<?xml version='1.0' encoding='UTF-8' standalone='yes' ?>
<tagfile>
  <compound kind="file">
    <name>nonlinearanalyticconditionalgaussianodo.cpp</name>
    <path>/tmp/ws/src/robot_pose_ekf/src/</path>
    <filename>nonlinearanalyticconditionalgaussianodo_8cpp</filename>
    <includes id="nonlinearanalyticconditionalgaussianodo_8h" name="nonlinearanalyticconditionalgaussianodo.h" local="no" imported="no">robot_pose_ekf/nonlinearanalyticconditionalgaussianodo.h</includes>
    <namespace>BFL</namespace>
    <member kind="define">
      <type>#define</type>
      <name>NUMCONDARGUMENTS_MOBILE</name>
      <anchorfile>nonlinearanalyticconditionalgaussianodo_8cpp.html</anchorfile>
      <anchor>ab6f3ee5b33956a053ae50916bc8a6228</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>nonlinearanalyticconditionalgaussianodo.h</name>
    <path>/tmp/ws/src/robot_pose_ekf/include/robot_pose_ekf/</path>
    <filename>nonlinearanalyticconditionalgaussianodo_8h</filename>
    <class kind="class">BFL::NonLinearAnalyticConditionalGaussianOdo</class>
    <namespace>BFL</namespace>
  </compound>
  <compound kind="file">
    <name>odom_estimation.cpp</name>
    <path>/tmp/ws/src/robot_pose_ekf/src/</path>
    <filename>odom__estimation_8cpp</filename>
    <includes id="odom__estimation_8h" name="odom_estimation.h" local="no" imported="no">robot_pose_ekf/odom_estimation.h</includes>
    <namespace>estimation</namespace>
  </compound>
  <compound kind="file">
    <name>odom_estimation.h</name>
    <path>/tmp/ws/src/robot_pose_ekf/include/robot_pose_ekf/</path>
    <filename>odom__estimation_8h</filename>
    <includes id="nonlinearanalyticconditionalgaussianodo_8h" name="nonlinearanalyticconditionalgaussianodo.h" local="yes" imported="no">nonlinearanalyticconditionalgaussianodo.h</includes>
    <class kind="class">estimation::OdomEstimation</class>
    <namespace>estimation</namespace>
  </compound>
  <compound kind="file">
    <name>odom_estimation_node.cpp</name>
    <path>/tmp/ws/src/robot_pose_ekf/src/</path>
    <filename>odom__estimation__node_8cpp</filename>
    <includes id="odom__estimation__node_8h" name="odom_estimation_node.h" local="no" imported="no">robot_pose_ekf/odom_estimation_node.h</includes>
    <namespace>estimation</namespace>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>odom__estimation__node_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const double</type>
      <name>EPS</name>
      <anchorfile>odom__estimation__node_8cpp.html</anchorfile>
      <anchor>afe01386a82fedc016455a43c20280a97</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>odom_estimation_node.h</name>
    <path>/tmp/ws/src/robot_pose_ekf/include/robot_pose_ekf/</path>
    <filename>odom__estimation__node_8h</filename>
    <includes id="odom__estimation_8h" name="odom_estimation.h" local="yes" imported="no">odom_estimation.h</includes>
    <class kind="class">estimation::OdomEstimationNode</class>
    <namespace>estimation</namespace>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; nav_msgs::Odometry const  &gt;</type>
      <name>GpsConstPtr</name>
      <anchorfile>namespaceestimation.html</anchorfile>
      <anchor>a31f4f3310e18ce444193db43f3280825</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; sensor_msgs::Imu const  &gt;</type>
      <name>ImuConstPtr</name>
      <anchorfile>namespaceestimation.html</anchorfile>
      <anchor>a32b6b95d80936a023e695142ec935cfd</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; nav_msgs::Odometry const  &gt;</type>
      <name>OdomConstPtr</name>
      <anchorfile>namespaceestimation.html</anchorfile>
      <anchor>a8417fec9a980f303121ba50b9ea5b4bb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; geometry_msgs::Twist const  &gt;</type>
      <name>VelConstPtr</name>
      <anchorfile>namespaceestimation.html</anchorfile>
      <anchor>a288c856fc8974954e6552d40af3f5138</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; nav_msgs::Odometry const  &gt;</type>
      <name>VoConstPtr</name>
      <anchorfile>namespaceestimation.html</anchorfile>
      <anchor>ae37728a43238ff6b117451328ee39f68</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_robot_pose_ekf.cpp</name>
    <path>/tmp/ws/src/robot_pose_ekf/test/</path>
    <filename>test__robot__pose__ekf_8cpp</filename>
    <class kind="class">TestEKF</class>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; geometry_msgs::PoseWithCovarianceStamped const  &gt;</type>
      <name>EkfConstPtr</name>
      <anchorfile>test__robot__pose__ekf_8cpp.html</anchorfile>
      <anchor>a97db8daffd66551538501d357072a33a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; nav_msgs::Odometry const  &gt;</type>
      <name>OdomConstPtr</name>
      <anchorfile>test__robot__pose__ekf_8cpp.html</anchorfile>
      <anchor>ac763f027fce33f035984fa319b3dd0a9</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>test__robot__pose__ekf_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST_F</name>
      <anchorfile>test__robot__pose__ekf_8cpp.html</anchorfile>
      <anchor>a6d83efd6871f17e6174e38304f0f1a6b</anchor>
      <arglist>(TestEKF, test)</arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const double</type>
