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      <arglist></arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(navcon_msgs::VelConConfig &amp;config, uint32_t level)</arglist>
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      <arglist>(navcon_msgs::EnableControl::Request &amp;req, navcon_msgs::EnableControl::Response &amp;resp)</arglist>
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      <arglist>(const auv_msgs::NavSts::ConstPtr &amp;estimate)</arglist>
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      <arglist>(const auv_msgs::BodyForceReq::ConstPtr &amp;tau)</arglist>
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      <arglist>(const sensor_msgs::Joy::ConstPtr &amp;joy)</arglist>
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      <arglist>(const auv_msgs::NavSts::ConstPtr &amp;meas)</arglist>
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      <arglist>(const navcon_msgs::ModelParamsUpdate::ConstPtr &amp;update)</arglist>
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      <arglist>(const auv_msgs::BodyVelocityReq::ConstPtr &amp;ref)</arglist>
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      <anchor>a73b23506bc9ded8526d0eac4df975a93</anchor>
      <arglist>(navcon_msgs::ConfigureVelocityController::Request &amp;req, navcon_msgs::ConfigureVelocityController::Response &amp;resp)</arglist>
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      <arglist>(const auv_msgs::BodyForceReq::ConstPtr &amp;tau)</arglist>
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      <arglist>()</arglist>
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      <anchor>aab4675a3fac021a93532ba909ad24614</anchor>
      <arglist>()</arglist>
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      <anchorfile>classlabust_1_1control_1_1VelocityControl.html</anchorfile>
      <anchor>adac3c0adecb2f661533138120dbab48e</anchor>
      <arglist>()</arglist>
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      <type>boost::array&lt; int32_t, r+1 &gt;</type>
      <name>axis_control</name>
      <anchorfile>classlabust_1_1control_1_1VelocityControl.html</anchorfile>
      <anchor>a48a4b5f260cd3f998f61c349eb28a4e9</anchor>
      <arglist></arglist>
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      <type>navcon_msgs::VelConConfig</type>
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      <anchorfile>classlabust_1_1control_1_1VelocityControl.html</anchorfile>
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      <arglist></arglist>
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      <type>PIDBase</type>
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      <arglist>[r+1]</arglist>
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      <anchorfile>classlabust_1_1control_1_1VelocityControl.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classlabust_1_1control_1_1VelocityControl.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>double</type>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>[r+1]</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>[r+1]</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>[N+1]</arglist>
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      <arglist>[N+1]</arglist>
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      <arglist>(int ctrlNum, numericprecission Ts)</arglist>
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      <arglist>(numericprecission cost_signal_filtered, vector additional_input)</arglist>
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      <arglist>(double sin_amp, double sin_freq, double corr_gain, double high_pass_pole, double low_pass_pole, double comp_zero, double comp_pole, double period, vector Q, vector R)</arglist>
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      <arglist>(vector state, vector input)</arglist>
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      <arglist>(vector state, vector input)</arglist>
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      <anchor>a2d2308a40b3e6e2f585699cda2b25266</anchor>
      <arglist>(vector control)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~EscEkfGrad</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGrad.html</anchorfile>
      <anchor>a6eb563c4f6dbb1c74af81d4527fb653c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>matrix</type>
      <name>A</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGrad.html</anchorfile>
      <anchor>abe29be38f0365eebce611b5b6b36700b</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>vector</type>
      <name>control_ref_</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGrad.html</anchorfile>
      <anchor>aa70e58f05ad361d3bd8404c743006ba2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>vector</type>
      <name>corr_gain_</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGrad.html</anchorfile>
      <anchor>a4e7c1b530546f5665e9ee45a178a2b0f</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>matrix</type>
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      <anchor>aae4b90e8f1bb07a1f3ecb8bba87531f9</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>vector</type>
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      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGrad.html</anchorfile>
      <anchor>ae37b125f7e8fb3e038744126eac7e66b</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>vector</type>
      <name>input</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGrad.html</anchorfile>
      <anchor>ab632329d6c274474ba9884b07e9dee83</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>vector</type>
      <name>input_past</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGrad.html</anchorfile>
      <anchor>a7df5df64a505cc34956330c35b092eca</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>matrix</type>
      <name>Kk</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGrad.html</anchorfile>
      <anchor>a4ae3254344aced06b84ed4af5b0acfbb</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>matrix</type>
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      <anchor>a76c1ca3c2c9a93f2f7c3b938e8b8e777</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>matrix</type>
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      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGrad.html</anchorfile>
      <anchor>af3eb460e0036a6efe8b06fd8258254af</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>Eigen::Vector3d</type>
      <name>n1</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGrad.html</anchorfile>
      <anchor>ac11cb146913cae332909912151329ea4</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>Eigen::Vector3d</type>
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      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGrad.html</anchorfile>
      <anchor>a2276fbcb4426216ee84f5fc5a3c6ef84</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>vector</type>
      <name>phase_shift_</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGrad.html</anchorfile>
      <anchor>acce2d187ead2e2cf2e7d3ad06fcd3a00</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>matrix</type>
