<?xml version='1.0' encoding='ISO-8859-1' standalone='yes' ?>
<tagfile>
  <compound kind="file">
    <name>EndpointModel.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-hydro-humanoid_navigation/doc_stacks/2015-08-26_11-51-55.608307/humanoid_navigation/humanoid_localization/src/</path>
    <filename>EndpointModel_8cpp</filename>
    <includes id="EndpointModel_8h" name="EndpointModel.h" local="no" imported="no">humanoid_localization/EndpointModel.h</includes>
    <namespace>humanoid_localization</namespace>
  </compound>
  <compound kind="file">
    <name>EndpointModel.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-hydro-humanoid_navigation/doc_stacks/2015-08-26_11-51-55.608307/humanoid_navigation/humanoid_localization/include/humanoid_localization/</path>
    <filename>EndpointModel_8h</filename>
    <includes id="ObservationModel_8h" name="ObservationModel.h" local="no" imported="no">humanoid_localization/ObservationModel.h</includes>
    <class kind="class">humanoid_localization::EndpointModel</class>
    <namespace>humanoid_localization</namespace>
  </compound>
  <compound kind="file">
    <name>humanoid_localization_defs.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-hydro-humanoid_navigation/doc_stacks/2015-08-26_11-51-55.608307/humanoid_navigation/humanoid_localization/include/humanoid_localization/</path>
    <filename>humanoid__localization__defs_8h</filename>
    <class kind="struct">humanoid_localization::Particle</class>
    <namespace>humanoid_localization</namespace>
    <member kind="typedef">
      <type>boost::mt19937</type>
      <name>EngineT</name>
      <anchorfile>namespacehumanoid__localization.html</anchorfile>
      <anchor>a48bea6f73bca55375d2811daceb9b2f3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; double, 6, 6 &gt;</type>
      <name>Matrix6d</name>
      <anchorfile>namespacehumanoid__localization.html</anchorfile>
      <anchor>ae40721656d93aa6180cd0b93bafc7b2e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; float, 6, 6 &gt;</type>
      <name>Matrix6f</name>
      <anchorfile>namespacehumanoid__localization.html</anchorfile>
      <anchor>a3e23a94f8be8eb11c5d1ed780df20c4c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::normal_distribution</type>
      <name>NormalDistributionT</name>
      <anchorfile>namespacehumanoid__localization.html</anchorfile>
      <anchor>a0d04eebc62b103434824b27adccc58de</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::variate_generator&lt; EngineT &amp;, NormalDistributionT &gt;</type>
      <name>NormalGeneratorT</name>
      <anchorfile>namespacehumanoid__localization.html</anchorfile>
      <anchor>a8d194c30faf95409a683f18f55ac2005</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::vector&lt; Particle &gt;</type>
      <name>Particles</name>
      <anchorfile>namespacehumanoid__localization.html</anchorfile>
      <anchor>a705aed89f9597c8e322c6bec68d53ee2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pcl::PointCloud&lt; pcl::PointXYZ &gt;</type>
      <name>PointCloud</name>
      <anchorfile>namespacehumanoid__localization.html</anchorfile>
      <anchor>aa9a51664e73ed3bf89ada0c9bd0cd287</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::uniform_real</type>
      <name>UniformDistributionT</name>
      <anchorfile>namespacehumanoid__localization.html</anchorfile>
      <anchor>a760f2f9ec25b03cb98127a529c78ab63</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::variate_generator&lt; EngineT &amp;, UniformDistributionT &gt;</type>
      <name>UniformGeneratorT</name>
      <anchorfile>namespacehumanoid__localization.html</anchorfile>
      <anchor>aed76ce0d41a5603a17e3eafdc96ee08c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; double, 6, 1 &gt;</type>
      <name>Vector6d</name>
      <anchorfile>namespacehumanoid__localization.html</anchorfile>
      <anchor>ab742dbc19714ed01902ec555bd889acd</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; float, 6, 1 &gt;</type>
      <name>Vector6f</name>
      <anchorfile>namespacehumanoid__localization.html</anchorfile>
      <anchor>aa0b7c4b0e4766fd51f161a4d691b3e7c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>HumanoidLocalization.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-hydro-humanoid_navigation/doc_stacks/2015-08-26_11-51-55.608307/humanoid_navigation/humanoid_localization/src/</path>
    <filename>HumanoidLocalization_8cpp</filename>
    <includes id="HumanoidLocalization_8h" name="HumanoidLocalization.h" local="no" imported="no">humanoid_localization/HumanoidLocalization.h</includes>
    <namespace>humanoid_localization</namespace>
    <member kind="define">
      <type>#define</type>
      <name>_BENCH_TIME</name>
      <anchorfile>HumanoidLocalization_8cpp.html</anchorfile>
      <anchor>a0606a0c4f6321d5276791aa47e347ac1</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>HumanoidLocalization.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-hydro-humanoid_navigation/doc_stacks/2015-08-26_11-51-55.608307/humanoid_navigation/humanoid_localization/include/humanoid_localization/</path>
    <filename>HumanoidLocalization_8h</filename>
    <includes id="humanoid__localization__defs_8h" name="humanoid_localization_defs.h" local="no" imported="no">humanoid_localization/humanoid_localization_defs.h</includes>
    <includes id="MotionModel_8h" name="MotionModel.h" local="no" imported="no">humanoid_localization/MotionModel.h</includes>
    <includes id="ObservationModel_8h" name="ObservationModel.h" local="no" imported="no">humanoid_localization/ObservationModel.h</includes>
    <includes id="RaycastingModel_8h" name="RaycastingModel.h" local="no" imported="no">humanoid_localization/RaycastingModel.h</includes>
    <includes id="EndpointModel_8h" name="EndpointModel.h" local="no" imported="no">humanoid_localization/EndpointModel.h</includes>
    <class kind="class">humanoid_localization::HumanoidLocalization</class>
    <namespace>humanoid_localization</namespace>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>getRP</name>
      <anchorfile>namespacehumanoid__localization.html</anchorfile>
      <anchor>afca457416ef95b82fb5cd8206214e28e</anchor>
      <arglist>(const geometry_msgs::Quaternion &amp;msg_q, double &amp;roll, double &amp;pitch)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>localization_node.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-hydro-humanoid_navigation/doc_stacks/2015-08-26_11-51-55.608307/humanoid_navigation/humanoid_localization/src/</path>
    <filename>localization__node_8cpp</filename>
    <includes id="HumanoidLocalization_8h" name="HumanoidLocalization.h" local="no" imported="no">humanoid_localization/HumanoidLocalization.h</includes>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>localization__node_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>mainpage.dox</name>
    <path>/home/rosbuild/hudson/workspace/doc-hydro-humanoid_navigation/doc_stacks/2015-08-26_11-51-55.608307/humanoid_navigation/humanoid_localization/</path>
    <filename>mainpage_8dox</filename>
  </compound>
  <compound kind="file">
    <name>MapModel.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-hydro-humanoid_navigation/doc_stacks/2015-08-26_11-51-55.608307/humanoid_navigation/humanoid_localization/src/</path>
    <filename>MapModel_8cpp</filename>
    <includes id="MapModel_8h" name="MapModel.h" local="no" imported="no">humanoid_localization/MapModel.h</includes>
    <namespace>humanoid_localization</namespace>
  </compound>
  <compound kind="file">
    <name>MapModel.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-hydro-humanoid_navigation/doc_stacks/2015-08-26_11-51-55.608307/humanoid_navigation/humanoid_localization/include/humanoid_localization/</path>
    <filename>MapModel_8h</filename>
    <includes id="humanoid__localization__defs_8h" name="humanoid_localization_defs.h" local="no" imported="no">humanoid_localization/humanoid_localization_defs.h</includes>
    <class kind="class">humanoid_localization::DistanceMap</class>
    <class kind="class">humanoid_localization::MapModel</class>
    <class kind="class">humanoid_localization::OccupancyMap</class>
