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      <arglist>(const std::vector&lt; mapping::proto::Trajectory &gt; &amp;trajectories, const FileWriterFactory &amp;file_writer_factory, PointsProcessorPipelineBuilder *const builder)</arglist>
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    <includes id="probability__grid__range__data__inserter__2d_8h" name="probability_grid_range_data_inserter_2d.h" local="yes" imported="no">cartographer/mapping/2d/probability_grid_range_data_inserter_2d.h</includes>
    <includes id="tsdf__2d_8h" name="tsdf_2d.h" local="yes" imported="no">cartographer/mapping/2d/tsdf_2d.h</includes>
    <includes id="tsdf__range__data__inserter__2d_8h" name="tsdf_range_data_inserter_2d.h" local="yes" imported="no">cartographer/mapping/2d/tsdf_range_data_inserter_2d.h</includes>
    <includes id="real__time__correlative__scan__matcher_8h" name="real_time_correlative_scan_matcher.h" local="yes" imported="no">cartographer/mapping/internal/scan_matching/real_time_correlative_scan_matcher.h</includes>
    <includes id="point__cloud_8h" name="point_cloud.h" local="yes" imported="no">cartographer/sensor/point_cloud.h</includes>
    <includes id="transform_8h" name="transform.h" local="yes" imported="no">cartographer/transform/transform.h</includes>
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  <compound kind="file">
    <name>real_time_correlative_scan_matcher_3d.cc</name>
    <path>/tmp/ws/src/cartographer/cartographer/mapping/internal/3d/scan_matching/</path>
    <filename>real__time__correlative__scan__matcher__3d_8cc</filename>
    <includes id="real__time__correlative__scan__matcher__3d_8h" name="real_time_correlative_scan_matcher_3d.h" local="yes" imported="no">cartographer/mapping/internal/3d/scan_matching/real_time_correlative_scan_matcher_3d.h</includes>
    <includes id="math_8h" name="math.h" local="yes" imported="no">cartographer/common/math.h</includes>
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  <compound kind="file">
    <name>real_time_correlative_scan_matcher_3d.h</name>
    <path>/tmp/ws/src/cartographer/cartographer/mapping/internal/3d/scan_matching/</path>
    <filename>real__time__correlative__scan__matcher__3d_8h</filename>
    <includes id="hybrid__grid_8h" name="hybrid_grid.h" local="yes" imported="no">cartographer/mapping/3d/hybrid_grid.h</includes>
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    <class kind="class">cartographer::mapping::scan_matching::RealTimeCorrelativeScanMatcher3D</class>
    <namespace>cartographer</namespace>
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    <namespace>cartographer::mapping::scan_matching</namespace>
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  <compound kind="file">
    <name>real_time_correlative_scan_matcher_3d_test.cc</name>
    <path>/tmp/ws/src/cartographer/cartographer/mapping/internal/3d/scan_matching/</path>
    <filename>real__time__correlative__scan__matcher__3d__test_8cc</filename>
    <includes id="real__time__correlative__scan__matcher__3d_8h" name="real_time_correlative_scan_matcher_3d.h" local="yes" imported="no">cartographer/mapping/internal/3d/scan_matching/real_time_correlative_scan_matcher_3d.h</includes>
    <includes id="lua__parameter__dictionary__test__helpers_8h" name="lua_parameter_dictionary_test_helpers.h" local="yes" imported="no">cartographer/common/lua_parameter_dictionary_test_helpers.h</includes>
    <includes id="hybrid__grid_8h" name="hybrid_grid.h" local="yes" imported="no">cartographer/mapping/3d/hybrid_grid.h</includes>
    <includes id="real__time__correlative__scan__matcher_8h" name="real_time_correlative_scan_matcher.h" local="yes" imported="no">cartographer/mapping/internal/scan_matching/real_time_correlative_scan_matcher.h</includes>
    <includes id="point__cloud_8h" name="point_cloud.h" local="yes" imported="no">cartographer/sensor/point_cloud.h</includes>
    <includes id="rigid__transform_8h" name="rigid_transform.h" local="yes" imported="no">cartographer/transform/rigid_transform.h</includes>
    <includes id="rigid__transform__test__helpers_8h" name="rigid_transform_test_helpers.h" local="yes" imported="no">cartographer/transform/rigid_transform_test_helpers.h</includes>
    <includes id="transform_8h" name="transform.h" local="yes" imported="no">cartographer/transform/transform.h</includes>
    <namespace>cartographer</namespace>
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  <compound kind="file">