      <name>ekf_duration</name>
      <anchorfile>test__robot__pose__ekf_8cpp.html</anchorfile>
      <anchor>a5bc57b43370f1f7d0d6f6b1bf91458f2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const double</type>
      <name>EPS_rot_w</name>
      <anchorfile>test__robot__pose__ekf_8cpp.html</anchorfile>
      <anchor>a3a96ced42f7526cf93c603a674ffc0c7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const double</type>
      <name>EPS_rot_x</name>
      <anchorfile>test__robot__pose__ekf_8cpp.html</anchorfile>
      <anchor>a50b40d565969903d80bae634a85de754</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const double</type>
      <name>EPS_rot_y</name>
      <anchorfile>test__robot__pose__ekf_8cpp.html</anchorfile>
      <anchor>aa223d857ba8cc364cedf9eec64545275</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const double</type>
      <name>EPS_rot_z</name>
      <anchorfile>test__robot__pose__ekf_8cpp.html</anchorfile>
      <anchor>a0ddb7fde1040c5f79d3360b91554d283</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const double</type>
      <name>EPS_trans_x</name>
      <anchorfile>test__robot__pose__ekf_8cpp.html</anchorfile>
      <anchor>aa7e1036e9a97209e59645190eed6a88e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const double</type>
      <name>EPS_trans_y</name>
      <anchorfile>test__robot__pose__ekf_8cpp.html</anchorfile>
      <anchor>a1024fd5e223aa8c867782d2f4d5288cc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const double</type>
      <name>EPS_trans_z</name>
      <anchorfile>test__robot__pose__ekf_8cpp.html</anchorfile>
      <anchor>a2ab509e76a43ab04284f8f87b406744e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>g_argc</name>
      <anchorfile>test__robot__pose__ekf_8cpp.html</anchorfile>
      <anchor>a56a0ec58e8a4c0f144ab10e9eabc8934</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>char **</type>
      <name>g_argv</name>
      <anchorfile>test__robot__pose__ekf_8cpp.html</anchorfile>
      <anchor>a42cc1f3030bc4fced497d4a33ac59959</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const double</type>
      <name>time_end</name>
      <anchorfile>test__robot__pose__ekf_8cpp.html</anchorfile>
      <anchor>a74a10d479f59968c893b44ddf726bfdd</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_robot_pose_ekf_zero_covariance.cpp</name>
    <path>/tmp/ws/src/robot_pose_ekf/test/</path>
    <filename>test__robot__pose__ekf__zero__covariance_8cpp</filename>
    <class kind="class">TestEKF</class>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; geometry_msgs::PoseWithCovarianceStamped const  &gt;</type>
      <name>EkfConstPtr</name>
      <anchorfile>test__robot__pose__ekf__zero__covariance_8cpp.html</anchorfile>
      <anchor>a97db8daffd66551538501d357072a33a</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>test__robot__pose__ekf__zero__covariance_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST_F</name>
      <anchorfile>test__robot__pose__ekf__zero__covariance_8cpp.html</anchorfile>
      <anchor>a6d83efd6871f17e6174e38304f0f1a6b</anchor>
      <arglist>(TestEKF, test)</arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>g_argc</name>
      <anchorfile>test__robot__pose__ekf__zero__covariance_8cpp.html</anchorfile>
      <anchor>a56a0ec58e8a4c0f144ab10e9eabc8934</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>char **</type>
      <name>g_argv</name>
      <anchorfile>test__robot__pose__ekf__zero__covariance_8cpp.html</anchorfile>
      <anchor>a42cc1f3030bc4fced497d4a33ac59959</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>wtf.py</name>
    <path>/tmp/ws/src/robot_pose_ekf/scripts/</path>
    <filename>wtf_8py</filename>
    <namespace>wtf</namespace>
    <member kind="variable">
      <type></type>
      <name>anonymous</name>
      <anchorfile>namespacewtf.html</anchorfile>
      <anchor>a513e354fd68a353126163526b67bf91e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>resp</name>
      <anchorfile>namespacewtf.html</anchorfile>
      <anchor>a9094000b9504917c04e8c51a5b0a2991</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>s</name>
      <anchorfile>namespacewtf.html</anchorfile>
      <anchor>a7070f7a49be57ba74cb10045438ae529</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>BFL::NonLinearAnalyticConditionalGaussianOdo</name>
    <filename>classBFL_1_1NonLinearAnalyticConditionalGaussianOdo.html</filename>
    <base>BFL::AnalyticConditionalGaussianAdditiveNoise</base>
    <member kind="function" virtualness="virtual">
      <type>virtual MatrixWrapper::Matrix</type>
      <name>dfGet</name>
      <anchorfile>classBFL_1_1NonLinearAnalyticConditionalGaussianOdo.html</anchorfile>
      <anchor>a5feebaf3aefdfda2261996a0b1b8cbdf</anchor>
      <arglist>(unsigned int i) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual MatrixWrapper::ColumnVector</type>
      <name>ExpectedValueGet</name>
      <anchorfile>classBFL_1_1NonLinearAnalyticConditionalGaussianOdo.html</anchorfile>
      <anchor>a3fa014005c8cdaa5d06e5cacf6ba78ac</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>NonLinearAnalyticConditionalGaussianOdo</name>