    <namespace>humanoid_localization</namespace>
  </compound>
  <compound kind="file">
    <name>MotionModel.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-hydro-humanoid_navigation/doc_stacks/2015-08-26_11-51-55.608307/humanoid_navigation/humanoid_localization/src/</path>
    <filename>MotionModel_8cpp</filename>
    <includes id="MotionModel_8h" name="MotionModel.h" local="no" imported="no">humanoid_localization/MotionModel.h</includes>
    <namespace>humanoid_localization</namespace>
  </compound>
  <compound kind="file">
    <name>MotionModel.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-hydro-humanoid_navigation/doc_stacks/2015-08-26_11-51-55.608307/humanoid_navigation/humanoid_localization/include/humanoid_localization/</path>
    <filename>MotionModel_8h</filename>
    <includes id="humanoid__localization__defs_8h" name="humanoid_localization_defs.h" local="no" imported="no">humanoid_localization/humanoid_localization_defs.h</includes>
    <class kind="class">humanoid_localization::MotionModel</class>
    <namespace>humanoid_localization</namespace>
  </compound>
  <compound kind="file">
    <name>ObservationModel.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-hydro-humanoid_navigation/doc_stacks/2015-08-26_11-51-55.608307/humanoid_navigation/humanoid_localization/src/</path>
    <filename>ObservationModel_8cpp</filename>
    <includes id="ObservationModel_8h" name="ObservationModel.h" local="no" imported="no">humanoid_localization/ObservationModel.h</includes>
    <namespace>humanoid_localization</namespace>
  </compound>
  <compound kind="file">
    <name>ObservationModel.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-hydro-humanoid_navigation/doc_stacks/2015-08-26_11-51-55.608307/humanoid_navigation/humanoid_localization/include/humanoid_localization/</path>
    <filename>ObservationModel_8h</filename>
    <includes id="humanoid__localization__defs_8h" name="humanoid_localization_defs.h" local="no" imported="no">humanoid_localization/humanoid_localization_defs.h</includes>
    <includes id="MapModel_8h" name="MapModel.h" local="no" imported="no">humanoid_localization/MapModel.h</includes>
    <class kind="class">humanoid_localization::ObservationModel</class>
    <namespace>humanoid_localization</namespace>
    <member kind="variable" static="yes">
      <type>static const double</type>
      <name>LOG_SQRT_2_PI</name>
      <anchorfile>namespacehumanoid__localization.html</anchorfile>
      <anchor>a8d1a536f9c0ce464b5dae59867832d94</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const double</type>
      <name>SQRT_2_PI</name>
      <anchorfile>namespacehumanoid__localization.html</anchorfile>
      <anchor>a49e1b8aba390a2c3ef4634e118c871c7</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>RaycastingModel.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-hydro-humanoid_navigation/doc_stacks/2015-08-26_11-51-55.608307/humanoid_navigation/humanoid_localization/src/</path>
    <filename>RaycastingModel_8cpp</filename>
    <includes id="RaycastingModel_8h" name="RaycastingModel.h" local="no" imported="no">humanoid_localization/RaycastingModel.h</includes>
    <namespace>humanoid_localization</namespace>
  </compound>
  <compound kind="file">
    <name>RaycastingModel.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-hydro-humanoid_navigation/doc_stacks/2015-08-26_11-51-55.608307/humanoid_navigation/humanoid_localization/include/humanoid_localization/</path>
    <filename>RaycastingModel_8h</filename>
    <includes id="ObservationModel_8h" name="ObservationModel.h" local="no" imported="no">humanoid_localization/ObservationModel.h</includes>
    <class kind="class">humanoid_localization::RaycastingModel</class>
    <namespace>humanoid_localization</namespace>
  </compound>
  <compound kind="namespace">
    <name>humanoid_localization</name>
    <filename>namespacehumanoid__localization.html</filename>
    <class kind="class">humanoid_localization::DistanceMap</class>
    <class kind="class">humanoid_localization::EndpointModel</class>
    <class kind="class">humanoid_localization::HumanoidLocalization</class>
    <class kind="class">humanoid_localization::MapModel</class>
    <class kind="class">humanoid_localization::MotionModel</class>
    <class kind="class">humanoid_localization::ObservationModel</class>
    <class kind="class">humanoid_localization::OccupancyMap</class>
    <class kind="struct">humanoid_localization::Particle</class>
    <class kind="class">humanoid_localization::RaycastingModel</class>
    <member kind="typedef">
      <type>boost::mt19937</type>
      <name>EngineT</name>
      <anchorfile>namespacehumanoid__localization.html</anchorfile>
      <anchor>a48bea6f73bca55375d2811daceb9b2f3</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; double, 6, 6 &gt;</type>
      <name>Matrix6d</name>
      <anchorfile>namespacehumanoid__localization.html</anchorfile>
      <anchor>ae40721656d93aa6180cd0b93bafc7b2e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; float, 6, 6 &gt;</type>
      <name>Matrix6f</name>
      <anchorfile>namespacehumanoid__localization.html</anchorfile>
      <anchor>a3e23a94f8be8eb11c5d1ed780df20c4c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::normal_distribution</type>
      <name>NormalDistributionT</name>
      <anchorfile>namespacehumanoid__localization.html</anchorfile>
      <anchor>a0d04eebc62b103434824b27adccc58de</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::variate_generator&lt; EngineT &amp;, NormalDistributionT &gt;</type>
      <name>NormalGeneratorT</name>
      <anchorfile>namespacehumanoid__localization.html</anchorfile>
      <anchor>a8d194c30faf95409a683f18f55ac2005</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::vector&lt; Particle &gt;</type>
      <name>Particles</name>
      <anchorfile>namespacehumanoid__localization.html</anchorfile>
      <anchor>a705aed89f9597c8e322c6bec68d53ee2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>pcl::PointCloud&lt; pcl::PointXYZ &gt;</type>
      <name>PointCloud</name>
      <anchorfile>namespacehumanoid__localization.html</anchorfile>
      <anchor>aa9a51664e73ed3bf89ada0c9bd0cd287</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::uniform_real</type>
      <name>UniformDistributionT</name>
      <anchorfile>namespacehumanoid__localization.html</anchorfile>
      <anchor>a760f2f9ec25b03cb98127a529c78ab63</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::variate_generator&lt; EngineT &amp;, UniformDistributionT &gt;</type>
      <name>UniformGeneratorT</name>
      <anchorfile>namespacehumanoid__localization.html</anchorfile>
      <anchor>aed76ce0d41a5603a17e3eafdc96ee08c</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; double, 6, 1 &gt;</type>
      <name>Vector6d</name>
      <anchorfile>namespacehumanoid__localization.html</anchorfile>
      <anchor>ab742dbc19714ed01902ec555bd889acd</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; float, 6, 1 &gt;</type>
      <name>Vector6f</name>
      <anchorfile>namespacehumanoid__localization.html</anchorfile>
      <anchor>aa0b7c4b0e4766fd51f161a4d691b3e7c</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>getRP</name>
      <anchorfile>namespacehumanoid__localization.html</anchorfile>
      <anchor>afca457416ef95b82fb5cd8206214e28e</anchor>
      <arglist>(const geometry_msgs::Quaternion &amp;msg_q, double &amp;roll, double &amp;pitch)</arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const double</type>
      <name>LOG_SQRT_2_PI</name>
      <anchorfile>namespacehumanoid__localization.html</anchorfile>
      <anchor>a8d1a536f9c0ce464b5dae59867832d94</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const double</type>
      <name>SQRT_2_PI</name>
      <anchorfile>namespacehumanoid__localization.html</anchorfile>
      <anchor>a49e1b8aba390a2c3ef4634e118c871c7</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>humanoid_localization::DistanceMap</name>
    <filename>classhumanoid__localization_1_1DistanceMap.html</filename>
    <base>humanoid_localization::MapModel</base>
    <member kind="function">
      <type></type>
      <name>DistanceMap</name>