    <name>receive_global_slam_optimizations_handler.cc</name>
    <path>/tmp/ws/src/cartographer/cartographer/cloud/internal/handlers/</path>
    <filename>receive__global__slam__optimizations__handler_8cc</filename>
    <includes id="receive__global__slam__optimizations__handler_8h" name="receive_global_slam_optimizations_handler.h" local="yes" imported="no">cartographer/cloud/internal/handlers/receive_global_slam_optimizations_handler.h</includes>
    <includes id="map__builder__context__interface_8h" name="map_builder_context_interface.h" local="yes" imported="no">cartographer/cloud/internal/map_builder_context_interface.h</includes>
    <includes id="transform_8h" name="transform.h" local="yes" imported="no">cartographer/transform/transform.h</includes>
    <namespace>cartographer</namespace>
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    <namespace>cartographer::cloud::handlers</namespace>
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  <compound kind="file">
    <name>receive_global_slam_optimizations_handler.h</name>
    <path>/tmp/ws/src/cartographer/cartographer/cloud/internal/handlers/</path>
    <filename>receive__global__slam__optimizations__handler_8h</filename>
    <includes id="map__builder__context__interface_8h" name="map_builder_context_interface.h" local="yes" imported="no">cartographer/cloud/internal/map_builder_context_interface.h</includes>
    <namespace>cartographer</namespace>
    <namespace>cartographer::cloud</namespace>
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    <member kind="function">
      <type></type>
      <name>DEFINE_HANDLER_SIGNATURE</name>
      <anchorfile>namespacecartographer_1_1cloud_1_1handlers.html</anchorfile>
      <anchor>acabdbee21b362e42972f1b47511edeb3</anchor>
      <arglist>(ReceiveGlobalSlamOptimizationsSignature, google::protobuf::Empty, async_grpc::Stream&lt; proto::ReceiveGlobalSlamOptimizationsResponse &gt;,&quot;/cartographer.cloud.proto.MapBuilderService/&quot;&quot;ReceiveGlobalSlamOptimizations&quot;) class ReceiveGlobalSlamOptimizationsHandler</arglist>
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    <name>receive_local_slam_results_handler.cc</name>
    <path>/tmp/ws/src/cartographer/cartographer/cloud/internal/handlers/</path>
    <filename>receive__local__slam__results__handler_8cc</filename>
    <includes id="receive__local__slam__results__handler_8h" name="receive_local_slam_results_handler.h" local="yes" imported="no">cartographer/cloud/internal/handlers/receive_local_slam_results_handler.h</includes>
    <includes id="map__builder__context__interface_8h" name="map_builder_context_interface.h" local="yes" imported="no">cartographer/cloud/internal/map_builder_context_interface.h</includes>
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    <namespace>cartographer</namespace>
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  <compound kind="file">
    <name>receive_local_slam_results_handler.h</name>
    <path>/tmp/ws/src/cartographer/cartographer/cloud/internal/handlers/</path>
    <filename>receive__local__slam__results__handler_8h</filename>
    <includes id="map__builder__context__interface_8h" name="map_builder_context_interface.h" local="yes" imported="no">cartographer/cloud/internal/map_builder_context_interface.h</includes>
    <namespace>cartographer</namespace>
    <namespace>cartographer::cloud</namespace>
    <namespace>cartographer::cloud::handlers</namespace>
    <member kind="function">
      <type></type>
      <name>DEFINE_HANDLER_SIGNATURE</name>
      <anchorfile>namespacecartographer_1_1cloud_1_1handlers.html</anchorfile>
      <anchor>a664f2bdfa4afed18e25e307507a1594c</anchor>
      <arglist>(ReceiveLocalSlamResultsSignature, proto::ReceiveLocalSlamResultsRequest, async_grpc::Stream&lt; proto::ReceiveLocalSlamResultsResponse &gt;,&quot;/cartographer.cloud.proto.MapBuilderService/ReceiveLocalSlamResults&quot;) class ReceiveLocalSlamResultsHandler</arglist>
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    <name>register.cc</name>
    <path>/tmp/ws/src/cartographer/cartographer/metrics/</path>
    <filename>register_8cc</filename>
    <includes id="register_8h" name="register.h" local="yes" imported="no">cartographer/metrics/register.h</includes>
    <includes id="local__trajectory__builder__2d_8h" name="local_trajectory_builder_2d.h" local="yes" imported="no">cartographer/mapping/internal/2d/local_trajectory_builder_2d.h</includes>