      <anchorfile>classBFL_1_1NonLinearAnalyticConditionalGaussianOdo.html</anchorfile>
      <anchor>ab0cc51e4afe71cfeb3b0dc316f3e48f7</anchor>
      <arglist>(const Gaussian &amp;additiveNoise)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~NonLinearAnalyticConditionalGaussianOdo</name>
      <anchorfile>classBFL_1_1NonLinearAnalyticConditionalGaussianOdo.html</anchorfile>
      <anchor>a0b8edd8d1b22f07b283a7044f3ae46d5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>MatrixWrapper::Matrix</type>
      <name>df</name>
      <anchorfile>classBFL_1_1NonLinearAnalyticConditionalGaussianOdo.html</anchorfile>
      <anchor>ab49d0659e6bf36abe9e3e23b9213ad6d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>estimation::OdomEstimation</name>
    <filename>classestimation_1_1OdomEstimation.html</filename>
    <member kind="function">
      <type>void</type>
      <name>addMeasurement</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>af2f5fa22f8d559f98ca64e8c8df1fbc9</anchor>
      <arglist>(const tf::StampedTransform &amp;meas)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>addMeasurement</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>a525c4ab121cbdceca6a3a6db4c5f0a80</anchor>
      <arglist>(const tf::StampedTransform &amp;meas, const MatrixWrapper::SymmetricMatrix &amp;covar)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getEstimate</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>ae4f5bfb76cebf987c05919e3523a9eec</anchor>
      <arglist>(MatrixWrapper::ColumnVector &amp;estimate)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getEstimate</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>a09ffcd3ad88adf9a6ee107d3a159ac12</anchor>
      <arglist>(ros::Time time, tf::Transform &amp;estimate)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getEstimate</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>aa422e4fe078c014721758dcc0b44ffdc</anchor>
      <arglist>(ros::Time time, tf::StampedTransform &amp;estimate)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getEstimate</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>a6a858829f9741b40fa57321da253f4e2</anchor>
      <arglist>(geometry_msgs::PoseWithCovarianceStamped &amp;estimate)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>initialize</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>ad808cfc8e118991b9ad573793a88eaf8</anchor>
      <arglist>(const tf::Transform &amp;prior, const ros::Time &amp;time)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isInitialized</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>a015caf531f3d4f2308fbfde712698445</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>OdomEstimation</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>af80a9c16e15c01ad6d3bba30e453c1f4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setBaseFootprintFrame</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>af339c8b659c56063d9f627a1d826be42</anchor>
      <arglist>(const std::string &amp;base_frame)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setOutputFrame</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>a857c19be236a3ea12c1f79bbf1e8fc31</anchor>
      <arglist>(const std::string &amp;output_frame)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>update</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>a91b04be6d9486c1575ce5b9be8e43000</anchor>
      <arglist>(bool odom_active, bool imu_active, bool gps_active, bool vo_active, const ros::Time &amp;filter_time, bool &amp;diagnostics_res)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~OdomEstimation</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>a3a4b6757d6a035211d017a28973c5dfc</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>angleOverflowCorrect</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>a2e34640b81d71a75b48b43ef4a9ee609</anchor>
      <arglist>(double &amp;a, double ref)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>decomposeTransform</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>afcfe97c25c982ebe1c9a7e5679856532</anchor>
      <arglist>(const tf::StampedTransform &amp;trans, double &amp;x, double &amp;y, double &amp;z, double &amp;Rx, double &amp;Ry, double &amp;Rz)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>decomposeTransform</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>a5dc25b277e16edaf29ff30c7ab969099</anchor>
      <arglist>(const tf::Transform &amp;trans, double &amp;x, double &amp;y, double &amp;z, double &amp;Rx, double &amp;Ry, double &amp;Rz)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>base_footprint_frame_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>a15aa5f22352e09c4bfbb3429887dafb7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>diagnostics_imu_rot_rel_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>a4bf53f38b8847fbdae79473718044559</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>diagnostics_odom_rot_rel_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>a041943a28c3b87d19c6a1b62b08b8f9f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>BFL::ExtendedKalmanFilter *</type>
      <name>filter_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>aed1cd6057452879c37c39c4f86a16d87</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>tf::Transform</type>
