686e</anchor>
      <arglist>(TimeSeries::Ptr x_sequence, TimeSeries::Ptr u_sequence, double t_max=corbo::CORBO_INF_DBL) const override</arglist>
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      <type>void</type>
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      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a521321ecda6db2dd1d9dad3bb912a957</anchor>
      <arglist>(std::vector&lt; VertexInterface *&gt; &amp;vertices) override</arglist>
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    <member kind="function">
      <type>bool</type>
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      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
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      <arglist>() const override</arglist>
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    <member kind="function">
      <type>bool</type>
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      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
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      <arglist>() const override</arglist>
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    <member kind="function">
      <type>bool</type>
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      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
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      <arglist>() const override</arglist>
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    <member kind="function">
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      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
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      <arglist>() const override</arglist>
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      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
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      <arglist>() const override</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const override</arglist>
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      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
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      <arglist>(CostIntegrationRule integration)</arglist>
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      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a52862154b2a470ce1cf2244ea7d50d05</anchor>
      <arglist>(double dt)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setFiniteDifferencesCollocationMethod</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>abac00737ef8b73f6150ee069c615acf6</anchor>
      <arglist>(corbo::FiniteDifferencesCollocationInterface::Ptr fd_eval)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setInitialDt</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a916ee79443fdedc361765e179b082d3c</anchor>
      <arglist>(double dt) override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setN</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a211aae26d6e5a88f8ccd7daf37d97b30</anchor>
      <arglist>(int n, bool try_resample=true) override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setNRef</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>af35608369bc3d76a1896ca697b423930</anchor>
      <arglist>(int n)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setWarmStart</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>ab1149d3957e52dee511123b2762023a2</anchor>
      <arglist>(bool active)</arglist>
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      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>acb157f23588b09e6e83203634bc4d561</anchor>
      <arglist>(const Eigen::Matrix&lt; bool, -1, 1 &gt; &amp;xf_fixed)</arglist>
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    <member kind="function">
      <type>corbo::GridUpdateResult</type>
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      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a4e5f491266c1ded03acc8e667ec3b9d4</anchor>
      <arglist>(const Eigen::VectorXd &amp;x0, ReferenceTrajectoryInterface &amp;xref, ReferenceTrajectoryInterface &amp;uref, NlpFunctions &amp;nlp_fun, OptimizationEdgeSet &amp;edges, SystemDynamicsInterface::Ptr dynamics, bool new_run, const corbo::Time &amp;t, ReferenceTrajectoryInterface *sref=nullptr, const Eigen::VectorXd *prev_u=nullptr, double prev_u_dt=0, ReferenceTrajectoryInterface *xinit=nullptr, ReferenceTrajectoryInterface *uinit=nullptr) override</arglist>
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      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
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      <arglist>()=default</arglist>
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      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
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      <arglist>(bool new_run, NlpFunctions &amp;nlp_fun)</arglist>
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    <member kind="function" protection="protected">
      <type>bool</type>
      <name>checkAndInitializeXfFixedFlags</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a24f8e782b9cd6533d498c57d76684cce</anchor>
      <arglist>(int dim_x)</arglist>
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      <type>void</type>
      <name>computeActiveVertices</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a9473a6afdcf491ba7e0779cdb8575880</anchor>
      <arglist>() override</arglist>
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      <type>virtual void</type>
      <name>createEdges</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a22b3e0039a2c20a169f50b7c88558b0e</anchor>
      <arglist>(NlpFunctions &amp;nlp_fun, OptimizationEdgeSet &amp;edges, SystemDynamicsInterface::Ptr dynamics)=0</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>int</type>
      <name>findNearestState</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a1037508083ea059a8594ed98d4f0fa71</anchor>
      <arglist>(const Eigen::VectorXd &amp;x0)</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>initializeSequences</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a268a510e2bef81d701c6fac8fdf78a95</anchor>
      <arglist>(const Eigen::VectorXd &amp;x0, const Eigen::VectorXd &amp;xf, ReferenceTrajectoryInterface &amp;uref, NlpFunctions &amp;nlp_fun)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
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      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a4cf28c8de0870e98c4fcade9057b231c</anchor>
      <arglist>(const Eigen::VectorXd &amp;x0, const Eigen::VectorXd &amp;xf, ReferenceTrajectoryInterface &amp;xref, ReferenceTrajectoryInterface &amp;uref, NlpFunctions &amp;nlp_fun)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>isDtFixedIntended</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a477a41997bba25c5fbd453a2ef606656</anchor>
      <arglist>() const</arglist>
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      <type>virtual bool</type>
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      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a8f41fef2d9c6d3e8bfd840df636f00e7</anchor>
      <arglist>() const</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>isMovingHorizonWarmStartActive</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a7cffb941a28aee40901f05ef4f8b103f</anchor>
      <arglist>() const</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>resampleTrajectory</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>aad624231545cb485f66b1ea45366d381</anchor>
      <arglist>(int n_new)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>updateBounds</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>abb732c15335297088867e17a7dcc51b0</anchor>
      <arglist>(const NlpFunctions &amp;nlp_fun)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>warmStartShifting</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a562f0ec83bfe394b07d01e05d00442ac</anchor>
      <arglist>(const Eigen::VectorXd &amp;x0)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; VertexInterface * &gt;</type>
      <name>_active_vertices</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>ac5bffda5d3a6ae43ac662dac08e2f331</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>CostIntegrationRule</type>
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      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>aaab6f9d6ebc56649c796e5d902565992</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ScalarVertex</type>