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    <namespace>cartographer</namespace>
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      <type>void</type>
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      <arglist>(FamilyFactory *registry)</arglist>
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    <namespace>cartographer</namespace>
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      <arglist>(FamilyFactory *registry)</arglist>
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      <arglist>(const std::string &amp;relations_filename)</arglist>
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      <arglist>(const std::string &amp;relations_filename)</arglist>
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      <arglist>(common::LuaParameterDictionary *dictionary)</arglist>
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      <arglist>(const double roll, const double pitch, const double yaw)</arglist>
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      <arglist>(const Rigid3&lt; FloatType &gt; &amp;rigid, const typename Rigid3&lt; FloatType &gt;::Vector &amp;point)</arglist>
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      <arglist>(std::ostream &amp;os, const cartographer::transform::Rigid2&lt; T &gt; &amp;rigid)</arglist>
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      <arglist>(std::ostream &amp;os, const cartographer::transform::Rigid3&lt; T &gt; &amp;rigid)</arglist>
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      <arglist>(const double roll, const double pitch, const double yaw)</arglist>
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    <path>/tmp/ws/src/cartographer/cartographer/transform/</path>
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    <class kind="class">cartographer::mapping::RotationCostFunction3D</class>
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    <path>/tmp/ws/src/cartographer/cartographer/mapping/internal/3d/scan_matching/</path>
    <filename>rotation__delta__cost__functor__3d_8h</filename>
    <includes id="math_8h" name="math.h" local="yes" imported="no">cartographer/common/math.h</includes>
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    <path>/tmp/ws/src/cartographer/cartographer/mapping/internal/3d/scan_matching/</path>
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    <includes id="rotation__delta__cost__functor__3d_8h" name="rotation_delta_cost_functor_3d.h" local="yes" imported="no">cartographer/mapping/internal/3d/scan_matching/rotation_delta_cost_functor_3d.h</includes>
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    <includes id="point__cloud_8h" name="point_cloud.h" local="yes" imported="no">cartographer/sensor/point_cloud.h</includes>
    <class kind="class">cartographer::mapping::scan_matching::RotationalScanMatcher</class>
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    <includes id="rotational__scan__matcher_8h" name="rotational_scan_matcher.h" local="yes" imported="no">cartographer/mapping/internal/3d/scan_matching/rotational_scan_matcher.h</includes>
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    <includes id="run__final__optimization__handler_8h" name="run_final_optimization_handler.h" local="yes" imported="no">cartographer/cloud/internal/handlers/run_final_optimization_handler.h</includes>
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      <arglist>(const TrajectoryState &amp;trajectory_state)</arglist>
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      <arglist>(const std::string &amp;sensor_id, int trajectory_id, const std::string &amp;client_id, const sensor::proto::FixedFramePoseData &amp;fixed_frame_pose_data, proto::AddFixedFramePoseDataRequest *proto)</arglist>
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      <arglist>(const std::string &amp;sensor_id, int trajectory_id, const std::string &amp;client_id, const sensor::proto::LandmarkData &amp;landmark_data, proto::AddLandmarkDataRequest *proto)</arglist>
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      <arglist>(const std::string &amp;sensor_id, int trajectory_id, const std::string &amp;client_id, const sensor::proto::OdometryData &amp;odometry_data, proto::AddOdometryDataRequest *proto)</arglist>
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      <arglist>(const std::string &amp;sensor_id, int trajectory_id, const std::string &amp;client_id, const sensor::proto::TimedPointCloudData &amp;timed_point_cloud_data, proto::AddRangefinderDataRequest *proto)</arglist>