      <anchorfile>classhumanoid__localization_1_1DistanceMap.html</anchorfile>
      <anchor>a468582bd1c19ad752b8aca0720f59681</anchor>
      <arglist>(ros::NodeHandle *nh)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>getFloorHeight</name>
      <anchorfile>classhumanoid__localization_1_1DistanceMap.html</anchorfile>
      <anchor>a50049c2fd57d9db9f4f4a151745630e2</anchor>
      <arglist>(const tf::Transform &amp;pose) const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>isOccupied</name>
      <anchorfile>classhumanoid__localization_1_1DistanceMap.html</anchorfile>
      <anchor>a1f3f03141e26e70b3c9208838014a20d</anchor>
      <arglist>(octomap::OcTreeNode *node) const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~DistanceMap</name>
      <anchorfile>classhumanoid__localization_1_1DistanceMap.html</anchorfile>
      <anchor>abebcf1d28ce209f072f0d1a2aafa8943</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>humanoid_localization::EndpointModel</name>
    <filename>classhumanoid__localization_1_1EndpointModel.html</filename>
    <base>humanoid_localization::ObservationModel</base>
    <member kind="function">
      <type></type>
      <name>EndpointModel</name>
      <anchorfile>classhumanoid__localization_1_1EndpointModel.html</anchorfile>
      <anchor>ad1fa03d23c3d77daaef073a5bfd98aa4</anchor>
      <arglist>(ros::NodeHandle *nh, boost::shared_ptr&lt; MapModel &gt; mapModel, EngineT *rngEngine)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>integrateMeasurement</name>
      <anchorfile>classhumanoid__localization_1_1EndpointModel.html</anchorfile>
      <anchor>acd77b4e88dbe16369da152acc8de0759</anchor>
      <arglist>(Particles &amp;particles, const PointCloud &amp;pc, const std::vector&lt; float &gt; &amp;ranges, float max_range, const tf::Transform &amp;baseToSensor)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setMap</name>
      <anchorfile>classhumanoid__localization_1_1EndpointModel.html</anchorfile>
      <anchor>ad56eec67cfb62157354c5b1b6473ff68</anchor>
      <arglist>(boost::shared_ptr&lt; octomap::OcTree &gt; map)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~EndpointModel</name>
      <anchorfile>classhumanoid__localization_1_1EndpointModel.html</anchorfile>
      <anchor>a318654d13f69eb074fea7490cceaf410</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>getHeightError</name>
      <anchorfile>classhumanoid__localization_1_1EndpointModel.html</anchorfile>
      <anchor>ad530205d76dda20e7b406c9037f0d041</anchor>
      <arglist>(const Particle &amp;p, const tf::StampedTransform &amp;footprintToBase, double &amp;heightError) const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>initDistanceMap</name>
      <anchorfile>classhumanoid__localization_1_1EndpointModel.html</anchorfile>
      <anchor>a7b14fc209f27888d57529dda3b32913b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::shared_ptr&lt; DynamicEDTOctomap &gt;</type>
      <name>m_distanceMap</name>
      <anchorfile>classhumanoid__localization_1_1EndpointModel.html</anchorfile>
      <anchor>a5fbe648f3e512fcdb696370ed21e88ee</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_maxObstacleDistance</name>
      <anchorfile>classhumanoid__localization_1_1EndpointModel.html</anchorfile>
      <anchor>a767f4ee068095dcbfa88dd5b96dc97af</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_sigma</name>
      <anchorfile>classhumanoid__localization_1_1EndpointModel.html</anchorfile>
      <anchor>ae679019024bd560e6b376c00e174328a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>humanoid_localization::HumanoidLocalization</name>
    <filename>classhumanoid__localization_1_1HumanoidLocalization.html</filename>
    <member kind="function">
      <type>unsigned</type>
      <name>getBestParticleIdx</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a188b73f91739a9ab42adce1a71c563b0</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>tf::Pose</type>
      <name>getBestParticlePose</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a85197065834fce2ebe996126d9859397</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>tf::Pose</type>
      <name>getMeanParticlePose</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>aa25ba4588aadcce0ff412c76c92c86df</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>tf::Pose</type>
      <name>getParticlePose</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a590e5c2057e44d84fb00f8226f453fd3</anchor>
      <arglist>(unsigned particleIdx) const </arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>globalLocalizationCallback</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a6faf0a3c5b5de7addcd5d4a4588c780a</anchor>
      <arglist>(std_srvs::Empty::Request &amp;req, std_srvs::Empty::Response &amp;res)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>HumanoidLocalization</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>aecd69c155a39672adde94ae996906919</anchor>
      <arglist>(unsigned randomSeed)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>imuCallback</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a8bd39045c3d1e88f4e09d6f4026829f0</anchor>
      <arglist>(const sensor_msgs::ImuConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>initGlobal</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>aadb10f1a6978fed50b175eb930ea127c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>initPoseCallback</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>ad7234622ed2895a07466a638fbc8d4c1</anchor>
      <arglist>(const geometry_msgs::PoseWithCovarianceStampedConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>laserCallback</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a8e40801555400a9e5038a68ee48e595c</anchor>
      <arglist>(const sensor_msgs::LaserScanConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>pauseLocalizationCallback</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a9b74f911b14e99491e6e6b6d9909a32d</anchor>
      <arglist>(const std_msgs::BoolConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>pauseLocalizationSrvCallback</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a942b0a6c56e49649772c1fd51daf29c7</anchor>
      <arglist>(std_srvs::Empty::Request &amp;req, std_srvs::Empty::Response &amp;res)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>pointCloudCallback</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>af735ad91ebdeca6614ccb313951ddbfe</anchor>
      <arglist>(const PointCloud::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>resample</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>ae6ea0548a3359702d59bb3ad24294c63</anchor>
      <arglist>(unsigned numParticles=0)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>resumeLocalizationSrvCallback</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a02c7fdd78e47af383f14a9c7cf2a00ae</anchor>
      <arglist>(std_srvs::Empty::Request &amp;req, std_srvs::Empty::Response &amp;res)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~HumanoidLocalization</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>aad176935b07f88a74dbfd66ca1e42dbe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>filterGroundPlane</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a9dee9f3a438e197ba0f9e8f35d87338f</anchor>
      <arglist>(const PointCloud &amp;pc, PointCloud &amp;ground, PointCloud &amp;nonground, double groundFilterDistance, double groundFilterAngle, double groundFilterPlaneDistance)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>unsigned</type>
      <name>computeBeamStep</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a4550f8684ccdca64ea5492ac615956f1</anchor>
      <arglist>(unsigned numBeams) const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>constrainMotion</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a0b16a0f085af95096e6c85c83ec410b9</anchor>
      <arglist>(const tf::Pose &amp;odomPose)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>int</type>
      <name>filterUniform</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a780e5bbee57685ad8da1ceb95002d8cf</anchor>
      <arglist>(const PointCloud &amp;cloud_in, PointCloud &amp;cloud_out, int numSamples) const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>double</type>