      <name>_dt</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a5d3051d5dd35c7176f74b61b9aed93fc</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
      <name>_dt_lb</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a66041908a94965543ed62dccb728a3c6</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a4df79c2b392b57289fa73d99f8671942</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a44a9b2feb61c30c395cfbb8e2a4fc71d</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>corbo::FiniteDifferencesCollocationInterface::Ptr</type>
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      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a0d391c6851bfaaca6c5f6b9854cd71d2</anchor>
      <arglist></arglist>
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      <type>bool</type>
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      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>int</type>
      <name>_n_adapt</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a37cbeb7ffc881dd5eb8f884c370741c2</anchor>
      <arglist></arglist>
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      <name>_n_ref</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>ad895dd78ebaad0c109483171784bf2b2</anchor>
      <arglist></arglist>
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      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::vector&lt; VectorVertex &gt;</type>
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      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>ac314015c06643da8fe7ea2c0fa451b63</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>_warm_start</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>ac30770cbf26461ab77275b3e790bbb04</anchor>
      <arglist></arglist>
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      <type>std::vector&lt; VectorVertexSE2 &gt;</type>
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      <arglist></arglist>
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      <type>PartiallyFixedVectorVertexSE2</type>
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      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
      <anchor>a82a7431b72c630e360e2dfceb5ed4684</anchor>
      <arglist></arglist>
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      <type>Eigen::Matrix&lt; bool, -1, 1 &gt;</type>
      <name>_xf_fixed</name>
      <anchorfile>classmpc__local__planner_1_1FullDiscretizationGridBaseSE2.html</anchorfile>
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      <arglist></arglist>
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  </compound>
  <compound kind="class">
    <name>mpc_local_planner::KinematicBicycleModelVelocityInput</name>
    <filename>classmpc__local__planner_1_1KinematicBicycleModelVelocityInput.html</filename>
    <base>mpc_local_planner::BaseRobotSE2</base>
    <member kind="function">
      <type>void</type>
      <name>dynamics</name>
      <anchorfile>classmpc__local__planner_1_1KinematicBicycleModelVelocityInput.html</anchorfile>
      <anchor>af8e7589a8a9a5684cca3d6b9dc56377a</anchor>
      <arglist>(const Eigen::Ref&lt; const StateVector &gt; &amp;x, const Eigen::Ref&lt; const ControlVector &gt; &amp;u, Eigen::Ref&lt; StateVector &gt; f) const override</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getInputDimension</name>
      <anchorfile>classmpc__local__planner_1_1KinematicBicycleModelVelocityInput.html</anchorfile>
      <anchor>ade434a6561ff58224e659b789e70582f</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>SystemDynamicsInterface::Ptr</type>
      <name>getInstance</name>
      <anchorfile>classmpc__local__planner_1_1KinematicBicycleModelVelocityInput.html</anchorfile>
      <anchor>a3a880b8eacbc3d9d96b9314473ac3c7d</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>double</type>
      <name>getLengthFront</name>
      <anchorfile>classmpc__local__planner_1_1KinematicBicycleModelVelocityInput.html</anchorfile>
      <anchor>a4ef2f8869ff932bbbb5f5d09ccfe2672</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>double</type>
      <name>getLengthRear</name>
      <anchorfile>classmpc__local__planner_1_1KinematicBicycleModelVelocityInput.html</anchorfile>
      <anchor>af03e6157b8d0f56b4ad39a85cdfe237a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getTwistFromControl</name>
      <anchorfile>classmpc__local__planner_1_1KinematicBicycleModelVelocityInput.html</anchorfile>
      <anchor>a92605df94a1c40cf35d7d541955f24b5</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;u, geometry_msgs::Twist &amp;twist) const override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>KinematicBicycleModelVelocityInput</name>
      <anchorfile>classmpc__local__planner_1_1KinematicBicycleModelVelocityInput.html</anchorfile>
      <anchor>a01599b3c445063e7173b362653bd28a2</anchor>
      <arglist>()=default</arglist>
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    <member kind="function">
      <type></type>
      <name>KinematicBicycleModelVelocityInput</name>
      <anchorfile>classmpc__local__planner_1_1KinematicBicycleModelVelocityInput.html</anchorfile>
      <anchor>af504aeb4baa28327bd2613bf9afed6de</anchor>
      <arglist>(double lr, double lf)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setParameters</name>
      <anchorfile>classmpc__local__planner_1_1KinematicBicycleModelVelocityInput.html</anchorfile>
      <anchor>a943b843c520d0098b36640cef093aa86</anchor>
      <arglist>(double lr, double lf)</arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
      <name>_lf</name>
      <anchorfile>classmpc__local__planner_1_1KinematicBicycleModelVelocityInput.html</anchorfile>
      <anchor>a6853e6c83104734c178fc366585c8b1a</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
      <name>_lr</name>
      <anchorfile>classmpc__local__planner_1_1KinematicBicycleModelVelocityInput.html</anchorfile>
      <anchor>a706302a050243cbfe46c7122bf2599c9</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mpc_local_planner::MidpointDiffCollocationSE2</name>
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    <base>corbo::FiniteDifferencesCollocationInterface</base>
    <member kind="function">
      <type>void</type>
      <name>computeEqualityConstraint</name>
      <anchorfile>classmpc__local__planner_1_1MidpointDiffCollocationSE2.html</anchorfile>
      <anchor>a05806b923252b20319f996644d264269</anchor>
      <arglist>(const StateVector &amp;x1, const InputVector &amp;u1, const StateVector &amp;x2, double dt, const corbo::SystemDynamicsInterface &amp;system, Eigen::Ref&lt; Eigen::VectorXd &gt; error) override</arglist>
    </member>
    <member kind="function">
      <type>corbo::FiniteDifferencesCollocationInterface::Ptr</type>
      <name>getInstance</name>
      <anchorfile>classmpc__local__planner_1_1MidpointDiffCollocationSE2.html</anchorfile>
      <anchor>a4a8cbec668e34fea261e82ad5273b0d1</anchor>
      <arglist>() const override</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mpc_local_planner::MinTimeViaPointsCost</name>
    <filename>classmpc__local__planner_1_1MinTimeViaPointsCost.html</filename>
    <base>corbo::StageCost</base>
    <member kind="typedef">
      <type>std::shared_ptr&lt; MinTimeViaPointsCost &gt;</type>
      <name>Ptr</name>
      <anchorfile>classmpc__local__planner_1_1MinTimeViaPointsCost.html</anchorfile>
      <anchor>a810470a0aa1b271abd98b758f5e776e7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::vector&lt; teb_local_planner::PoseSE2 &gt;</type>
      <name>ViaPointContainer</name>
      <anchorfile>classmpc__local__planner_1_1MinTimeViaPointsCost.html</anchorfile>
      <anchor>a1a8679fc6d6c77d6722a613d33222844</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeNonIntegralDtTerm</name>
      <anchorfile>classmpc__local__planner_1_1MinTimeViaPointsCost.html</anchorfile>
      <anchor>a2c5e8db38fdafba130f19df4e604d0f2</anchor>
      <arglist>(int k, double dt, Eigen::Ref&lt; Eigen::VectorXd &gt; cost) const override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeNonIntegralStateTerm</name>
      <anchorfile>classmpc__local__planner_1_1MinTimeViaPointsCost.html</anchorfile>
      <anchor>ab0a506d495e2a44f9206ac92d718fa66</anchor>