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      <arglist>(const std::string &amp;sensor_id, int trajectory_id, const std::string &amp;client_id, common::Time time, int starting_submap_index, const mapping::TrajectoryBuilderInterface::InsertionResult &amp;insertion_result, proto::SensorData *proto)</arglist>
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      <arglist>(const std::string &amp;sensor_id, const int trajectory_id, const std::string &amp;client_id, proto::SensorMetadata *proto)</arglist>
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      <arglist>(const proto::SensorId &amp;proto)</arglist>
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      <arglist>(const mapping::TrajectoryBuilderInterface::SensorId &amp;sensor_id)</arglist>
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      <arglist>(const std::map&lt; int, int &gt; &amp;trajectory_remapping)</arglist>
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      <arglist>(const std::string &amp;sensor_id, int trajectory_id, const std::string &amp;client_id, const sensor::proto::FixedFramePoseData &amp;fixed_frame_pose_data, proto::AddFixedFramePoseDataRequest *proto)</arglist>
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      <arglist>(const std::string &amp;sensor_id, const int trajectory_id, const std::string &amp;client_id, const sensor::proto::ImuData &amp;imu_data, proto::AddImuDataRequest *proto)</arglist>
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      <arglist>(const std::string &amp;sensor_id, int trajectory_id, const std::string &amp;client_id, const sensor::proto::LandmarkData &amp;landmark_data, proto::AddLandmarkDataRequest *proto)</arglist>
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      <arglist>(const std::string &amp;sensor_id, int trajectory_id, const std::string &amp;client_id, const sensor::proto::OdometryData &amp;odometry_data, proto::AddOdometryDataRequest *proto)</arglist>
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      <arglist>(const std::string &amp;sensor_id, int trajectory_id, const std::string &amp;client_id, const sensor::proto::TimedPointCloudData &amp;timed_point_cloud_data, proto::AddRangefinderDataRequest *proto)</arglist>
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      <arglist>(const std::string &amp;sensor_id, int trajectory_id, const std::string &amp;client_id, common::Time time, int starting_submap_index, const mapping::TrajectoryBuilderInterface::InsertionResult &amp;insertion_result, proto::SensorData *proto)</arglist>
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      <arglist>(const std::string &amp;sensor_id, const int trajectory_id, const std::string &amp;client_id, proto::SensorMetadata *proto)</arglist>
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      <arglist>(const proto::SensorId &amp;proto)</arglist>
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      <arglist>(const mapping::TrajectoryBuilderInterface::SensorId &amp;sensor_id)</arglist>
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      <arglist>(cartographer::io::ProtoStreamReaderInterface *const input, cartographer::io::ProtoStreamWriterInterface *const output, bool migrate_grid_format)</arglist>
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    <member kind="function">
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      <arglist>(const mapping::MapById&lt; mapping::SubmapId, mapping::proto::Submap &gt; &amp;submap_id_to_submap, mapping::MapById&lt; mapping::NodeId, mapping::proto::Node &gt; &amp;node_id_to_node, const mapping::proto::PoseGraph &amp;pose_graph_proto)</arglist>
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      <arglist>(cartographer::io::ProtoStreamReaderInterface *const input, cartographer::io::ProtoStreamWriterInterface *const output, bool migrate_grid_format)</arglist>
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    <member kind="function">
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      <arglist>(const mapping::MapById&lt; mapping::SubmapId, mapping::proto::Submap &gt; &amp;submap_id_to_submap, mapping::MapById&lt; mapping::NodeId, mapping::proto::Node &gt; &amp;node_id_to_node, const mapping::proto::PoseGraph &amp;pose_graph_proto)</arglist>
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    <namespace>cartographer</namespace>