      <name>getCumParticleWeight</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a927a3c1da9dadd3467ad99e9869505d2</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>getImuMsg</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>ae32b717c1a8892d7c5bc87f590b8feb3</anchor>
      <arglist>(const ros::Time &amp;stamp, ros::Time &amp;imuStamp, double &amp;angleX, double &amp;angleY) const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>initZRP</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>acbb80a3724257f3d2c073b71f9a921de</anchor>
      <arglist>(double &amp;z, double &amp;roll, double &amp;pitch)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>isAboveMotionThreshold</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a4dd894e2c244b8ef915a7ea00035e833</anchor>
      <arglist>(const tf::Pose &amp;odomTransform)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>localizeWithMeasurement</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>ab5eb52c5a7ae95f60dc0d116382fb4a1</anchor>
      <arglist>(const PointCloud &amp;pc_filtered, const std::vector&lt; float &gt; &amp;ranges, double max_range)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>lookupPoseHeight</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>ae3772ab47d7061a660984a5e841cc872</anchor>
      <arglist>(const ros::Time &amp;t, double &amp;poseHeight) const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>double</type>
      <name>nEff</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a5d6fab7973555adb693cefdfd4417d6f</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>normalizeWeights</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a7767127166fabb29bf2d240a1e7c31eb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>prepareGeneralPointCloud</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a5c173b3bbe85f544a4ff9fe539053138</anchor>
      <arglist>(const PointCloud::ConstPtr &amp;msg, PointCloud &amp;pc, std::vector&lt; float &gt; &amp;ranges) const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>prepareLaserPointCloud</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a3b2328fc7b2d3b186b87beadebfaa54e</anchor>
      <arglist>(const sensor_msgs::LaserScanConstPtr &amp;laser, PointCloud &amp;pc, std::vector&lt; float &gt; &amp;ranges) const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>publishPoseEstimate</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a800544c9b7ba12c0c2da94bc24b6ffcd</anchor>
      <arglist>(const ros::Time &amp;time, bool publish_eval)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>reset</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a48a9a7f522a716ee81604a49daff60fd</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>timerCallback</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a2d0a80e6ad2c20830e1b065796a9a164</anchor>
      <arglist>(const ros::TimerEvent &amp;e)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>toLogForm</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a7a0bee8f4c4c611dc524199a0ac653d6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>voxelGridSampling</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>aaa3bd337e02a24fa616597ac4021098e</anchor>
      <arglist>(const PointCloud &amp;pc, pcl::PointCloud&lt; int &gt; &amp;sampledIndices, double searchRadius) const </arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>m_baseFootprintId</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a363cf0f222694a7aa0bdb7d24376ac20</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>m_baseFrameId</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a65ddd5628b0439f28783cb479b0e2e9c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_bestParticleAsMean</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>af00139a45bf17f23c895a0f08d9f3f56</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>m_bestParticleIdx</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a0c62081324731a073fae18495894e2fd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>m_bestPosePub</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a90ed8a10b066f87480d2203d78c05001</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_constrainMotionRP</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a69439102ca7535151c370dc3043974e6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_constrainMotionZ</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a6bf5295995db91297a74b611684799f4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>m_filteredPointCloudPub</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>ac18a229e0cef8dbe68307627df0affce</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_filterMaxRange</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a22cebc405f1d8c8ba8949b45977fb6f6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_filterMinRange</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a85d88c2a58c2dd720ad9fb15ed7e023a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>m_globalFrameId</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>ad56b847a2c424ae653130afae1c21307</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::ServiceServer</type>
      <name>m_globalLocSrv</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a9b45042a5e5e4e9020826f67009e3d42</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_groundFilterAngle</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a60a733eaa94a01fd8ddc7b99e2a58d1a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_groundFilterDistance</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a926f86cb2693a6db8797ef0531a6516d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_groundFilterPlaneDistance</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>afc231150d28cfdcb9d119273b610136f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_groundFilterPointCloud</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>aedf5bf3d58541fc5a6d900ea2e7c3c65</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_headPitchRotationLastScan</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>aef9ab76ad20004aa577bd86c43363007</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_headYawRotationLastScan</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>ad5a333a87dca59f55cc5d814883a97c7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Subscriber</type>
      <name>m_imuSub</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>aafc273a2d2ee13d7c271a730fb80705d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_initFromTruepose</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a8b484f01c7f4aea17c4990fe8b1f464d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_initGlobal</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a261f70ff8b3f9e0114abd4c5d7f3cb8f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_initialized</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a0ec9f7d34600ded2f89d5d50f24be900</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector6d</type>
      <name>m_initNoiseStd</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a6c068a4f5f2977ebdaf5b5f9583d85c1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector6d</type>
      <name>m_initPose</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>afd3ce97486964f8dfaa26ff05eeaa355</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>tf::MessageFilter&lt; geometry_msgs::PoseWithCovarianceStamped &gt; *</type>
      <name>m_initPoseFilter</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>aa7ca4b644872f9a27fbc5a708576a6b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_initPoseRealZRP</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a8d2c8facd82a888559f9cbff89014150</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>message_filters::Subscriber&lt; geometry_msgs::PoseWithCovarianceStamped &gt; *</type>
      <name>m_initPoseSub</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a3ebe3b9784d2ab724e09f1d973e42a62</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>tf::MessageFilter&lt; sensor_msgs::LaserScan &gt; *</type>