      <name>filter_estimate_old_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>a8c98926b27ebb90c34903083ba27e2bb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>MatrixWrapper::ColumnVector</type>
      <name>filter_estimate_old_vec_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>a1dc43c4993b16d5c78924915228fc133</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>filter_initialized_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>a010ec44f60b9c77cb031c9566bae6cdf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Time</type>
      <name>filter_time_old_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>a3b2b318abebcf5ba95858b3e0e667e7d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>MatrixWrapper::SymmetricMatrix</type>
      <name>gps_covariance_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>a9f4e6ee6285215d5297e57b6466834b8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>gps_initialized_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>aac524c31ff7924fa0a86e48436ee829d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>tf::StampedTransform</type>
      <name>gps_meas_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>acea1707032eaabba729dbe6fbbf82a06</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>BFL::LinearAnalyticMeasurementModelGaussianUncertainty *</type>
      <name>gps_meas_model_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>ad1df3a213d0f4eff51d34322a5b238bd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>tf::StampedTransform</type>
      <name>gps_meas_old_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>a0ac216082da1c8ae9cef34906516d4ee</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>BFL::LinearAnalyticConditionalGaussian *</type>
      <name>gps_meas_pdf_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>a120d6b273ec16dc3249a6e1abe7b0404</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>MatrixWrapper::SymmetricMatrix</type>
      <name>imu_covariance_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>a226a4cd468ca8f16760ef12abc89d433</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>imu_initialized_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>a000da599e2f3673ae724fb0007b58014</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>tf::StampedTransform</type>
      <name>imu_meas_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>adf464ed1428f22bb8738764c8de5c1ed</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>BFL::LinearAnalyticMeasurementModelGaussianUncertainty *</type>
      <name>imu_meas_model_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>a73e0a682242e4e74baad12dd087b0efb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>tf::StampedTransform</type>
      <name>imu_meas_old_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>a7db138fc02f3c74ddbeafe75fa677dbd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>BFL::LinearAnalyticConditionalGaussian *</type>
      <name>imu_meas_pdf_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>a161f85548dbd54140c944fa032d5a97a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>MatrixWrapper::SymmetricMatrix</type>
      <name>odom_covariance_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>acb46b7a73bb95c99d962e9c5bb8e5eac</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>odom_initialized_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>a73c82b7b3d0721c5ee4e06c139119aa9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>tf::StampedTransform</type>
      <name>odom_meas_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>a1a894e373da99d8d51b3891d9ed88de1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>BFL::LinearAnalyticMeasurementModelGaussianUncertainty *</type>
      <name>odom_meas_model_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>aa688ab2dc14deef83bf202801b26475c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>tf::StampedTransform</type>
      <name>odom_meas_old_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>ad271eb38b7f88175323b46b7a29fed3f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>BFL::LinearAnalyticConditionalGaussian *</type>
      <name>odom_meas_pdf_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>a3e9b200bd1f5aa4d395eaf3180241ece</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>output_frame_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>afb53ab8ad34a260263f4f3a2977ee3d3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>BFL::Gaussian *</type>
      <name>prior_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>a7bdd8ed4cb428929ddf464b78662525d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>BFL::AnalyticSystemModelGaussianUncertainty *</type>
      <name>sys_model_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>a307535dc5bfb296d49e9591a5e40035f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>BFL::NonLinearAnalyticConditionalGaussianOdo *</type>
      <name>sys_pdf_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>a960e8c398fcc4e9cf377a65cce9ad14b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>tf::Transformer</type>