      <arglist>(int k, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;x_k, Eigen::Ref&lt; Eigen::VectorXd &gt; cost) const override</arglist>
    </member>
    <member kind="function">
      <type>corbo::StageCost::Ptr</type>
      <name>getInstance</name>
      <anchorfile>classmpc__local__planner_1_1MinTimeViaPointsCost.html</anchorfile>
      <anchor>a57a6135e0c495a75b88ba5d4cd83140f</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getNonIntegralDtTermDimension</name>
      <anchorfile>classmpc__local__planner_1_1MinTimeViaPointsCost.html</anchorfile>
      <anchor>adcc99953c358eb16be50842b79aff5a9</anchor>
      <arglist>(int k) const override</arglist>
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    <member kind="function">
      <type>int</type>
      <name>getNonIntegralStateTermDimension</name>
      <anchorfile>classmpc__local__planner_1_1MinTimeViaPointsCost.html</anchorfile>
      <anchor>a744c67546f657a3ebe66dab4ac821bc4</anchor>
      <arglist>(int k) const override</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>hasIntegralTerms</name>
      <anchorfile>classmpc__local__planner_1_1MinTimeViaPointsCost.html</anchorfile>
      <anchor>a675fbfac9f248caf97fc3f8ef1f47edc</anchor>
      <arglist>(int k) const override</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>hasNonIntegralTerms</name>
      <anchorfile>classmpc__local__planner_1_1MinTimeViaPointsCost.html</anchorfile>
      <anchor>a2d7456f5b197a75e1301255b3a23ba5d</anchor>
      <arglist>(int k) const override</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>isLsqFormNonIntegralDtTerm</name>
      <anchorfile>classmpc__local__planner_1_1MinTimeViaPointsCost.html</anchorfile>
      <anchor>af7f348ef56b6dd3c1a9d7aa763764939</anchor>
      <arglist>(int k) const override</arglist>
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    <member kind="function">
      <type></type>
      <name>MinTimeViaPointsCost</name>
      <anchorfile>classmpc__local__planner_1_1MinTimeViaPointsCost.html</anchorfile>
      <anchor>a09dd988b088a62c5dfedfc63b937bfb4</anchor>
      <arglist>()=default</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MinTimeViaPointsCost</name>
      <anchorfile>classmpc__local__planner_1_1MinTimeViaPointsCost.html</anchorfile>
      <anchor>a47ff4606c88d426aa9dde8fcf586de17</anchor>
      <arglist>(const ViaPointContainer &amp;via_points, double position_weight, double orientation_weight, bool via_points_ordered)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>setViaPointContainer</name>
      <anchorfile>classmpc__local__planner_1_1MinTimeViaPointsCost.html</anchorfile>
      <anchor>a2cb5a2311392edc7ecb0c5402b6de802</anchor>
      <arglist>(const ViaPointContainer &amp;via_points)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setViaPointOrderedMode</name>
      <anchorfile>classmpc__local__planner_1_1MinTimeViaPointsCost.html</anchorfile>
      <anchor>ab0944104ea52c608d52c125732a89035</anchor>
      <arglist>(bool ordered)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setViaPointWeights</name>
      <anchorfile>classmpc__local__planner_1_1MinTimeViaPointsCost.html</anchorfile>
      <anchor>a36f7a8c8e053fe64846644a2bf820185</anchor>
      <arglist>(double position_weight, double orientation_weight)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>update</name>
      <anchorfile>classmpc__local__planner_1_1MinTimeViaPointsCost.html</anchorfile>
      <anchor>acf4fbb590760103dc1ad6afe12ad490c</anchor>
      <arglist>(int n, double, corbo::ReferenceTrajectoryInterface &amp;, corbo::ReferenceTrajectoryInterface &amp;, corbo::ReferenceTrajectoryInterface *, bool single_dt, const Eigen::VectorXd &amp;x0, corbo::StagePreprocessor::Ptr, const std::vector&lt; double &gt; &amp;, const corbo::DiscretizationGridInterface *grid) override</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>_single_dt</name>
      <anchorfile>classmpc__local__planner_1_1MinTimeViaPointsCost.html</anchorfile>
      <anchor>a5d8667db7db4478a99f319cd12e64d6b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>_time_weight</name>
      <anchorfile>classmpc__local__planner_1_1MinTimeViaPointsCost.html</anchorfile>
      <anchor>a77221ed52b75ce783d997849db344a7c</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>const ViaPointContainer *</type>
      <name>_via_points</name>
      <anchorfile>classmpc__local__planner_1_1MinTimeViaPointsCost.html</anchorfile>
      <anchor>ad2928057b3f3c952c00f156e4ffe6866</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>_via_points_ordered</name>
      <anchorfile>classmpc__local__planner_1_1MinTimeViaPointsCost.html</anchorfile>
      <anchor>ae1f4f43498603bc1a5477ea1f7ea222d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; std::pair&lt; std::vector&lt; const teb_local_planner::PoseSE2 * &gt;, std::size_t &gt; &gt;</type>
      <name>_vp_association</name>
      <anchorfile>classmpc__local__planner_1_1MinTimeViaPointsCost.html</anchorfile>
      <anchor>a3b3248d2d183374d20d727c9b04c0753</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>_vp_orientation_weight</name>
      <anchorfile>classmpc__local__planner_1_1MinTimeViaPointsCost.html</anchorfile>
      <anchor>a7d3224520c1846723295a518f57c81f6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>_vp_position_weight</name>
      <anchorfile>classmpc__local__planner_1_1MinTimeViaPointsCost.html</anchorfile>
      <anchor>a2d8d4c129c9c22a0b7ea3b8541631f50</anchor>
      <arglist></arglist>
    </member>
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  <compound kind="class">
    <name>mpc_local_planner::MpcLocalPlannerROS</name>
    <filename>classmpc__local__planner_1_1MpcLocalPlannerROS.html</filename>
    <base>nav_core::BaseLocalPlanner</base>
    <base>mbf_costmap_core::CostmapController</base>
    <class kind="struct">mpc_local_planner::MpcLocalPlannerROS::CostmapConverterPlugin</class>
    <class kind="struct">mpc_local_planner::MpcLocalPlannerROS::Parameters</class>
    <member kind="function">
      <type>bool</type>
      <name>cancel</name>
      <anchorfile>classmpc__local__planner_1_1MpcLocalPlannerROS.html</anchorfile>
      <anchor>add8f9f539cae35b679911bd1b28d0209</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>computeVelocityCommands</name>
      <anchorfile>classmpc__local__planner_1_1MpcLocalPlannerROS.html</anchorfile>
      <anchor>ac4fec0bf4cb736f2cbb6c6371b6f57c9</anchor>
      <arglist>(geometry_msgs::Twist &amp;cmd_vel)</arglist>
    </member>
    <member kind="function">
      <type>uint32_t</type>
      <name>computeVelocityCommands</name>
      <anchorfile>classmpc__local__planner_1_1MpcLocalPlannerROS.html</anchorfile>
      <anchor>aca9c28dbf783cb3fef05e2c7a71d61d2</anchor>
      <arglist>(const geometry_msgs::PoseStamped &amp;pose, const geometry_msgs::TwistStamped &amp;velocity, geometry_msgs::TwistStamped &amp;cmd_vel, std::string &amp;message)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>initialize</name>
      <anchorfile>classmpc__local__planner_1_1MpcLocalPlannerROS.html</anchorfile>
      <anchor>ae04ce4f834c2157c70994c88a09492cf</anchor>
      <arglist>(std::string name, tf2_ros::Buffer *tf, costmap_2d::Costmap2DROS *costmap_ros)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isGoalReached</name>
      <anchorfile>classmpc__local__planner_1_1MpcLocalPlannerROS.html</anchorfile>
      <anchor>a165a089d78d9130853aa0d52f8e71145</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isGoalReached</name>
      <anchorfile>classmpc__local__planner_1_1MpcLocalPlannerROS.html</anchorfile>
      <anchor>a574e17538051dd9fdca75ae3261123ff</anchor>
      <arglist>(double xy_tolerance, double yaw_tolerance)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MpcLocalPlannerROS</name>
      <anchorfile>classmpc__local__planner_1_1MpcLocalPlannerROS.html</anchorfile>
      <anchor>a621d7ad60f75820dd3a8b1956f6707be</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>setPlan</name>
      <anchorfile>classmpc__local__planner_1_1MpcLocalPlannerROS.html</anchorfile>
      <anchor>a82599395e8fbe5f649efb65ab5740c0f</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;orig_global_plan)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~MpcLocalPlannerROS</name>
      <anchorfile>classmpc__local__planner_1_1MpcLocalPlannerROS.html</anchorfile>
      <anchor>a0b9e66d876c6aacfce2383b0dbd73b0c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Eigen::Vector2d</type>