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      <arglist>(SetLandmarkPoseSignature, proto::SetLandmarkPoseRequest, google::protobuf::Empty,&quot;/cartographer.cloud.proto.MapBuilderService/SetLandmarkPose&quot;) class SetLandmarkPoseHandler</arglist>
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      <arglist>(const std::string &amp;sensor_id, int trajectory_id, const std::string &amp;client_id, const sensor::proto::FixedFramePoseData &amp;fixed_frame_pose_data, proto::AddFixedFramePoseDataRequest *proto)</arglist>
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      <arglist>(const std::string &amp;sensor_id, const int trajectory_id, const std::string &amp;client_id, const sensor::proto::ImuData &amp;imu_data, proto::AddImuDataRequest *proto)</arglist>
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      <arglist>(const std::string &amp;sensor_id, int trajectory_id, const std::string &amp;client_id, const sensor::proto::LandmarkData &amp;landmark_data, proto::AddLandmarkDataRequest *proto)</arglist>
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      <arglist>(const std::string &amp;sensor_id, int trajectory_id, const std::string &amp;client_id, const sensor::proto::OdometryData &amp;odometry_data, proto::AddOdometryDataRequest *proto)</arglist>
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      <arglist>(const std::string &amp;sensor_id, int trajectory_id, const std::string &amp;client_id, const sensor::proto::TimedPointCloudData &amp;timed_point_cloud_data, proto::AddRangefinderDataRequest *proto)</arglist>
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      <arglist>(const std::string &amp;uplink_server_address, int batch_size, bool enable_ssl_encryption, bool enable_google_auth)</arglist>
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      <arglist>(const proto::MapBuilderServerOptions &amp;map_builder_server_options, std::unique_ptr&lt; mapping::MapBuilderInterface &gt; map_builder)</arglist>
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      <arglist>(const mapping::PoseGraphInterface::TrajectoryState &amp;trajectory_state)</arglist>
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      <arglist>(const std::string &amp;client_id, int local_trajectory_id, const std::set&lt; SensorId &gt; &amp;expected_sensor_ids, const mapping::proto::TrajectoryBuilderOptions &amp;trajectory_options)=0</arglist>
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      <anchor>af16bc0e4d6cb83f5ce6ea8795bebd14f</anchor>
      <arglist>(std::unique_ptr&lt; proto::SensorData &gt; sensor_data)=0</arglist>
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    <member kind="function" virtualness="pure">
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      <arglist>(const std::string &amp;client_id, int local_trajectory_id)=0</arglist>
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      <arglist>(int local_trajectory_id) const =0</arglist>
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      <arglist>()=0</arglist>
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      <arglist>()=0</arglist>
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      <arglist>()</arglist>
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      <type>void</type>
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      <arglist>(const Data &amp;sensor_data) override</arglist>
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      <anchorfile>classcartographer_1_1cloud_1_1MapBuilderContext.html</anchorfile>
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      <arglist>(const std::string &amp;client_id, int trajectory_id) override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>EnqueueLocalSlamResultData</name>
      <anchorfile>classcartographer_1_1cloud_1_1MapBuilderContext.html</anchorfile>
      <anchor>a5e05ca59b8d4d0bd8c7caedfc45325f2</anchor>
      <arglist>(int trajectory_id, const std::string &amp;sensor_id, const mapping::proto::LocalSlamResultData &amp;local_slam_result_data)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>EnqueueLocalSlamResultData</name>
      <anchorfile>classcartographer_1_1cloud_1_1MapBuilderContext.html</anchorfile>
      <anchor>af2c139272d6b07798fad19bf2466b043</anchor>
      <arglist>(int trajectory_id, const std::string &amp;sensor_id, const mapping::proto::LocalSlamResultData &amp;local_slam_result_data)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>EnqueueLocalSlamResultData</name>
      <anchorfile>classcartographer_1_1cloud_1_1MapBuilderContext.html</anchorfile>