      <name>m_laserFilter</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a71e0a11450539d5d19a7da7322add69f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>message_filters::Subscriber&lt; sensor_msgs::LaserScan &gt; *</type>
      <name>m_laserSub</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>aa051d209bd38b0b11075a9c9f51f8b91</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::circular_buffer&lt; sensor_msgs::Imu &gt;</type>
      <name>m_lastIMUMsgBuffer</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a2f2a6abf2922622f647a0b94df896b3b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Time</type>
      <name>m_lastLaserTime</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a63fa74ae37dc50c99fde3a9a75c15d63</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>tf::Pose</type>
      <name>m_lastLocalizedPose</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a4661aed26f0fea0cb562ab0ec491642b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Time</type>
      <name>m_lastPointCloudTime</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a2cf66f8c50b462cd1513d659e4c80af8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>tf::StampedTransform</type>
      <name>m_latest_transform</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a55e168e358ad8dce531cedcca6942851</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::shared_ptr&lt; MapModel &gt;</type>
      <name>m_mapModel</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>aa7c188663378073193c558fb7a2b1ffe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_minParticleWeight</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a2c9667c9dfc50ec047ca4e8e2fbe317f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::shared_ptr&lt; MotionModel &gt;</type>
      <name>m_motionModel</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a27859b51b47bbe08ed49f0492eaffc9e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_nEffFactor</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a080980d2d9b71fc2d0d3fd21d7cfa401</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>m_nEffPub</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a473adccc9c45968659ab4c3184e7411d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::NodeHandle</type>
      <name>m_nh</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a3bb87b7683496e0215e1df8d3b936cd6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>m_numFloorPoints</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a10a905e59c08bb1c957901479ff25109</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>m_numNonFloorPoints</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a955807c2749d569aa972166a2cb19f45</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>m_numParticles</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>acb87bdee1921c160d13d9aeef98b0ce1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::shared_ptr&lt; ObservationModel &gt;</type>
      <name>m_observationModel</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a04d6b6e16525caab0bd2a775d796ec5f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_observationThresholdHeadPitchRot</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a64a729cc5354ff244f505ff563991732</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_observationThresholdHeadYawRot</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a4cac4b88b82f8fe4eb5a2c333465f928</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_observationThresholdRot</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>aa9cd10395012f8cab79c93f36c8a9d6f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_observationThresholdTrans</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>abfe3ec99fa201434b45a3b3a3c455c66</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>m_odomFrameId</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>aa982898178aa352f3ed94446825e7633</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>tf::Pose</type>
      <name>m_odomPose</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>acf853f80ca1c3da57183221436e74d59</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Particles</type>
      <name>m_particles</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>ade96cc992670057d361514b47867f266</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_paused</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>ab02ed47d89ce59d87c2f4aa309870963</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Subscriber</type>
      <name>m_pauseIntegrationSub</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>ab998bb7a3d2bcfbc47f13021952d698b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::ServiceServer</type>
      <name>m_pauseLocSrv</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>ac148e4e50c89ce9ab25604a0b8609a6b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>tf::MessageFilter&lt; PointCloud &gt; *</type>
      <name>m_pointCloudFilter</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a7e8feffcc286a77311d8f73b9552509a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>message_filters::Subscriber&lt; PointCloud &gt; *</type>
      <name>m_pointCloudSub</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>aa22b1e7fdeef1cf36069b5cabaf18b20</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>geometry_msgs::PoseArray</type>
      <name>m_poseArray</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a78df093792df754e87707611566e83af</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>m_poseArrayPub</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a1690e3fe0bf183962f2673c49406ebc3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>m_poseEvalPub</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a69f7c8c9ade14bcb37892c31e2068960</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>m_poseOdomPub</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a9800f6f6974c999cc47a6c49f91e1899</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>m_posePub</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a5cd6725f7cfc19c68dc1a5e43afe0898</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>m_poseTruePub</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a82bdc93e9e586890e72da42a79774da6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::NodeHandle</type>
      <name>m_privateNh</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>ab7001551a0cab2915de295558a2dcd52</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_receivedSensorData</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a54ed2261df9ae30934a777100a2ee8a2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::ServiceServer</type>
      <name>m_resumeLocSrv</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a47f97ca04aaa45bca9be90226cfa9ec6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>EngineT</type>
      <name>m_rngEngine</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a8cbbdb7cedf586b39c5383a4955d19d7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>NormalGeneratorT</type>
      <name>m_rngNormal</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a9c91f453af067f5fe1e885f3b2cf83f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>UniformGeneratorT</type>
      <name>m_rngUniform</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>adeb9c5ce1c34f45c1b0741a726807072</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_sensorSampleDist</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a32eca99a2552e749cf06673cfa11c9a5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_sensorSampleDistGroundFactor</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a0321164cb00b3dbab109ba33a79ea535</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_syncedTruepose</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a6e5c7f6040e7693866fac576a7ca33e5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>m_targetFrameId</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>ad704fd90c56782b2b1690abd1d92ca58</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_temporalSamplingRange</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a66038b362393250a3b035e0ad3a0762e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>tf::TransformBroadcaster</type>