      <name>tfPoseToEigenVector2dTransRot</name>
      <anchorfile>classmpc__local__planner_1_1MpcLocalPlannerROS.html</anchorfile>
      <anchor>af2ad5c51f1e528edad1198b5bf4e0150</anchor>
      <arglist>(const tf::Pose &amp;tf_vel)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static RobotFootprintModelPtr</type>
      <name>getRobotFootprintFromParamServer</name>
      <anchorfile>classmpc__local__planner_1_1MpcLocalPlannerROS.html</anchorfile>
      <anchor>a24c7a55d5899d2be776c7d8483e542e5</anchor>
      <arglist>(const ros::NodeHandle &amp;nh, costmap_2d::Costmap2DROS *costmap_ros=nullptr)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static RobotFootprintModelPtr</type>
      <name>getRobotFootprintFromCostmap2d</name>
      <anchorfile>classmpc__local__planner_1_1MpcLocalPlannerROS.html</anchorfile>
      <anchor>ae81092961ef1aeb99ba8315f48519a8d</anchor>
      <arglist>(costmap_2d::Costmap2DROS &amp;costmap_ros)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static Point2dContainer</type>
      <name>makeFootprintFromXMLRPC</name>
      <anchorfile>classmpc__local__planner_1_1MpcLocalPlannerROS.html</anchorfile>
      <anchor>a7a8e46e753fe044920dc9b8a46f1ac7e</anchor>
      <arglist>(XmlRpc::XmlRpcValue &amp;footprint_xmlrpc, const std::string &amp;full_param_name)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static double</type>
      <name>getNumberFromXMLRPC</name>
      <anchorfile>classmpc__local__planner_1_1MpcLocalPlannerROS.html</anchorfile>
      <anchor>a90a53bdea68a7704cb750bcb2171c180</anchor>
      <arglist>(XmlRpc::XmlRpcValue &amp;value, const std::string &amp;full_param_name)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>customObstacleCB</name>
      <anchorfile>classmpc__local__planner_1_1MpcLocalPlannerROS.html</anchorfile>
      <anchor>a13e3ce93974c62591aa45d1c0b3628bb</anchor>
      <arglist>(const costmap_converter::ObstacleArrayMsg::ConstPtr &amp;obst_msg)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>customViaPointsCB</name>
      <anchorfile>classmpc__local__planner_1_1MpcLocalPlannerROS.html</anchorfile>
      <anchor>a0de6e28fcd52ba55f4d0e213afad43b4</anchor>
      <arglist>(const nav_msgs::Path::ConstPtr &amp;via_points_msg)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>double</type>
      <name>estimateLocalGoalOrientation</name>
      <anchorfile>classmpc__local__planner_1_1MpcLocalPlannerROS.html</anchorfile>
      <anchor>acc2d8e4a38fdce043972983a36e19464</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;global_plan, const geometry_msgs::PoseStamped &amp;local_goal, int current_goal_idx, const geometry_msgs::TransformStamped &amp;tf_plan_to_global, int moving_average_length=3) const</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>pruneGlobalPlan</name>
      <anchorfile>classmpc__local__planner_1_1MpcLocalPlannerROS.html</anchorfile>
      <anchor>a91a1abd79c7132000b6d1a12c8917363</anchor>
      <arglist>(const tf2_ros::Buffer &amp;tf, const geometry_msgs::PoseStamped &amp;global_pose, std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;global_plan, double dist_behind_robot=1)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>transformGlobalPlan</name>
      <anchorfile>classmpc__local__planner_1_1MpcLocalPlannerROS.html</anchorfile>
      <anchor>a2c82e024ce0ef33887f96521333606ce</anchor>
      <arglist>(const tf2_ros::Buffer &amp;tf, const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;global_plan, const geometry_msgs::PoseStamped &amp;global_pose, const costmap_2d::Costmap2D &amp;costmap, const std::string &amp;global_frame, double max_plan_length, std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;transformed_plan, int *current_goal_idx=NULL, geometry_msgs::TransformStamped *tf_plan_to_global=NULL) const</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>updateObstacleContainerWithCostmap</name>
      <anchorfile>classmpc__local__planner_1_1MpcLocalPlannerROS.html</anchorfile>
      <anchor>afe2e539d6f76c9f0bd45f01b6d6aee4b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>updateObstacleContainerWithCostmapConverter</name>
      <anchorfile>classmpc__local__planner_1_1MpcLocalPlannerROS.html</anchorfile>
      <anchor>acc284a5028bed270928ed0761680e4bb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>updateObstacleContainerWithCustomObstacles</name>
      <anchorfile>classmpc__local__planner_1_1MpcLocalPlannerROS.html</anchorfile>
      <anchor>a1d7ed9fd5ba4b402626ce55271787f64</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>updateViaPointsContainer</name>
      <anchorfile>classmpc__local__planner_1_1MpcLocalPlannerROS.html</anchorfile>
      <anchor>a1a732bd753cd62b5c108f1dfc7cf19f3</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;transformed_plan, double min_separation)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>validateFootprints</name>
      <anchorfile>classmpc__local__planner_1_1MpcLocalPlannerROS.html</anchorfile>
      <anchor>ad527468066c474de2f96b0a73e06cbb4</anchor>
      <arglist>(double opt_inscribed_radius, double costmap_inscribed_radius, double min_obst_dist)</arglist>
    </member>
    <member kind="typedef" protection="private">
      <type>teb_local_planner::CircularObstacle</type>
      <name>CircularObstacle</name>
      <anchorfile>classmpc__local__planner_1_1MpcLocalPlannerROS.html</anchorfile>
      <anchor>ab3be4c94b47d27d97aa7f64ef57eaf3e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef" protection="private">
      <type>teb_local_planner::LineObstacle</type>
      <name>LineObstacle</name>
      <anchorfile>classmpc__local__planner_1_1MpcLocalPlannerROS.html</anchorfile>
      <anchor>a21bdb93a6fac8460018340ec5cf1312b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef" protection="private">
      <type>teb_local_planner::ObstaclePtr</type>
      <name>ObstaclePtr</name>
      <anchorfile>classmpc__local__planner_1_1MpcLocalPlannerROS.html</anchorfile>
      <anchor>a3b7b9548d6da3588f1841a9da7008f64</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef" protection="private">
      <type>teb_local_planner::ObstContainer</type>
      <name>ObstContainer</name>
      <anchorfile>classmpc__local__planner_1_1MpcLocalPlannerROS.html</anchorfile>
      <anchor>aa8101d4a016213e761be6a0b140573c9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef" protection="private">
      <type>teb_local_planner::Point2dContainer</type>
      <name>Point2dContainer</name>
      <anchorfile>classmpc__local__planner_1_1MpcLocalPlannerROS.html</anchorfile>
      <anchor>a31e889d891604c3efc6724358c0881bb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef" protection="private">
      <type>teb_local_planner::PointObstacle</type>
      <name>PointObstacle</name>
      <anchorfile>classmpc__local__planner_1_1MpcLocalPlannerROS.html</anchorfile>
      <anchor>a803396897d3e315a313f72cba7a62c31</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef" protection="private">
      <type>teb_local_planner::PolygonObstacle</type>
      <name>PolygonObstacle</name>
      <anchorfile>classmpc__local__planner_1_1MpcLocalPlannerROS.html</anchorfile>
      <anchor>aa1297ce86d2cc4f5698cc7c676326a34</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef" protection="private">
      <type>teb_local_planner::PoseSE2</type>
      <name>PoseSE2</name>
      <anchorfile>classmpc__local__planner_1_1MpcLocalPlannerROS.html</anchorfile>
      <anchor>a57f7d4dd519c8ecc83757d7d1d167f80</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef" protection="private">
      <type>teb_local_planner::RobotFootprintModelPtr</type>
      <name>RobotFootprintModelPtr</name>
      <anchorfile>classmpc__local__planner_1_1MpcLocalPlannerROS.html</anchorfile>
      <anchor>a65a4427fd3aa5e3f40549c195c089041</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef" protection="private">
      <type>std::vector&lt; PoseSE2 &gt;</type>
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      <anchorfile>structmpc__local__planner_1_1MpcLocalPlannerROS_1_1Parameters.html</anchorfile>
      <anchor>a04c5562042bb50a260a74b1551f166e8</anchor>
      <arglist></arglist>
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      <anchorfile>structmpc__local__planner_1_1MpcLocalPlannerROS_1_1Parameters.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable">
      <type>double</type>