      <anchor>aacaddf478ab6e1fb4073c4e7498ed244</anchor>
      <arglist>(int trajectory_id, const std::string &amp;sensor_id, const mapping::proto::LocalSlamResultData &amp;local_slam_result_data) override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>EnqueueLocalSlamResultData</name>
      <anchorfile>classcartographer_1_1cloud_1_1MapBuilderContext.html</anchorfile>
      <anchor>a5e05ca59b8d4d0bd8c7caedfc45325f2</anchor>
      <arglist>(int trajectory_id, const std::string &amp;sensor_id, const mapping::proto::LocalSlamResultData &amp;local_slam_result_data)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>EnqueueLocalSlamResultData</name>
      <anchorfile>classcartographer_1_1cloud_1_1MapBuilderContext.html</anchorfile>
      <anchor>af2c139272d6b07798fad19bf2466b043</anchor>
      <arglist>(int trajectory_id, const std::string &amp;sensor_id, const mapping::proto::LocalSlamResultData &amp;local_slam_result_data)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>EnqueueSensorData</name>
      <anchorfile>classcartographer_1_1cloud_1_1MapBuilderContext.html</anchorfile>
      <anchor>a34426ff960f2b9657b243d1ec9b59c3b</anchor>
      <arglist>(int trajectory_id, std::unique_ptr&lt; sensor::Data &gt; data) override</arglist>
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    <member kind="function">
      <type>mapping::TrajectoryBuilderInterface::LocalSlamResultCallback</type>
      <name>GetLocalSlamResultCallbackForSubscriptions</name>
      <anchorfile>classcartographer_1_1cloud_1_1MapBuilderContext.html</anchorfile>
      <anchor>a92bfefe9656bfb2d51ec681ec8d23495</anchor>
      <arglist>() override</arglist>
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    <member kind="function">
      <type>LocalTrajectoryUploaderInterface *</type>
      <name>local_trajectory_uploader</name>
      <anchorfile>classcartographer_1_1cloud_1_1MapBuilderContext.html</anchorfile>
      <anchor>ac063fd5d5f49219a4e88c82f2d16a5d4</anchor>
      <arglist>() override</arglist>
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    <member kind="function">
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      <arglist>() final</arglist>
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      <arglist>(int trajectory_id)</arglist>
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      <arglist>(const std::map&lt; int, mapping::SubmapId &gt; &amp;last_optimized_submap_ids, const std::map&lt; int, mapping::NodeId &gt; &amp;last_optimized_node_ids)</arglist>
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      <arglist>(int trajectory_id, const std::string client_id, common::Time time, transform::Rigid3d local_pose, sensor::RangeData range_data, std::unique_ptr&lt; const mapping::TrajectoryBuilderInterface::InsertionResult &gt; insertion_result)</arglist>
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      <arglist>(const MapBuilderContextInterface::LocalSlamSubscriptionId &amp;subscription_id)</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>std::unique_ptr&lt; std::thread &gt;</type>
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      <arglist></arglist>
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      <type>int</type>
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      <anchorfile>classcartographer_1_1cloud_1_1MapBuilderServer.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>absl::Mutex</type>
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      <arglist></arglist>
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  <compound kind="class">
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      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
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      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
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      <anchor>aaa6b413a4953051e08c120cb9387ea2b</anchor>
      <arglist>()=0</arglist>
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      <arglist>()=0</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>int</type>
      <name>AddTrajectoryBuilder</name>
      <anchorfile>classcartographer_1_1cloud_1_1MapBuilderStub.html</anchorfile>
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      <arglist>(const std::set&lt; SensorId &gt; &amp;expected_sensor_ids, const mapping::proto::TrajectoryBuilderOptions &amp;trajectory_options, LocalSlamResultCallback local_slam_result_callback) override</arglist>