      <name>transformer_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>ab5fc11cbf03c2bf41523a55c2514a3da</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>MatrixWrapper::ColumnVector</type>
      <name>vel_desi_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>aa74a1aba3e72c9ea897541b4213b7a87</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>MatrixWrapper::SymmetricMatrix</type>
      <name>vo_covariance_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>a8a08be7b1550eda09083f85f005e207c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>vo_initialized_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>a8fcec182cee50885491ae469fc65b577</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>tf::StampedTransform</type>
      <name>vo_meas_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>af0331d804896eb47610aa001ad545b36</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>BFL::LinearAnalyticMeasurementModelGaussianUncertainty *</type>
      <name>vo_meas_model_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>a1684ce32e2da867af27c328ff2e80fbf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>tf::StampedTransform</type>
      <name>vo_meas_old_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>af3633141e9211d919dcc29c087fae145</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>BFL::LinearAnalyticConditionalGaussian *</type>
      <name>vo_meas_pdf_</name>
      <anchorfile>classestimation_1_1OdomEstimation.html</anchorfile>
      <anchor>aaee229d1bb5f905fba28f5ee6379f920</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>estimation::OdomEstimationNode</name>
    <filename>classestimation_1_1OdomEstimationNode.html</filename>
    <member kind="function">
      <type></type>
      <name>OdomEstimationNode</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a339d89b1fa1af2dc4a499d6b90d643db</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~OdomEstimationNode</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a7875c25b1f0eb1ee8b975c823d3104aa</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>getStatus</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a6e82d82de02b6af99fa4a2c5de86bbdd</anchor>
      <arglist>(robot_pose_ekf::GetStatus::Request &amp;req, robot_pose_ekf::GetStatus::Response &amp;resp)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>gpsCallback</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>ac6e1e6aad183d39f39c229a445f4add3</anchor>
      <arglist>(const GpsConstPtr &amp;gps)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>imuCallback</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a054f72d271e529fed4673722041c21d2</anchor>
      <arglist>(const ImuConstPtr &amp;imu)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>odomCallback</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>ac5e50993b2bf2207bb738bc6861c9524</anchor>
      <arglist>(const OdomConstPtr &amp;odom)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>spin</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a53a0bfd0dd30aa7fbfcacea8c77b20b5</anchor>
      <arglist>(const ros::TimerEvent &amp;e)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>voCallback</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>ab3f341e19c563b71106b363392030735</anchor>
      <arglist>(const VoConstPtr &amp;vo)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>base_footprint_frame_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a4209ae6518160bebcb5091127425001c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>tf::Transform</type>
      <name>base_gps_init_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a24a0862d6b423d3534519d7ac993a2fc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>tf::Transform</type>
      <name>base_vo_init_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a1d4f9ec192ab4d4a9658e835640d112a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>tf::StampedTransform</type>
      <name>camera_base_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>aca08808f6b39faed2c19b1e2338d569e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::ofstream</type>
      <name>corr_file_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a31dcd5b0069692fb717895d134000cae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>debug_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a751ef786522841a9f73266bde7184300</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>ekf_sent_counter_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>acb55d8c017095256286ea018f852e8ee</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::ofstream</type>
      <name>extra_file_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a12dbd54f26b15223245080096bca1c25</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Time</type>
      <name>filter_stamp_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a873b27cea8b265ed526031d2c087522f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>gps_active_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>adc131e928e8b436b60f30b0b911150af</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>gps_callback_counter_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>ae413ef374467efe962f1f3cd44bb2963</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>MatrixWrapper::SymmetricMatrix</type>