      <name>Pk_min</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGrad.html</anchorfile>
      <anchor>a30a9d2082437d1f91f205ec38b0b26e4</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>matrix</type>
      <name>Pk_plu</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGrad.html</anchorfile>
      <anchor>afe8d9e10be6f593b0f9f7e212dd19fe4</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>matrix</type>
      <name>Q</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGrad.html</anchorfile>
      <anchor>a1bd5a36bb2bad3e1cefba48997051f65</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>matrix</type>
      <name>R</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGrad.html</anchorfile>
      <anchor>ad41cef629b5e5b1e43ecca490f979534</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>vector</type>
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      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGrad.html</anchorfile>
      <anchor>acc93d2263ab1ecaca48f0d23f7f2d97a</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>vector</type>
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      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGrad.html</anchorfile>
      <anchor>a26c001be4e6f57477d505cc14c7b5b7d</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>vector</type>
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      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGrad.html</anchorfile>
      <anchor>aba529b2c9b55449d7697ac68ce534e8a</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>vector</type>
      <name>state_</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGrad.html</anchorfile>
      <anchor>ada3dc9d981f29ba57009bd71d211d556</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>vector</type>
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      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGrad.html</anchorfile>
      <anchor>a2ba301d999c8a39e8537c7250ff5b32c</anchor>
      <arglist></arglist>
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    <member kind="variable">
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      <anchor>a2a35ffc8b71f31edf796ed60b6d77b96</anchor>
      <arglist></arglist>
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      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGrad.html</anchorfile>
      <anchor>af200475edf8af6f65f75089554c91415</anchor>
      <arglist></arglist>
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  </compound>
  <compound kind="class">
    <name>labust::control::esc::EscEkfGradModel</name>
    <filename>classlabust_1_1control_1_1esc_1_1EscEkfGradModel.html</filename>
    <base>EscPerturbationBase&lt; double &gt;</base>
    <member kind="function">
      <type>vector</type>
      <name>controllerGain</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGradModel.html</anchorfile>
      <anchor>a4c56d44539a5734862efc6e8e13a3081</anchor>
      <arglist>(vector postFiltered)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>EscEkfGradModel</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGradModel.html</anchorfile>
      <anchor>a69a0170c977a6b099af60dd6c9705913</anchor>
      <arglist>(int ctrlNum, numericprecission Ts)</arglist>
    </member>
    <member kind="function">
      <type>vector</type>
      <name>gradientEstimation</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGradModel.html</anchorfile>
      <anchor>a5043ab9f4b1ad13fa80be744f6e15fc6</anchor>
      <arglist>(numericprecission cost_signal_filtered, vector additional_input)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>initController</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGradModel.html</anchorfile>
      <anchor>a50f1b1a3a7884e2b237edb3d2b9759f1</anchor>
      <arglist>(double sin_amp, double sin_freq, double corr_gain, double high_pass_pole, double low_pass_pole, double comp_zero, double comp_pole, double period, vector Q, vector R)</arglist>
    </member>
    <member kind="function">
      <type>vector</type>
      <name>modelUpdate</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGradModel.html</anchorfile>
      <anchor>a06d817e862017d61350db8eeb8ac6eb3</anchor>
      <arglist>(vector state, vector input)</arglist>
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    <member kind="function">
      <type>vector</type>
      <name>outputUpdate</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGradModel.html</anchorfile>
      <anchor>ac03289a7e61ea9c97b039a68c890e776</anchor>
      <arglist>(vector state, vector input)</arglist>
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    <member kind="function">
      <type>vector</type>
      <name>superimposePerturbation</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGradModel.html</anchorfile>
      <anchor>a5966423a31e8cc53373347f974e0226d</anchor>
      <arglist>(vector control)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~EscEkfGradModel</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGradModel.html</anchorfile>
      <anchor>ab3f59dc4abbee4affeadd28a6b0f4aab</anchor>
      <arglist>()</arglist>
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    <member kind="variable">
      <type>matrix</type>
      <name>A</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGradModel.html</anchorfile>
      <anchor>acaa3d9168caabb569057beb56e33240b</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>vector</type>
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      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGradModel.html</anchorfile>
      <anchor>a1846fdb82273c29e425350777cfaff5f</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>vector</type>
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      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGradModel.html</anchorfile>
      <anchor>a1a74e5aa38cbde91a150a338968d1acf</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>matrix</type>
      <name>H</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGradModel.html</anchorfile>
      <anchor>a8ea2dac81b5d7a7b79d295b11dc4508b</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>vector</type>
      <name>hk</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGradModel.html</anchorfile>
      <anchor>accfdbedf5160c3eae8546f2a21136294</anchor>
      <arglist></arglist>
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    <member kind="variable">
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      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGradModel.html</anchorfile>
      <anchor>a9eb1a3378e436d81df493cebbd634991</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>vector</type>
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      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGradModel.html</anchorfile>
      <anchor>a16ff6eb423bd4f752c2707cdb852fc32</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>matrix</type>
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      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGradModel.html</anchorfile>