      <name>m_tfBroadcaster</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a703ec963cb2402b55559d56e705a89f5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>tf::TransformListener</type>
      <name>m_tfListener</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a8bbaa72db4145f28edd5c46c3565b972</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Timer</type>
      <name>m_timer</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a083f0637e24cf93085f8fd5992362b1c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_timerPeriod</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a37184bbae500c527e2b67d7e2028f7d7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_transformTolerance</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a30a10c2cdcd7ef4de4a39253aaf341a5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_useIMU</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a437021fa4ac5e06a8251b1f4cb989afc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_useRaycasting</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a22932bb4c03d248f2405ef3316ed4ce0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_useTimer</name>
      <anchorfile>classhumanoid__localization_1_1HumanoidLocalization.html</anchorfile>
      <anchor>a383dc62170557c43e827844c0ca90c82</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>humanoid_localization::MapModel</name>
    <filename>classhumanoid__localization_1_1MapModel.html</filename>
    <member kind="function" virtualness="pure">
      <type>virtual double</type>
      <name>getFloorHeight</name>
      <anchorfile>classhumanoid__localization_1_1MapModel.html</anchorfile>
      <anchor>adf99d0b6f7a16e5be77abf0dcad39110</anchor>
      <arglist>(const tf::Transform &amp;pose) const =0</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getHeightlist</name>
      <anchorfile>classhumanoid__localization_1_1MapModel.html</anchorfile>
      <anchor>adc452e0131f1ea49fc01d0e1b60f0b0f</anchor>
      <arglist>(double x, double y, double totalHeight, std::vector&lt; double &gt; &amp;heights)</arglist>
    </member>
    <member kind="function">
      <type>boost::shared_ptr&lt; octomap::OcTree &gt;</type>
      <name>getMap</name>
      <anchorfile>classhumanoid__localization_1_1MapModel.html</anchorfile>
      <anchor>a2db58edfc4744a67f43e1a114242ef61</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>initGlobal</name>
      <anchorfile>classhumanoid__localization_1_1MapModel.html</anchorfile>
      <anchor>a4424871d9ea529f21dbdb9e03d9c89c5</anchor>
      <arglist>(Particles &amp;particles, double z, double roll, double pitch, const Vector6d &amp;initNoise, UniformGeneratorT &amp;rngUniform, NormalGeneratorT &amp;rngNormal)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>isOccupied</name>
      <anchorfile>classhumanoid__localization_1_1MapModel.html</anchorfile>
      <anchor>a6cb03de5bf687f7d7885476955514fae</anchor>
      <arglist>(const octomap::point3d &amp;position) const </arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>isOccupied</name>
      <anchorfile>classhumanoid__localization_1_1MapModel.html</anchorfile>
      <anchor>ad342bd7bd4866c2b3d8dc722fb4ec279</anchor>
      <arglist>(octomap::OcTreeNode *node) const =0</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MapModel</name>
      <anchorfile>classhumanoid__localization_1_1MapModel.html</anchorfile>
      <anchor>aba114b71f56bc30db97f29654fc20ca2</anchor>
      <arglist>(ros::NodeHandle *nh)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>verifyPoses</name>
      <anchorfile>classhumanoid__localization_1_1MapModel.html</anchorfile>
      <anchor>acc8c2b23555f053ef31fff54f571de57</anchor>
      <arglist>(Particles &amp;particles)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~MapModel</name>
      <anchorfile>classhumanoid__localization_1_1MapModel.html</anchorfile>
      <anchor>a03386a3cfe4c86667a6a9de76ac53f62</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::shared_ptr&lt; octomap::OcTree &gt;</type>
      <name>m_map</name>
      <anchorfile>classhumanoid__localization_1_1MapModel.html</anchorfile>
      <anchor>aa553a9630851adef7c3d828541f8bc19</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_motionMeanZ</name>
      <anchorfile>classhumanoid__localization_1_1MapModel.html</anchorfile>
      <anchor>a7d205f2b03ea5790d53b0794d3bce3ab</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_motionObstacleDist</name>
      <anchorfile>classhumanoid__localization_1_1MapModel.html</anchorfile>
      <anchor>a21024180bb118951234f7abb23dbce1e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_motionRangePitch</name>
      <anchorfile>classhumanoid__localization_1_1MapModel.html</anchorfile>
      <anchor>ab198b289454775ceb4e2e031ea6542ba</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_motionRangeRoll</name>
      <anchorfile>classhumanoid__localization_1_1MapModel.html</anchorfile>
      <anchor>a3288a935659585a8009315a12ce5c5d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_motionRangeZ</name>
      <anchorfile>classhumanoid__localization_1_1MapModel.html</anchorfile>
      <anchor>a93b1401df5cc65bb441d74707e411a60</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>humanoid_localization::MotionModel</name>
    <filename>classhumanoid__localization_1_1MotionModel.html</filename>
    <member kind="function">
      <type>void</type>
      <name>applyOdomTransform</name>
      <anchorfile>classhumanoid__localization_1_1MotionModel.html</anchorfile>
      <anchor>acc12de7981a74abc6b23122efa6e49bf</anchor>
      <arglist>(Particles &amp;particles, const tf::Transform &amp;odomTransform)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>applyOdomTransformTemporal</name>
      <anchorfile>classhumanoid__localization_1_1MotionModel.html</anchorfile>
      <anchor>af58e21d490aeeec5dca44ef662f88d9d</anchor>
      <arglist>(Particles &amp;particles, const ros::Time &amp;t, double dt)</arglist>
    </member>
    <member kind="function">
      <type>tf::Transform</type>
      <name>computeOdomTransform</name>
      <anchorfile>classhumanoid__localization_1_1MotionModel.html</anchorfile>
      <anchor>a477cce131b97ffddd42754d61207cc83</anchor>
      <arglist>(const tf::Transform currentPose) const </arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getLastOdomPose</name>
      <anchorfile>classhumanoid__localization_1_1MotionModel.html</anchorfile>
      <anchor>a9118987b625400a2fec9090982fe7351</anchor>
      <arglist>(tf::Stamped&lt; tf::Pose &gt; &amp;lastOdomPose) const </arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>lookupLocalTransform</name>
      <anchorfile>classhumanoid__localization_1_1MotionModel.html</anchorfile>
      <anchor>a7108d6fbd723fa39ed32ceb1ff8b0202</anchor>
      <arglist>(const std::string &amp;targetFrame, const ros::Time &amp;t, tf::StampedTransform &amp;localTransform) const </arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>lookupOdomPose</name>
      <anchorfile>classhumanoid__localization_1_1MotionModel.html</anchorfile>
      <anchor>a219f288eeb7759434fbe7704067dfec0</anchor>
      <arglist>(const ros::Time &amp;t, tf::Stamped&lt; tf::Pose &gt; &amp;odomPose) const </arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>lookupOdomTransform</name>
      <anchorfile>classhumanoid__localization_1_1MotionModel.html</anchorfile>
      <anchor>a5765e15ae1a18a091ee00d45a5458f96</anchor>
      <arglist>(const ros::Time &amp;t, tf::Transform &amp;odomTransform) const </arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>lookupPoseHeight</name>
      <anchorfile>classhumanoid__localization_1_1MotionModel.html</anchorfile>
      <anchor>a3dd4916265fe461722da07ee9ef634a9</anchor>
      <arglist>(const ros::Time &amp;t, double &amp;poseHeight) const </arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MotionModel</name>
      <anchorfile>classhumanoid__localization_1_1MotionModel.html</anchorfile>
      <anchor>af04c2976ddb7b3c2b43d101c02bd1781</anchor>
      <arglist>(ros::NodeHandle *nh, EngineT *rngEngine, tf::TransformListener *tf, const std::string &amp;odomFrameId, const std::string &amp;baseFrameId)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>reset</name>