      <name>gps_covariance_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a7855daa98bdde6f7a275a09cd98157c5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::ofstream</type>
      <name>gps_file_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a793fdc12730cc34c48814e0413babca9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Time</type>
      <name>gps_init_stamp_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>ab2efb4506546350a37a34a969582ff15</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>gps_initializing_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a65094d7078e655e03af0e47cd10a36b0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>tf::Transform</type>
      <name>gps_meas_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a2439a63c0eb14a7d245e7cf3e0ce38da</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Time</type>
      <name>gps_stamp_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a5f3c0ec210831121e29ffaec09b9ec19</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>gps_sub_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a5d7420ccd72a7ae6c6d1ade8c97b0212</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Time</type>
      <name>gps_time_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a511ba7e14d685439d784e7294ab733f6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>gps_used_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a19982f36d7c7d0705acfef037ce3931c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>imu_active_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a038e605ec502023f7eba9438cdda756b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>imu_callback_counter_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>ac9fa04d2574a8cb015896b8f71d287ac</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>MatrixWrapper::SymmetricMatrix</type>
      <name>imu_covariance_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>adf925411033fb3f62be720d7c03e0fe2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::ofstream</type>
      <name>imu_file_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a2f34bba230a8fac3dffeed84f7e03aa3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Time</type>
      <name>imu_init_stamp_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>ae3e8fb39a4ac81c37e376d84608481de</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>imu_initializing_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>ab09eee87a776baee71d385553c9c0191</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>tf::Transform</type>
      <name>imu_meas_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>abe8ab3fe81cc2cfaa60e2ed0fedf27ce</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Time</type>
      <name>imu_stamp_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>ae2ae777c0276d53cc0fb19af985440a9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>imu_sub_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a060a2c34f9ab3d9989fe9b84f1277ea0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Time</type>
      <name>imu_time_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>aee8bf125b25112ef5364ebba5b29259a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>imu_used_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>ae7a9262c89d39bafbffe47719d8e413e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>OdomEstimation</type>
      <name>my_filter_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a9e577f6141bf247aeea9e891e315eedd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::NodeHandle</type>
      <name>node_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a958dd420925d15ce6973a718665b1bec</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>odom_active_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a5cdb201ce9bee69e0ca17cba818a32f1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>tf::TransformBroadcaster</type>
      <name>odom_broadcaster_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>ace9f984ad5a8ec7ae650a00b7089f93f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>odom_callback_counter_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>aa67d3e40cf0cad484f5b3b2b82e8d4dd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>MatrixWrapper::SymmetricMatrix</type>
      <name>odom_covariance_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a5cfb25b5f374971526e233078c129276</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::ofstream</type>
      <name>odom_file_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a85e6fea2d56d4704cc288982b62c5051</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Time</type>
      <name>odom_init_stamp_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a683ded39acb4fc86f72e87e7799b9871</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>odom_initializing_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>aba15bc23d94db028ce717829e8340592</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>tf::Transform</type>