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      <anchorfile>structmpc__local__planner_1_1MpcLocalPlannerROS_1_1Parameters.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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    <member kind="variable">
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      <anchorfile>structmpc__local__planner_1_1MpcLocalPlannerROS_1_1Parameters.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable">
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      <anchorfile>structmpc__local__planner_1_1MpcLocalPlannerROS_1_1Parameters.html</anchorfile>
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      <arglist></arglist>
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    <member kind="typedef">
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      <arglist></arglist>
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    <member kind="typedef">
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      <arglist>() const</arglist>
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      <anchorfile>classmpc__local__planner_1_1PartiallyFixedVectorVertexSE2.html</anchorfile>
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      <arglist>() const override</arglist>
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      <arglist>(bool unfixed_only) const override</arglist>
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    <member kind="function">
      <type>int</type>
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      <arglist>(bool unfixed_only) const override</arglist>
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    <member kind="function">
      <type>int</type>
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      <arglist>(bool unfixed_only) const override</arglist>
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      <arglist>() const override</arglist>
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      <arglist>(int idx) const override</arglist>
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      <name>PartiallyFixedVectorVertexSE2</name>
      <anchorfile>classmpc__local__planner_1_1PartiallyFixedVectorVertexSE2.html</anchorfile>
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      <arglist>()=default</arglist>
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      <name>PartiallyFixedVectorVertexSE2</name>
      <anchorfile>classmpc__local__planner_1_1PartiallyFixedVectorVertexSE2.html</anchorfile>
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      <arglist>(int dimension)</arglist>
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    <member kind="function">
      <type></type>
      <name>PartiallyFixedVectorVertexSE2</name>
      <anchorfile>classmpc__local__planner_1_1PartiallyFixedVectorVertexSE2.html</anchorfile>
      <anchor>a0b99bbaadb3bb1d676517be5099f4e1b</anchor>
      <arglist>(int dimension, const Eigen::Ref&lt; const Eigen::Array&lt; bool, -1, 1 &gt;&gt; &amp;fixed)</arglist>
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    <member kind="function">
      <type></type>
      <name>PartiallyFixedVectorVertexSE2</name>
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      <arglist>(const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;values)</arglist>
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    <member kind="function">
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      <name>PartiallyFixedVectorVertexSE2</name>
      <anchorfile>classmpc__local__planner_1_1PartiallyFixedVectorVertexSE2.html</anchorfile>
      <anchor>ae400a0985d8c62d9632e270fada3832e</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;values, const Eigen::Ref&lt; const Eigen::Array&lt; bool, -1, 1 &gt;&gt; &amp;fixed)</arglist>
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    <member kind="function">
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      <name>PartiallyFixedVectorVertexSE2</name>
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      <anchor>a07ccfafedc99dbce0f9f9884d9f4d7cf</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;values, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;lb, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;ub)</arglist>
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    <member kind="function">
      <type>void</type>
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      <arglist>(const double *inc) override</arglist>
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      <arglist>(const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;values, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;lb, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;ub, bool fixed=false) override</arglist>
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    <member kind="function">
      <type>void</type>
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      <arglist>(const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;values, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;lb, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;ub, const Eigen::Ref&lt; const Eigen::Array&lt; bool, -1, 1 &gt;&gt; &amp;fixed)</arglist>
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    <member kind="function">
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      <arglist>(int dim) override</arglist>
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      <arglist>(int idx, bool fixed)</arglist>
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      <anchorfile>classmpc__local__planner_1_1PartiallyFixedVectorVertexSE2.html</anchorfile>
      <anchor>aafd2f219ba91c7bb818278638ce3325a</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::Array&lt; bool, -1, 1 &gt;&gt; &amp;fixed)</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classmpc__local__planner_1_1PartiallyFixedVectorVertexSE2.html</anchorfile>
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      <arglist>(bool fixed) override</arglist>
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      <type>Eigen::Array&lt; bool, -1, 1 &gt;</type>
      <name>_fixed</name>
      <anchorfile>classmpc__local__planner_1_1PartiallyFixedVectorVertexSE2.html</anchorfile>
      <anchor>a616ed2c538576c18668ea683bc2cac78</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>int</type>
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      <anchorfile>classmpc__local__planner_1_1PartiallyFixedVectorVertexSE2.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
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      <anchorfile>classmpc__local__planner_1_1Publisher.html</anchorfile>
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      <arglist>(ros::NodeHandle &amp;nh, RobotDynamicsInterface::Ptr system, const std::string &amp;map_frame)</arglist>
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    <member kind="function">
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      <name>Publisher</name>
      <anchorfile>classmpc__local__planner_1_1Publisher.html</anchorfile>
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      <arglist>()=default</arglist>
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    <member kind="function">
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      <name>Publisher</name>
      <anchorfile>classmpc__local__planner_1_1Publisher.html</anchorfile>
      <anchor>a48d90021460c809330bd5f902d24c2f0</anchor>
      <arglist>(ros::NodeHandle &amp;nh, RobotDynamicsInterface::Ptr system, const std::string &amp;map_frame)</arglist>
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    <member kind="function">
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      <anchorfile>classmpc__local__planner_1_1Publisher.html</anchorfile>
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      <arglist>(const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;global_plan) const</arglist>
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    <member kind="function">
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      <anchorfile>classmpc__local__planner_1_1Publisher.html</anchorfile>
      <anchor>a37b59194f189ef8f8602009166e0085b</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;local_plan) const</arglist>
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    <member kind="function">
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      <anchorfile>classmpc__local__planner_1_1Publisher.html</anchorfile>