      <anchorfile>classhumanoid__localization_1_1MotionModel.html</anchorfile>
      <anchor>a4e9d35a33f3bab8b1e036d8572044b07</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>storeOdomPose</name>
      <anchorfile>classhumanoid__localization_1_1MotionModel.html</anchorfile>
      <anchor>a0b1b8155751ca99413313333778232c0</anchor>
      <arglist>(const tf::Stamped&lt; tf::Pose &gt; &amp;odomPose)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~MotionModel</name>
      <anchorfile>classhumanoid__localization_1_1MotionModel.html</anchorfile>
      <anchor>a4247ad19b371f41bbbd8aff6f3beee00</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>applyOdomTransform</name>
      <anchorfile>classhumanoid__localization_1_1MotionModel.html</anchorfile>
      <anchor>ab9b7e451333a2e2d46101e293e53741a</anchor>
      <arglist>(tf::Pose &amp;particlePose, const tf::Transform &amp;odomTransform)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>tf::Transform</type>
      <name>calibrateOdometry</name>
      <anchorfile>classhumanoid__localization_1_1MotionModel.html</anchorfile>
      <anchor>a245f268a432aaef668c4f9cffca5e4d1</anchor>
      <arglist>(const tf::Transform &amp;odomTransform) const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>tf::Transform</type>
      <name>odomTransformNoise</name>
      <anchorfile>classhumanoid__localization_1_1MotionModel.html</anchorfile>
      <anchor>a91f704571bfaf1499839524ec8b8d4e5</anchor>
      <arglist>(const tf::Transform &amp;odomTransform)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>transformPose</name>
      <anchorfile>classhumanoid__localization_1_1MotionModel.html</anchorfile>
      <anchor>ae55ad20026970cf410a3d6550de8fd9b</anchor>
      <arglist>(tf::Pose &amp;particlePose, const tf::Transform &amp;odomTransform)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>m_baseFrameId</name>
      <anchorfile>classhumanoid__localization_1_1MotionModel.html</anchorfile>
      <anchor>a6da69ba84cd8a7cc864563faea1d398e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_firstOdometryReceived</name>
      <anchorfile>classhumanoid__localization_1_1MotionModel.html</anchorfile>
      <anchor>a431549f8689ba963b77d8396c8b84c21</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>m_footprintFrameId</name>
      <anchorfile>classhumanoid__localization_1_1MotionModel.html</anchorfile>
      <anchor>a3511c44f2aa7acaadfd5a406f1f8fd5f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>tf::Stamped&lt; tf::Pose &gt;</type>
      <name>m_lastOdomPose</name>
      <anchorfile>classhumanoid__localization_1_1MotionModel.html</anchorfile>
      <anchor>ab149a8474754a7ebfdace8a3dd2c8b1b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Eigen::Matrix3d</type>
      <name>m_odomCalibration2D</name>
      <anchorfile>classhumanoid__localization_1_1MotionModel.html</anchorfile>
      <anchor>a1ad46fcfa8abc12adecf1f5f253b22c6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>m_odomFrameId</name>
      <anchorfile>classhumanoid__localization_1_1MotionModel.html</anchorfile>
      <anchor>a252d2a296f2c20b737d7569b8228e6ec</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Eigen::Matrix3d</type>
      <name>m_odomNoise2D</name>
      <anchorfile>classhumanoid__localization_1_1MotionModel.html</anchorfile>
      <anchor>a83ec8d0c9d0a2cb1c5d034cf308c1946</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_odomNoisePitch</name>
      <anchorfile>classhumanoid__localization_1_1MotionModel.html</anchorfile>
      <anchor>ac3c03c114732269a539005c415fcefc6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_odomNoiseRoll</name>
      <anchorfile>classhumanoid__localization_1_1MotionModel.html</anchorfile>
      <anchor>afe53ac90a4c4c9998dd7ed34fa7551b1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_odomNoiseZ</name>
      <anchorfile>classhumanoid__localization_1_1MotionModel.html</anchorfile>
      <anchor>a33b7be8b41440997c90ad7c8606a1bef</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>NormalGeneratorT</type>
      <name>m_rngNormal</name>
      <anchorfile>classhumanoid__localization_1_1MotionModel.html</anchorfile>
      <anchor>a927e186f54b78803c4524caa08da6bda</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>UniformGeneratorT</type>
      <name>m_rngUniform</name>
      <anchorfile>classhumanoid__localization_1_1MotionModel.html</anchorfile>
      <anchor>aeed7ac4b183b175637c263694bcdad73</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>tf::TransformListener *</type>
      <name>m_tfListener</name>
      <anchorfile>classhumanoid__localization_1_1MotionModel.html</anchorfile>
      <anchor>a42a56c075cee5652b13bf7e313350c8b</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>humanoid_localization::ObservationModel</name>
    <filename>classhumanoid__localization_1_1ObservationModel.html</filename>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>integrateMeasurement</name>
      <anchorfile>classhumanoid__localization_1_1ObservationModel.html</anchorfile>
      <anchor>aac23d720ec5ab9564c1d6cb37236f0ef</anchor>
      <arglist>(Particles &amp;particles, const PointCloud &amp;pc, const std::vector&lt; float &gt; &amp;ranges, float max_range, const tf::Transform &amp;baseToSensor)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>integratePoseMeasurement</name>
      <anchorfile>classhumanoid__localization_1_1ObservationModel.html</anchorfile>
      <anchor>a9807035efb387e2b62fb44fc52777202</anchor>
      <arglist>(Particles &amp;particles, double roll, double pitch, const tf::StampedTransform &amp;footprintToTorso)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ObservationModel</name>
      <anchorfile>classhumanoid__localization_1_1ObservationModel.html</anchorfile>
      <anchor>a62565765c0cd89bf9d55884ddb82d3e3</anchor>
      <arglist>(ros::NodeHandle *nh, boost::shared_ptr&lt; MapModel &gt; mapModel, EngineT *rngEngine)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setMap</name>
      <anchorfile>classhumanoid__localization_1_1ObservationModel.html</anchorfile>
      <anchor>adcc38927a5ddf4a0ff998c8076363522</anchor>
      <arglist>(boost::shared_ptr&lt; octomap::OcTree &gt; map)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~ObservationModel</name>
      <anchorfile>classhumanoid__localization_1_1ObservationModel.html</anchorfile>
      <anchor>ab153df8400c45e8ff79b87a8ec34fbbf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static double</type>
      <name>logLikelihood</name>
      <anchorfile>classhumanoid__localization_1_1ObservationModel.html</anchorfile>
      <anchor>a94e08f920d3cd332d1313e4a21aa5fbc</anchor>
      <arglist>(double x, double sigma)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static double</type>
      <name>logLikelihoodSq</name>
      <anchorfile>classhumanoid__localization_1_1ObservationModel.html</anchorfile>
      <anchor>a1d6cff4bab04c322bc3ea7465f4f0bc3</anchor>
      <arglist>(double x_sq, double sigma)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="pure">
      <type>virtual bool</type>
      <name>getHeightError</name>
      <anchorfile>classhumanoid__localization_1_1ObservationModel.html</anchorfile>
      <anchor>aa9ba794d25b4618ce63a85fab7d4579d</anchor>
      <arglist>(const Particle &amp;p, const tf::StampedTransform &amp;footprintToBase, double &amp;heightError) const =0</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::shared_ptr&lt; octomap::OcTree &gt;</type>
      <name>m_map</name>
      <anchorfile>classhumanoid__localization_1_1ObservationModel.html</anchorfile>
      <anchor>a2e111b3f48a4b6012ff2164310417a80</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::shared_ptr&lt; MapModel &gt;</type>
      <name>m_mapModel</name>
      <anchorfile>classhumanoid__localization_1_1ObservationModel.html</anchorfile>
      <anchor>a785c421897f1a4692b133c94b24f7f7e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>m_pc_pub</name>
      <anchorfile>classhumanoid__localization_1_1ObservationModel.html</anchorfile>