      <anchor>aabf52376ca825682eecd06183543ce3f</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>matrix</type>
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      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGradModel.html</anchorfile>
      <anchor>ab12cc941f3ed1157b5c879c3b7cb88b8</anchor>
      <arglist></arglist>
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    <member kind="variable">
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      <anchor>a61f11add016a1109744b54663bf80d1a</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>Eigen::Vector3d</type>
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      <anchor>a8e684b29b64c810b1ee4ec76f49b41dc</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>Eigen::Vector3d</type>
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      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGradModel.html</anchorfile>
      <anchor>aacf8870735ebe35cb0fdaf91b1687465</anchor>
      <arglist></arglist>
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    <member kind="variable">
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      <anchor>a6306a438e3bfc417c1195fb4977c79d9</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>vector</type>
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      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGradModel.html</anchorfile>
      <anchor>a709cc54c6a4b94c04a91c8eb932af6d5</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>matrix</type>
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      <anchor>abc1a73de4a85419cabdea069ec75df27</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>matrix</type>
      <name>Pk_plu</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGradModel.html</anchorfile>
      <anchor>afd3de43e2f0ec7491f41d7775e2b9f1f</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>matrix</type>
      <name>Q</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGradModel.html</anchorfile>
      <anchor>aab06c6cac79093596cb36c94811a7e64</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>matrix</type>
      <name>R</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGradModel.html</anchorfile>
      <anchor>aaa6c016b115965e2432c37aad68096b7</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>vector</type>
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      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGradModel.html</anchorfile>
      <anchor>aa71012cafc14a481948d7889a48375bf</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>vector</type>
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      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGradModel.html</anchorfile>
      <anchor>a6bc4eccc4da924a3c2ea6fcdf79b8954</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>vector</type>
      <name>sin_freq_</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGradModel.html</anchorfile>
      <anchor>acdad059a96d4904d8b0b9ee96ba61009</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>vector</type>
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      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGradModel.html</anchorfile>
      <anchor>aaa5074caa7f6475fdfc5395183695470</anchor>
      <arglist></arglist>
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    <member kind="variable">
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      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGradModel.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable">
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      <arglist></arglist>
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    <member kind="variable">
      <type>vector</type>
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      <anchorfile>classlabust_1_1control_1_1esc_1_1EscEkfGradModel.html</anchorfile>
      <anchor>af87781515d6dd9702ab36c27c396502a</anchor>
      <arglist></arglist>
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  </compound>
  <compound kind="class">
    <name>labust::control::esc::EscPerturbationBase</name>
    <filename>classlabust_1_1control_1_1esc_1_1EscPerturbationBase.html</filename>
    <templarg>precission</templarg>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; precission, Eigen::Dynamic, Eigen::Dynamic &gt;</type>
      <name>matrix</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscPerturbationBase.html</anchorfile>
      <anchor>a2007fd2aa97e67a13d1bffc4eab83e18</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>precission</type>
      <name>numericprecission</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscPerturbationBase.html</anchorfile>
      <anchor>a0d206ab8b8332058e22f7b916d244602</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>Eigen::Matrix&lt; precission, Eigen::Dynamic, 1 &gt;</type>
      <name>vector</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscPerturbationBase.html</anchorfile>
      <anchor>ab5c71f7120a890e7f1ebaebb95676893</anchor>
      <arglist></arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual vector</type>
      <name>controllerGain</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscPerturbationBase.html</anchorfile>
      <anchor>a583066fb7b8ef15bfe4bdeef45d6d3b0</anchor>
      <arglist>(vector postFiltered)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>EscPerturbationBase</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscPerturbationBase.html</anchorfile>
      <anchor>a06a28f835258382a3ceaace0829896f7</anchor>
      <arglist>(int ctrlNum, numericprecission Ts)</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual vector</type>
      <name>gradientEstimation</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscPerturbationBase.html</anchorfile>
      <anchor>ade41f8f5490a0fad193c895ad4081981</anchor>
      <arglist>(numericprecission cost_signal_filtered, vector additional_input)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual vector</type>
      <name>postFiltering</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscPerturbationBase.html</anchorfile>
      <anchor>a2f7ee24841bd27fc1926870c5a37c939</anchor>
      <arglist>(vector estimated_gradient)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual numericprecission</type>
      <name>preFiltering</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscPerturbationBase.html</anchorfile>
      <anchor>a29503d7caa0056ec51533a50697739e1</anchor>
      <arglist>(numericprecission cost_signal)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>reset</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscPerturbationBase.html</anchorfile>
      <anchor>a80cd248f97daff7492fc9c890cbfa93d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual vector</type>
      <name>step</name>
      <anchorfile>classlabust_1_1control_1_1esc_1_1EscPerturbationBase.html</anchorfile>
      <anchor>abfb95eed5c8e67eea841f889fcb03f03</anchor>
      <arglist>(numericprecission cost_signal, vector additional_input=vector::Zero(2))</arglist>
    </member>
    <member kind="function" virtualness="pure">
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