      <anchor>a934996b978ef47e833afb9c36f30e105</anchor>
      <arglist>(const corbo::TimeSeries &amp;ts) const</arglist>
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      <anchorfile>classmpc__local__planner_1_1Publisher.html</anchorfile>
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      <arglist>(const teb_local_planner::ObstContainer &amp;obstacles) const</arglist>
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    <member kind="function">
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      <name>publishRobotFootprintModel</name>
      <anchorfile>classmpc__local__planner_1_1Publisher.html</anchorfile>
      <anchor>a6392792897de9d68b2de811ebab5c99f</anchor>
      <arglist>(const teb_local_planner::PoseSE2 &amp;current_pose, const teb_local_planner::BaseRobotFootprintModel &amp;robot_model, const std::string &amp;ns=&quot;RobotFootprintModel&quot;, const std_msgs::ColorRGBA &amp;color=toColorMsg(0.5, 0.0, 0.8, 0.0))</arglist>
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    <member kind="function">
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      <anchorfile>classmpc__local__planner_1_1Publisher.html</anchorfile>
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      <arglist>(const std::vector&lt; teb_local_planner::PoseSE2 &gt; &amp;via_points, const std::string &amp;ns=&quot;ViaPoints&quot;) const</arglist>
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      <type>static std_msgs::ColorRGBA</type>
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      <anchorfile>classmpc__local__planner_1_1Publisher.html</anchorfile>
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      <arglist>(float a, float r, float g, float b)</arglist>
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      <type>teb_local_planner::CircularObstacle</type>
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      <anchorfile>classmpc__local__planner_1_1Publisher.html</anchorfile>
      <anchor>aac408eec828d4cc9d1ff04977929991d</anchor>
      <arglist></arglist>
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      <type>teb_local_planner::LineObstacle</type>
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      <anchor>a8af05f7560352c3517158c26a37cf32f</anchor>
      <arglist></arglist>
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      <arglist></arglist>
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      <anchor>affa4bb651c8d4aeb65cf6db7808dd208</anchor>
      <arglist></arglist>
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      <type>teb_local_planner::Point2dContainer</type>
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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" protection="private">
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      <arglist></arglist>
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    <member kind="variable" protection="private">
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      <arglist></arglist>
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      <arglist></arglist>
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      <anchorfile>classmpc__local__planner_1_1Publisher.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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      <anchorfile>classmpc__local__planner_1_1Publisher.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
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    <base>corbo::QuadraticFinalStateCost</base>
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      <type>std::shared_ptr&lt; QuadraticFinalStateCostSE2 &gt;</type>
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      <arglist></arglist>
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    <member kind="function">
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      <anchorfile>classmpc__local__planner_1_1QuadraticFinalStateCostSE2.html</anchorfile>
      <anchor>a11129c89390218110af5d9a90731fe93</anchor>
      <arglist>(int k, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;x_k, Eigen::Ref&lt; Eigen::VectorXd &gt; cost) const override</arglist>
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    <member kind="function">
      <type>corbo::FinalStageCost::Ptr</type>
      <name>getInstance</name>
      <anchorfile>classmpc__local__planner_1_1QuadraticFinalStateCostSE2.html</anchorfile>
      <anchor>a468223f9fda2646e0b01084b3eb3c305</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
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      <name>QuadraticFinalStateCostSE2</name>
      <anchorfile>classmpc__local__planner_1_1QuadraticFinalStateCostSE2.html</anchorfile>
      <anchor>a395a95c73338641451a2dc6b607d1b52</anchor>
      <arglist>()</arglist>
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    <member kind="function">
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      <name>QuadraticFinalStateCostSE2</name>
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      <anchor>acd642378b90b3fbd5f19b097a9a97a7a</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::MatrixXd &gt; &amp;Qf, bool lsq_form=false)</arglist>
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  <compound kind="class">
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    <base>corbo::QuadraticFormCost</base>
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      <type>std::shared_ptr&lt; QuadraticFormCostSE2 &gt;</type>
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      <anchor>a5e425a69b588e90a9d9887abb1955276</anchor>
      <arglist></arglist>
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    <member kind="function">
      <type>void</type>
      <name>computeIntegralStateControlTerm</name>
      <anchorfile>classmpc__local__planner_1_1QuadraticFormCostSE2.html</anchorfile>
      <anchor>a52c08f4d49706574d58926de0f23d712</anchor>
      <arglist>(int k, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;x_k, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;u_k, Eigen::Ref&lt; Eigen::VectorXd &gt; cost) const override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeNonIntegralStateTerm</name>
      <anchorfile>classmpc__local__planner_1_1QuadraticFormCostSE2.html</anchorfile>
      <anchor>abb199ded2bbd59aef22449f4dadf26e9</anchor>
      <arglist>(int k, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;x_k, Eigen::Ref&lt; Eigen::VectorXd &gt; cost) const override</arglist>
    </member>
    <member kind="function">
      <type>corbo::StageCost::Ptr</type>
      <name>getInstance</name>
      <anchorfile>classmpc__local__planner_1_1QuadraticFormCostSE2.html</anchorfile>
      <anchor>a3bc1c582977a9a231a1ba2eef0d46903</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>QuadraticFormCostSE2</name>
      <anchorfile>classmpc__local__planner_1_1QuadraticFormCostSE2.html</anchorfile>
      <anchor>a98fb4cd235173de93feb4f2f276cdb90</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>QuadraticFormCostSE2</name>
      <anchorfile>classmpc__local__planner_1_1QuadraticFormCostSE2.html</anchorfile>
      <anchor>ad15f2df18287efdd4e13e0fd0bf4d567</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::MatrixXd &gt; &amp;Q, const Eigen::Ref&lt; const Eigen::MatrixXd &gt; &amp;R, bool integral_form=false, bool lsq_form=false)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mpc_local_planner::QuadraticStateCostSE2</name>
    <filename>classmpc__local__planner_1_1QuadraticStateCostSE2.html</filename>
    <base>corbo::QuadraticStateCost</base>
    <member kind="typedef">
      <type>std::shared_ptr&lt; QuadraticStateCostSE2 &gt;</type>
      <name>Ptr</name>
      <anchorfile>classmpc__local__planner_1_1QuadraticStateCostSE2.html</anchorfile>
      <anchor>ade205c7774202c150081dd6badd0d262</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeIntegralStateControlTerm</name>
      <anchorfile>classmpc__local__planner_1_1QuadraticStateCostSE2.html</anchorfile>
      <anchor>afb6dedda34d84854bfa5803e8fb02294</anchor>
      <arglist>(int k, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;x_k, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;u_k, Eigen::Ref&lt; Eigen::VectorXd &gt; cost) const override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeNonIntegralStateTerm</name>
      <anchorfile>classmpc__local__planner_1_1QuadraticStateCostSE2.html</anchorfile>