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    <member kind="function">
      <type>int</type>
      <name>AddTrajectoryForDeserialization</name>
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      <anchor>af41b68868c63c07c0b01a383bcbfb080</anchor>
      <arglist>(const mapping::proto::TrajectoryBuilderOptionsWithSensorIds &amp;options_with_sensor_ids_proto) override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>FinishTrajectory</name>
      <anchorfile>classcartographer_1_1cloud_1_1MapBuilderStub.html</anchorfile>
      <anchor>a882ef11e61120c155af7a2518ebcb31c</anchor>
      <arglist>(int trajectory_id) override</arglist>
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    <member kind="function">
      <type>const std::vector&lt; mapping::proto::TrajectoryBuilderOptionsWithSensorIds &gt; &amp;</type>
      <name>GetAllTrajectoryBuilderOptions</name>
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      <anchor>ae1efbcf99352a4b63d883a5ca02c43dd</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>mapping::TrajectoryBuilderInterface *</type>
      <name>GetTrajectoryBuilder</name>
      <anchorfile>classcartographer_1_1cloud_1_1MapBuilderStub.html</anchorfile>
      <anchor>a4339f2fd956b502c7db4f5d028b5c9fb</anchor>
      <arglist>(int trajectory_id) const override</arglist>
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      <name>LoadState</name>
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      <arglist>(io::ProtoStreamReaderInterface *reader, bool load_frozen_state) override</arglist>
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    <member kind="function">
      <type>std::map&lt; int, int &gt;</type>
      <name>LoadStateFromFile</name>
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      <arglist>(const std::string &amp;filename, bool load_frozen_state) override</arglist>
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    <member kind="function">
      <type></type>
      <name>MapBuilderStub</name>
      <anchorfile>classcartographer_1_1cloud_1_1MapBuilderStub.html</anchorfile>
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      <arglist>(const std::string &amp;server_address, const std::string &amp;client_id)</arglist>
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    <member kind="function">
      <type></type>
      <name>MapBuilderStub</name>
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      <arglist>(const MapBuilderStub &amp;)</arglist>
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    <member kind="function">
      <type>int</type>
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      <anchorfile>classcartographer_1_1cloud_1_1MapBuilderStub.html</anchorfile>
      <anchor>a0873e3ea1f79ef6a1d597727f327fb48</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>MapBuilderStub &amp;</type>
      <name>operator=</name>
      <anchorfile>classcartographer_1_1cloud_1_1MapBuilderStub.html</anchorfile>
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      <arglist>(const MapBuilderStub &amp;)</arglist>
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    <member kind="function">
      <type>mapping::PoseGraphInterface *</type>
      <name>pose_graph</name>
      <anchorfile>classcartographer_1_1cloud_1_1MapBuilderStub.html</anchorfile>
      <anchor>ad7c72e323f645e278bf62a35c1400ed0</anchor>
      <arglist>() override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>SerializeState</name>
      <anchorfile>classcartographer_1_1cloud_1_1MapBuilderStub.html</anchorfile>
      <anchor>ad88db8feb4df65ac6d433b1a6ba494b7</anchor>
      <arglist>(bool include_unfinished_submaps, io::ProtoStreamWriterInterface *writer) override</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>SerializeStateToFile</name>
      <anchorfile>classcartographer_1_1cloud_1_1MapBuilderStub.html</anchorfile>
      <anchor>a76988b41ee1d30c6631f660b1b16d14f</anchor>
      <arglist>(bool include_unfinished_submaps, const std::string &amp;filename) override</arglist>
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    <member kind="function">
      <type>std::string</type>
      <name>SubmapToProto</name>
      <anchorfile>classcartographer_1_1cloud_1_1MapBuilderStub.html</anchorfile>
      <anchor>a232395bb1294a8711e8d886a91e86557</anchor>
      <arglist>(const mapping::SubmapId &amp;submap_id, mapping::proto::SubmapQuery::Response *response) override</arglist>