      <name>odom_meas_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a882d749c33f7f983f218831278dd9939</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Time</type>
      <name>odom_stamp_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a428909af469b9d543b592dd76670825a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>odom_sub_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a739fa321919c0c2d0a5b20286bf3470c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Time</type>
      <name>odom_time_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a0e776b37e8433c06ae58ae3d67a7548c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>odom_used_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a0fbfdd34917ddf8184091cad1c4995ed</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>geometry_msgs::PoseWithCovarianceStamped</type>
      <name>output_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>ad3ca372047c87691f2ab6ff8887bc156</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>output_frame_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>ab03981efdd1039d999249df8c9539bfe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Publisher</type>
      <name>pose_pub_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a95df52cfab9832357f538d78eec76704</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>tf::TransformListener</type>
      <name>robot_state_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a54c5d3ef8ca468ef1b947db2f86ff6ef</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>self_diagnose_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a0c973b73e27830fb0ba23d1683e1d455</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::ServiceServer</type>
      <name>state_srv_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>aab3ef5a84fab3c052453d7703684240e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>tf_prefix_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a6027574fd894657311b9fffc2cfc7353</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::ofstream</type>
      <name>time_file_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a1c40b6274358ab24d07669fc4a211ea4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>timeout_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a687c036d9068d0c02c7bbf23a3bf6592</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Timer</type>
      <name>timer_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>aafce254fbc6c36028c99c21d499054b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>vo_active_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a49825c2453d0b29818e28fbc3f641c27</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>vo_callback_counter_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>af1f44d049d54ef9c79e3362114d55ed3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>MatrixWrapper::SymmetricMatrix</type>
      <name>vo_covariance_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>aa7411251416d0645eace2a75c72db5db</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::ofstream</type>
      <name>vo_file_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>afc10f6a81f352a06818e6a96e47a5880</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Time</type>
      <name>vo_init_stamp_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a95aa3b9c8267f9a82a6746c258624c08</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>vo_initializing_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>ad1110367de3974674dad760c624b28e8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>tf::Transform</type>
      <name>vo_meas_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>ab09fba5ae9da6ef3e7263add5b19a953</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Time</type>
      <name>vo_stamp_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>a19fe4cd9f30927b5c46724a9b9fdf3d0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>vo_sub_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>af855b000d8f1de6522244ace18e9153c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Time</type>
      <name>vo_time_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>af9ab6b88fbb9ca0ea7e0d2aca1d407b0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>vo_used_</name>
      <anchorfile>classestimation_1_1OdomEstimationNode.html</anchorfile>
      <anchor>aae50f0802d2120b30d3294205d738c0f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>TestEKF</name>
    <filename>classTestEKF.html</filename>
    <member kind="function">
      <type>void</type>
      <name>EKFCallback</name>
      <anchorfile>classTestEKF.html</anchorfile>
      <anchor>a69fd59d720ae5cef9d360f02c06f2fb6</anchor>
      <arglist>(const EkfConstPtr &amp;ekf)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>EKFCallback</name>
      <anchorfile>classTestEKF.html</anchorfile>
      <anchor>a69fd59d720ae5cef9d360f02c06f2fb6</anchor>
      <arglist>(const EkfConstPtr &amp;ekf)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>OdomCallback</name>
      <anchorfile>classTestEKF.html</anchorfile>
      <anchor>ab935282a581b8f559c6170cd256973ea</anchor>
      <arglist>(const OdomConstPtr &amp;odom)</arglist>
    </member>
    <member kind="variable">
      <type>EkfConstPtr</type>