      <anchor>a221dcc6d089a415c9746075e4a0f2f54</anchor>
      <arglist>(int k, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;x_k, Eigen::Ref&lt; Eigen::VectorXd &gt; cost) const override</arglist>
    </member>
    <member kind="function">
      <type>corbo::StageCost::Ptr</type>
      <name>getInstance</name>
      <anchorfile>classmpc__local__planner_1_1QuadraticStateCostSE2.html</anchorfile>
      <anchor>a4ab2f9379dce7611f5180b7879aef944</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>QuadraticStateCostSE2</name>
      <anchorfile>classmpc__local__planner_1_1QuadraticStateCostSE2.html</anchorfile>
      <anchor>a923ea398276b1c127e8169764c01fae8</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>QuadraticStateCostSE2</name>
      <anchorfile>classmpc__local__planner_1_1QuadraticStateCostSE2.html</anchorfile>
      <anchor>ae555485525305990203403a1b776336e</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::MatrixXd &gt; &amp;Q, bool integral_form=false, bool lsq_form=false)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mpc_local_planner::RobotDynamicsInterface</name>
    <filename>classmpc__local__planner_1_1RobotDynamicsInterface.html</filename>
    <base>corbo::SystemDynamicsInterface</base>
    <member kind="typedef">
      <type>std::shared_ptr&lt; RobotDynamicsInterface &gt;</type>
      <name>Ptr</name>
      <anchorfile>classmpc__local__planner_1_1RobotDynamicsInterface.html</anchorfile>
      <anchor>a242bb8f18e5635f761c584751c73a3c3</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>getPoseSE2FromState</name>
      <anchorfile>classmpc__local__planner_1_1RobotDynamicsInterface.html</anchorfile>
      <anchor>a4435a8fea8e4b597136f63a34cff0b5c</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;x, double &amp;pos_x, double &amp;pos_y, double &amp;theta) const =0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>getPoseSE2FromState</name>
      <anchorfile>classmpc__local__planner_1_1RobotDynamicsInterface.html</anchorfile>
      <anchor>a57be56ebab900a3083c73277d87ee5ea</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;x, teb_local_planner::PoseSE2 &amp;pose) const</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>getPositionFromState</name>
      <anchorfile>classmpc__local__planner_1_1RobotDynamicsInterface.html</anchorfile>
      <anchor>a0d3469a5c6edebfeb1804e83bf81c1d9</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;x, double &amp;pos_x, double &amp;pos_y) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>getSteadyStateFromPoseSE2</name>
      <anchorfile>classmpc__local__planner_1_1RobotDynamicsInterface.html</anchorfile>
      <anchor>ad503bfb0cf41a1a0a1e06cc3d94085c1</anchor>
      <arglist>(double pos_x, double pos_y, double theta, Eigen::Ref&lt; Eigen::VectorXd &gt; x) const =0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>getSteadyStateFromPoseSE2</name>
      <anchorfile>classmpc__local__planner_1_1RobotDynamicsInterface.html</anchorfile>
      <anchor>a604abb7d1c9fc4dc741a4619a36337d6</anchor>
      <arglist>(const teb_local_planner::PoseSE2 &amp;pose, Eigen::Ref&lt; Eigen::VectorXd &gt; x) const</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>getTwistFromControl</name>
      <anchorfile>classmpc__local__planner_1_1RobotDynamicsInterface.html</anchorfile>
      <anchor>abf6510710756e9b140e042554dc1037d</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;u, geometry_msgs::Twist &amp;twist) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>mergeStateFeedbackAndOdomFeedback</name>
      <anchorfile>classmpc__local__planner_1_1RobotDynamicsInterface.html</anchorfile>
      <anchor>a065565df54b849f9a767cb9b589661eb</anchor>
      <arglist>(const teb_local_planner::PoseSE2 &amp;odom_pose, const geometry_msgs::Twist &amp;odom_twist, Eigen::Ref&lt; Eigen::VectorXd &gt; x) const =0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>reset</name>
      <anchorfile>classmpc__local__planner_1_1RobotDynamicsInterface.html</anchorfile>
      <anchor>a0512b7eb920c91ebc8d014ebc295b16f</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mpc_local_planner::SimpleCarFrontWheelDrivingModel</name>
    <filename>classmpc__local__planner_1_1SimpleCarFrontWheelDrivingModel.html</filename>
    <base>mpc_local_planner::SimpleCarModel</base>
    <member kind="function">
      <type>void</type>
      <name>dynamics</name>
      <anchorfile>classmpc__local__planner_1_1SimpleCarFrontWheelDrivingModel.html</anchorfile>
      <anchor>a0f4ef4477075e82a03cf22ed1de73e25</anchor>
      <arglist>(const Eigen::Ref&lt; const StateVector &gt; &amp;x, const Eigen::Ref&lt; const ControlVector &gt; &amp;u, Eigen::Ref&lt; StateVector &gt; f) const override</arglist>
    </member>
    <member kind="function">
      <type>SystemDynamicsInterface::Ptr</type>
      <name>getInstance</name>
      <anchorfile>classmpc__local__planner_1_1SimpleCarFrontWheelDrivingModel.html</anchorfile>
      <anchor>a744294ba78e017d3aa7d8bf87bba2a08</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SimpleCarFrontWheelDrivingModel</name>
      <anchorfile>classmpc__local__planner_1_1SimpleCarFrontWheelDrivingModel.html</anchorfile>
      <anchor>ae80104ba3104e7ca037542ac6d25bf37</anchor>
      <arglist>()=default</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SimpleCarFrontWheelDrivingModel</name>
      <anchorfile>classmpc__local__planner_1_1SimpleCarFrontWheelDrivingModel.html</anchorfile>
      <anchor>ae5a6fbfcc2370e9f439430d53fdaed52</anchor>
      <arglist>(double wheelbase)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mpc_local_planner::SimpleCarModel</name>
    <filename>classmpc__local__planner_1_1SimpleCarModel.html</filename>
    <base>mpc_local_planner::BaseRobotSE2</base>
    <member kind="function">
      <type>void</type>
      <name>dynamics</name>
      <anchorfile>classmpc__local__planner_1_1SimpleCarModel.html</anchorfile>
      <anchor>acfbaa51eec3affd3ce1dc63879a576e3</anchor>
      <arglist>(const Eigen::Ref&lt; const StateVector &gt; &amp;x, const Eigen::Ref&lt; const ControlVector &gt; &amp;u, Eigen::Ref&lt; StateVector &gt; f) const override</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getInputDimension</name>
      <anchorfile>classmpc__local__planner_1_1SimpleCarModel.html</anchorfile>
      <anchor>a37f5fd4d9dc38d1740d7efe3a65e7c21</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>SystemDynamicsInterface::Ptr</type>
      <name>getInstance</name>
      <anchorfile>classmpc__local__planner_1_1SimpleCarModel.html</anchorfile>
      <anchor>a105a9e0aa1dd05b3e5d313defb92359c</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getTwistFromControl</name>
      <anchorfile>classmpc__local__planner_1_1SimpleCarModel.html</anchorfile>
      <anchor>abb30d1ed9e5f11267d32198799bd1fbe</anchor>
      <arglist>(const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;u, geometry_msgs::Twist &amp;twist) const override</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getWheelbase</name>
      <anchorfile>classmpc__local__planner_1_1SimpleCarModel.html</anchorfile>
      <anchor>a0aaa4400e1a6ded21a3416f87057f407</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setWheelbase</name>
      <anchorfile>classmpc__local__planner_1_1SimpleCarModel.html</anchorfile>
      <anchor>a4d1fe713df40f876b031e8b7b5f6affb</anchor>
      <arglist>(double wheelbase)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SimpleCarModel</name>
      <anchorfile>classmpc__local__planner_1_1SimpleCarModel.html</anchorfile>
      <anchor>a46de50ad854fbc0bfe1563c47733aa53</anchor>
      <arglist>()=default</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>SimpleCarModel</name>
      <anchorfile>classmpc__local__planner_1_1SimpleCarModel.html</anchorfile>
      <anchor>ab87a7c81a8dd62cca66466ea0a085cc1</anchor>
      <arglist>(double wheelbase)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>_wheelbase</name>
      <anchorfile>classmpc__local__planner_1_1SimpleCarModel.html</anchorfile>
      <anchor>a1d15ae7d04eb4e7f884d7dde38b9f618</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mpc_local_planner::StageInequalitySE2</name>
    <filename>classmpc__local__planner_1_1StageInequalitySE2.html</filename>
    <base>corbo::StageInequalityConstraint</base>
    <member kind="typedef">
      <type>teb_local_planner::ObstaclePtr</type>