      <anchor>a26e6490df5d26ca76824682aa35bbd62</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>EngineT</type>
      <name>m_rngEngine</name>
      <anchorfile>classhumanoid__localization_1_1ObservationModel.html</anchorfile>
      <anchor>a9bb9e53929648f1d096ef188abf34d14</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>NormalGeneratorT</type>
      <name>m_rngNormal</name>
      <anchorfile>classhumanoid__localization_1_1ObservationModel.html</anchorfile>
      <anchor>a95dbb878ac1636872ff5a8c6ffc39e74</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>UniformGeneratorT</type>
      <name>m_rngUniform</name>
      <anchorfile>classhumanoid__localization_1_1ObservationModel.html</anchorfile>
      <anchor>adafd3f3baa719623349a2337ebc711a1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_sigmaPitch</name>
      <anchorfile>classhumanoid__localization_1_1ObservationModel.html</anchorfile>
      <anchor>a46fd0558740957aebff35d71b617aa82</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_sigmaRoll</name>
      <anchorfile>classhumanoid__localization_1_1ObservationModel.html</anchorfile>
      <anchor>a483dcdfd01d04370ed4bf0328869f51c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_sigmaZ</name>
      <anchorfile>classhumanoid__localization_1_1ObservationModel.html</anchorfile>
      <anchor>a49a6d05590bab1e04788dcc60d256857</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_use_squared_error</name>
      <anchorfile>classhumanoid__localization_1_1ObservationModel.html</anchorfile>
      <anchor>a3f457de489015f5e117884c0236a6648</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_weightPitch</name>
      <anchorfile>classhumanoid__localization_1_1ObservationModel.html</anchorfile>
      <anchor>a7211dbd7210630f6f7691f6786b6a39c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_weightRoll</name>
      <anchorfile>classhumanoid__localization_1_1ObservationModel.html</anchorfile>
      <anchor>ab3a805dc9f84af5bcb6cf28607d603b0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_weightZ</name>
      <anchorfile>classhumanoid__localization_1_1ObservationModel.html</anchorfile>
      <anchor>a41091e6846d03944926cdb8a25e7c131</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>humanoid_localization::OccupancyMap</name>
    <filename>classhumanoid__localization_1_1OccupancyMap.html</filename>
    <base>humanoid_localization::MapModel</base>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>getFloorHeight</name>
      <anchorfile>classhumanoid__localization_1_1OccupancyMap.html</anchorfile>
      <anchor>a00401fd29b7cd6582ebc0d47aaa37eda</anchor>
      <arglist>(const tf::Transform &amp;pose) const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>isOccupied</name>
      <anchorfile>classhumanoid__localization_1_1OccupancyMap.html</anchorfile>
      <anchor>acad0d47079aa41ff96f660834ba9f194</anchor>
      <arglist>(octomap::OcTreeNode *node) const </arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>OccupancyMap</name>
      <anchorfile>classhumanoid__localization_1_1OccupancyMap.html</anchorfile>
      <anchor>a8d5438b9592ff51b5302f4391ce0a481</anchor>
      <arglist>(ros::NodeHandle *nh)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~OccupancyMap</name>
      <anchorfile>classhumanoid__localization_1_1OccupancyMap.html</anchorfile>
      <anchor>aefd2776fe762b7c65d1e9f3f585b2c54</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>humanoid_localization::Particle</name>
    <filename>structhumanoid__localization_1_1Particle.html</filename>
    <member kind="variable">
      <type>tf::Pose</type>
      <name>pose</name>
      <anchorfile>structhumanoid__localization_1_1Particle.html</anchorfile>
      <anchor>af35c09373743039171b964b3513ce75c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>weight</name>
      <anchorfile>structhumanoid__localization_1_1Particle.html</anchorfile>
      <anchor>a16e5a2860a2ee784d7eb2847fb770b71</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>humanoid_localization::RaycastingModel</name>
    <filename>classhumanoid__localization_1_1RaycastingModel.html</filename>
    <base>humanoid_localization::ObservationModel</base>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>integrateMeasurement</name>
      <anchorfile>classhumanoid__localization_1_1RaycastingModel.html</anchorfile>
      <anchor>a6e366c22f4e263172cb7fad53a4d7864</anchor>
      <arglist>(Particles &amp;particles, const PointCloud &amp;pc, const std::vector&lt; float &gt; &amp;ranges, float max_range, const tf::Transform &amp;baseToSensor)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>RaycastingModel</name>
      <anchorfile>classhumanoid__localization_1_1RaycastingModel.html</anchorfile>
      <anchor>a06a039ab10a84ff36bd59589a5b7a8e0</anchor>
      <arglist>(ros::NodeHandle *nh, boost::shared_ptr&lt; MapModel &gt; mapModel, EngineT *rngEngine)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~RaycastingModel</name>
      <anchorfile>classhumanoid__localization_1_1RaycastingModel.html</anchorfile>
      <anchor>a9cb94a4ed003f865fd74fabd3fc3552d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>getHeightError</name>
      <anchorfile>classhumanoid__localization_1_1RaycastingModel.html</anchorfile>
      <anchor>a35bde7cc9099f7dc9e47c8b35770b956</anchor>
      <arglist>(const Particle &amp;p, const tf::StampedTransform &amp;footprintToBase, double &amp;heightError) const </arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>m_filterPointCloudGround</name>
      <anchorfile>classhumanoid__localization_1_1RaycastingModel.html</anchorfile>
      <anchor>a6406e66fd092e4f9c84f82fca83f7435</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_groundFilterAngle</name>
      <anchorfile>classhumanoid__localization_1_1RaycastingModel.html</anchorfile>
      <anchor>a9335d75ae1e589efc66a10976479023d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_groundFilterDistance</name>
      <anchorfile>classhumanoid__localization_1_1RaycastingModel.html</anchorfile>
      <anchor>a33a2fde411c8b271957fc78b0695a10d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_groundFilterPlaneDistance</name>
      <anchorfile>classhumanoid__localization_1_1RaycastingModel.html</anchorfile>
      <anchor>a11a04f584e09b1ef155576bd8314b5b5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_lambdaShort</name>
      <anchorfile>classhumanoid__localization_1_1RaycastingModel.html</anchorfile>
      <anchor>aa078239c52dd7491a2c16d8840857e3e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>m_numFloorPoints</name>
      <anchorfile>classhumanoid__localization_1_1RaycastingModel.html</anchorfile>
      <anchor>a7d293fcb102354ef1dd2af82ceb87a38</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>m_numNonFloorPoints</name>
      <anchorfile>classhumanoid__localization_1_1RaycastingModel.html</anchorfile>
      <anchor>a399379c01e0b926aa730884a1566ae3d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_sigmaHit</name>
      <anchorfile>classhumanoid__localization_1_1RaycastingModel.html</anchorfile>
      <anchor>a626db40d55a4e06ea4f7bad161c77b42</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_zHit</name>
      <anchorfile>classhumanoid__localization_1_1RaycastingModel.html</anchorfile>
      <anchor>a4e48f57b3dc76464fbb583ebcc12f024</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_zMax</name>
      <anchorfile>classhumanoid__localization_1_1RaycastingModel.html</anchorfile>
      <anchor>aeba7fdfda1bee8ce9f6c209248c3d621</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_zRand</name>
      <anchorfile>classhumanoid__localization_1_1RaycastingModel.html</anchorfile>
      <anchor>afa7c3320f65d971d75bed2abd2c97342</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>m_zShort</name>
      <anchorfile>classhumanoid__localization_1_1RaycastingModel.html</anchorfile>
      <anchor>aa0c9a19ea9ff77b7d75028f232835afe</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>ros</name>
    <filename>namespaceros.html</filename>
  </compound>
  <compound kind="page">
    <name>index</name>
    <title></title>
    <filename>index</filename>
    <docanchor file="index">codeapi</docanchor>
  </compound>
</tagfile>