      <name>ekf_begin_</name>
      <anchorfile>classTestEKF.html</anchorfile>
      <anchor>ac491f2e5614ee2c28db37427ce8dc8c5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>ekf_counter_</name>
      <anchorfile>classTestEKF.html</anchorfile>
      <anchor>aae0e8881f60282416a246f0aadb3b026</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>EkfConstPtr</type>
      <name>ekf_end_</name>
      <anchorfile>classTestEKF.html</anchorfile>
      <anchor>aff309fda72f7c15743cda6eab90a9593</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>ros::Subscriber</type>
      <name>ekf_sub_</name>
      <anchorfile>classTestEKF.html</anchorfile>
      <anchor>a5d05661ba0b964d6cae83ac77b1a3ce4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Time</type>
      <name>ekf_time_begin_</name>
      <anchorfile>classTestEKF.html</anchorfile>
      <anchor>ac0433ede68f1a741534ede067e5dbf0f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>NodeHandle</type>
      <name>node_</name>
      <anchorfile>classTestEKF.html</anchorfile>
      <anchor>ace4a2dbf18b7a5e82e8af30fa635b5e9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>odom_counter_</name>
      <anchorfile>classTestEKF.html</anchorfile>
      <anchor>ad1866c51f985ad77c92a5ac579e516fa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>OdomConstPtr</type>
      <name>odom_end_</name>
      <anchorfile>classTestEKF.html</anchorfile>
      <anchor>a7f330c415e5d6434192d1a9bd6b9faa9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>ros::Subscriber</type>
      <name>odom_sub_</name>
      <anchorfile>classTestEKF.html</anchorfile>
      <anchor>abfed81c0a7a9eb68f2ea7d9c2f079985</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Time</type>
      <name>odom_time_begin_</name>
      <anchorfile>classTestEKF.html</anchorfile>
      <anchor>a4a68cb8d42f3a6069ea935e633924396</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>SetUp</name>
      <anchorfile>classTestEKF.html</anchorfile>
      <anchor>a8119f78e41bc44fbe3e05610c4e4ff67</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>TearDown</name>
      <anchorfile>classTestEKF.html</anchorfile>
      <anchor>a6490cf2804a22a3b16e11f874669c077</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>TestEKF</name>
      <anchorfile>classTestEKF.html</anchorfile>
      <anchor>a4b41422f6bdc7d83fb2357bd05446b61</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>TestEKF</name>
      <anchorfile>classTestEKF.html</anchorfile>
      <anchor>a4b41422f6bdc7d83fb2357bd05446b61</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>~TestEKF</name>
      <anchorfile>classTestEKF.html</anchorfile>
      <anchor>afabcd9694f42c81fbd415c9d4d5e5e19</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>~TestEKF</name>
      <anchorfile>classTestEKF.html</anchorfile>
      <anchor>afabcd9694f42c81fbd415c9d4d5e5e19</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>BFL</name>
    <filename>namespaceBFL.html</filename>
    <class kind="class">BFL::NonLinearAnalyticConditionalGaussianOdo</class>
  </compound>
  <compound kind="namespace">
    <name>estimation</name>
    <filename>namespaceestimation.html</filename>
    <class kind="class">estimation::OdomEstimation</class>
    <class kind="class">estimation::OdomEstimationNode</class>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; nav_msgs::Odometry const  &gt;</type>
      <name>GpsConstPtr</name>
      <anchorfile>namespaceestimation.html</anchorfile>
      <anchor>a31f4f3310e18ce444193db43f3280825</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; sensor_msgs::Imu const  &gt;</type>
      <name>ImuConstPtr</name>
      <anchorfile>namespaceestimation.html</anchorfile>
      <anchor>a32b6b95d80936a023e695142ec935cfd</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; nav_msgs::Odometry const  &gt;</type>
      <name>OdomConstPtr</name>
      <anchorfile>namespaceestimation.html</anchorfile>
      <anchor>a8417fec9a980f303121ba50b9ea5b4bb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; geometry_msgs::Twist const  &gt;</type>
      <name>VelConstPtr</name>
      <anchorfile>namespaceestimation.html</anchorfile>
      <anchor>a288c856fc8974954e6552d40af3f5138</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; nav_msgs::Odometry const  &gt;</type>
      <name>VoConstPtr</name>
      <anchorfile>namespaceestimation.html</anchorfile>
      <anchor>ae37728a43238ff6b117451328ee39f68</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>wtf</name>
    <filename>namespacewtf.html</filename>
    <member kind="variable">
      <type></type>
      <name>anonymous</name>
      <anchorfile>namespacewtf.html</anchorfile>
      <anchor>a513e354fd68a353126163526b67bf91e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>resp</name>
      <anchorfile>namespacewtf.html</anchorfile>
      <anchor>a9094000b9504917c04e8c51a5b0a2991</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>s</name>
      <anchorfile>namespacewtf.html</anchorfile>
      <anchor>a7070f7a49be57ba74cb10045438ae529</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="page">
    <name>index</name>
    <title></title>
    <filename>index</filename>
  </compound>
</tagfile>