      <name>ObstaclePtr</name>
      <anchorfile>classmpc__local__planner_1_1StageInequalitySE2.html</anchorfile>
      <anchor>aa72ca7dc42cfe243f6108700b0147933</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::shared_ptr&lt; StageInequalitySE2 &gt;</type>
      <name>Ptr</name>
      <anchorfile>classmpc__local__planner_1_1StageInequalitySE2.html</anchorfile>
      <anchor>a42c70f380954cc0ff17f0dd30f45e9a9</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeNonIntegralControlDeviationTerm</name>
      <anchorfile>classmpc__local__planner_1_1StageInequalitySE2.html</anchorfile>
      <anchor>ae2d799478a889e3e57f57729f01a6998</anchor>
      <arglist>(int k, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;u_k, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;u_prev, double dt, Eigen::Ref&lt; Eigen::VectorXd &gt; cost) const override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeNonIntegralStateDtTerm</name>
      <anchorfile>classmpc__local__planner_1_1StageInequalitySE2.html</anchorfile>
      <anchor>a0ccc3299fc03345a6379ca6c56ebb7cb</anchor>
      <arglist>(int k, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;x_k, double dt_k, Eigen::Ref&lt; Eigen::VectorXd &gt; cost) const override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>computeNonIntegralStateTerm</name>
      <anchorfile>classmpc__local__planner_1_1StageInequalitySE2.html</anchorfile>
      <anchor>a9f3c05d404992c387fa2ebf3cd17f910</anchor>
      <arglist>(int k, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;x_k, Eigen::Ref&lt; Eigen::VectorXd &gt; cost) const override</arglist>
    </member>
    <member kind="function">
      <type>corbo::StageInequalityConstraint::Ptr</type>
      <name>getInstance</name>
      <anchorfile>classmpc__local__planner_1_1StageInequalitySE2.html</anchorfile>
      <anchor>a2973896ef4bd591680fbbccf805ae5b6</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getMinimumDistance</name>
      <anchorfile>classmpc__local__planner_1_1StageInequalitySE2.html</anchorfile>
      <anchor>a28c40c3b0b03071a8c1d297594703a26</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getNonIntegralControlDeviationTermDimension</name>
      <anchorfile>classmpc__local__planner_1_1StageInequalitySE2.html</anchorfile>
      <anchor>a80c82a17729d2747fcac43cf8d40ad8b</anchor>
      <arglist>(int k) const override</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getNonIntegralStateDtTermDimension</name>
      <anchorfile>classmpc__local__planner_1_1StageInequalitySE2.html</anchorfile>
      <anchor>a29b517df72303046221ce66f662311ec</anchor>
      <arglist>(int k) const override</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getNonIntegralStateTermDimension</name>
      <anchorfile>classmpc__local__planner_1_1StageInequalitySE2.html</anchorfile>
      <anchor>a3a0acf32360dc3ca156691a0a57e2f3e</anchor>
      <arglist>(int k) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>hasIntegralTerms</name>
      <anchorfile>classmpc__local__planner_1_1StageInequalitySE2.html</anchorfile>
      <anchor>aa9cc64617ee02ccfeaa9e0371411dd72</anchor>
      <arglist>(int k) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>hasNonIntegralTerms</name>
      <anchorfile>classmpc__local__planner_1_1StageInequalitySE2.html</anchorfile>
      <anchor>a3621d8fc6c79467c2e179f713baac468</anchor>
      <arglist>(int k) const override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setControlDeviationBounds</name>
      <anchorfile>classmpc__local__planner_1_1StageInequalitySE2.html</anchorfile>
      <anchor>aef68d209b8a5134a9501f62dec6d3bbd</anchor>
      <arglist>(const Eigen::VectorXd &amp;du_lb, const Eigen::VectorXd &amp;du_ub)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setEnableDynamicObstacles</name>
      <anchorfile>classmpc__local__planner_1_1StageInequalitySE2.html</anchorfile>
      <anchor>a9b36c7229234c9e9f2c3377b91e94502</anchor>
      <arglist>(bool enable_dyn_obst)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setMinimumDistance</name>
      <anchorfile>classmpc__local__planner_1_1StageInequalitySE2.html</anchorfile>
      <anchor>a7f17c4dd549d83a5c0016428e31ff025</anchor>
      <arglist>(double min_dist)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setObstacleFilterParameters</name>
      <anchorfile>classmpc__local__planner_1_1StageInequalitySE2.html</anchorfile>
      <anchor>a203e10ca6759df06762e72a8063b69da</anchor>
      <arglist>(double force_inclusion_dist, double cutoff_dist)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setObstacleVector</name>
      <anchorfile>classmpc__local__planner_1_1StageInequalitySE2.html</anchorfile>
      <anchor>a9dee5b3581e58c744e59f9a819181c53</anchor>
      <arglist>(const teb_local_planner::ObstContainer &amp;obstacles)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setRobotFootprintModel</name>
      <anchorfile>classmpc__local__planner_1_1StageInequalitySE2.html</anchorfile>
      <anchor>a41199e7f683e81b292a1fa3794839942</anchor>
      <arglist>(teb_local_planner::RobotFootprintModelPtr robot_model)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>update</name>
      <anchorfile>classmpc__local__planner_1_1StageInequalitySE2.html</anchorfile>
      <anchor>ae14fc18d8da91f348e30b3363753ac46</anchor>
      <arglist>(int n, double, corbo::ReferenceTrajectoryInterface &amp;, corbo::ReferenceTrajectoryInterface &amp;, corbo::ReferenceTrajectoryInterface *, bool, const Eigen::VectorXd &amp;x0, corbo::StagePreprocessor::Ptr, const std::vector&lt; double &gt; &amp;, const corbo::DiscretizationGridInterface *grid) override</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>_current_dt</name>
      <anchorfile>classmpc__local__planner_1_1StageInequalitySE2.html</anchorfile>
      <anchor>a3c8c3a52c098781bfb5b4897f4404545</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Eigen::VectorXd</type>
      <name>_du_lb</name>
      <anchorfile>classmpc__local__planner_1_1StageInequalitySE2.html</anchorfile>
      <anchor>aa2ac58b0627e09a0aee14e2380d4b433</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Eigen::VectorXd</type>
      <name>_du_ub</name>
      <anchorfile>classmpc__local__planner_1_1StageInequalitySE2.html</anchorfile>
      <anchor>a27f3218b7636a6afd2d7f4e68fd67609</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>_enable_dynamic_obstacles</name>
      <anchorfile>classmpc__local__planner_1_1StageInequalitySE2.html</anchorfile>
      <anchor>a25cedfe1a422e257a918e1d5bf42964e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>_min_obstacle_dist</name>
      <anchorfile>classmpc__local__planner_1_1StageInequalitySE2.html</anchorfile>
      <anchor>a8a1360218ae2df7ba5546239a86f05c2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>_num_du_lb_finite</name>
      <anchorfile>classmpc__local__planner_1_1StageInequalitySE2.html</anchorfile>
      <anchor>a69406891985cdc8ca849e23bfbe916b7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>_num_du_ub_finite</name>
      <anchorfile>classmpc__local__planner_1_1StageInequalitySE2.html</anchorfile>
      <anchor>a69bea91abcb1d9eaa8ef6f17589baad9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>_obstacle_filter_cutoff_dist</name>
      <anchorfile>classmpc__local__planner_1_1StageInequalitySE2.html</anchorfile>
      <anchor>ac42211c6ad598375cda674e6a2350a75</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>_obstacle_filter_force_inclusion_dist</name>
      <anchorfile>classmpc__local__planner_1_1StageInequalitySE2.html</anchorfile>
      <anchor>a81e2ead64469e22f93dc42696d0c099c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>const teb_local_planner::ObstContainer *</type>
      <name>_obstacles</name>
      <anchorfile>classmpc__local__planner_1_1StageInequalitySE2.html</anchorfile>
      <anchor>a187d9d2ba5a72c12e0c277a8142f856c</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
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      <arglist></arglist>
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      <arglist>(const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;values, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;lb, const Eigen::Ref&lt; const Eigen::VectorXd &gt; &amp;ub, bool fixed=false)</arglist>
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      <arglist>()=default</arglist>
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