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    <member kind="variable" protection="private">
      <type>std::shared_ptr&lt;::grpc::Channel &gt;</type>
      <name>client_channel_</name>
      <anchorfile>classcartographer_1_1cloud_1_1MapBuilderStub.html</anchorfile>
      <anchor>a2b175c8c7a93fff91907a149a80d903b</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const std::string</type>
      <name>client_id_</name>
      <anchorfile>classcartographer_1_1cloud_1_1MapBuilderStub.html</anchorfile>
      <anchor>a9b2666c8a38c292cb34d98cb05c3ef4b</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; mapping::PoseGraphInterface &gt;</type>
      <name>pose_graph_stub_</name>
      <anchorfile>classcartographer_1_1cloud_1_1MapBuilderStub.html</anchorfile>
      <anchor>a736ccd31b20bfb14ca20773a748c249a</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::map&lt; int, std::unique_ptr&lt; mapping::TrajectoryBuilderInterface &gt; &gt;</type>
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      <anchorfile>classcartographer_1_1cloud_1_1MapBuilderStub.html</anchorfile>
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      <arglist></arglist>
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    <base>cartographer::mapping::PoseGraphInterface</base>
    <member kind="function">
      <type>std::vector&lt; Constraint &gt;</type>
      <name>constraints</name>
      <anchorfile>classcartographer_1_1cloud_1_1PoseGraphStub.html</anchorfile>
      <anchor>a915ba9460491db0afb2e150f23fccf00</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>DeleteTrajectory</name>
      <anchorfile>classcartographer_1_1cloud_1_1PoseGraphStub.html</anchorfile>
      <anchor>a3db465f46449d4f8fca18d460ca184b8</anchor>
      <arglist>(int trajectory_id) override</arglist>
    </member>
    <member kind="function">
      <type>mapping::MapById&lt; mapping::SubmapId, SubmapData &gt;</type>
      <name>GetAllSubmapData</name>
      <anchorfile>classcartographer_1_1cloud_1_1PoseGraphStub.html</anchorfile>
      <anchor>a0b76e91955500af879f8d8bf95696217</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>mapping::MapById&lt; mapping::SubmapId, SubmapPose &gt;</type>
      <name>GetAllSubmapPoses</name>
      <anchorfile>classcartographer_1_1cloud_1_1PoseGraphStub.html</anchorfile>
      <anchor>a6f74f64860d0416512dcc87cd4476711</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>std::map&lt; std::string, transform::Rigid3d &gt;</type>
      <name>GetLandmarkPoses</name>
      <anchorfile>classcartographer_1_1cloud_1_1PoseGraphStub.html</anchorfile>
      <anchor>a72ff1c5fa83c0b0859ddd498a45eb6d3</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>transform::Rigid3d</type>
      <name>GetLocalToGlobalTransform</name>
      <anchorfile>classcartographer_1_1cloud_1_1PoseGraphStub.html</anchorfile>
      <anchor>a8c057fe3d4745783b254e82baf95f0a7</anchor>
      <arglist>(int trajectory_id) const override</arglist>
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    <member kind="function">
      <type>std::map&lt; int, mapping::PoseGraphInterface::TrajectoryData &gt;</type>
      <name>GetTrajectoryData</name>
      <anchorfile>classcartographer_1_1cloud_1_1PoseGraphStub.html</anchorfile>
      <anchor>aa254377cb7ad048e78a484d2f5023dcc</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>mapping::MapById&lt; mapping::NodeId, mapping::TrajectoryNodePose &gt;</type>
      <name>GetTrajectoryNodePoses</name>
      <anchorfile>classcartographer_1_1cloud_1_1PoseGraphStub.html</anchorfile>
      <anchor>ae5f7cb4c1a134c6aa656a75a9a2b0cb5</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>mapping::MapById&lt; mapping::NodeId, mapping::TrajectoryNode &gt;</type>
      <name>GetTrajectoryNodes</name>
      <anchorfile>classcartographer_1_1cloud_1_1PoseGraphStub.html</anchorfile>
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      <arglist>() const override</arglist>
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    <member kind="function">
      <type>std::map&lt; int, TrajectoryState &gt;</type>
      <name>GetTrajectoryStates</name>
      <anchorfile>classcartographer_1_1cloud_1_1PoseGraphStub.html</anchorfile>
      <anchor>a1ef36a56923403ea50d18b8add9e773a</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>IsTrajectoryFinished</name>
      <anchorfile>classcartographer_1_1cloud_1_1PoseGraphStub.html</anchorfile>
      <anchor>a881cb829afff3166d0c1bde76f50e6ef</anchor>
      <arglist>(int trajectory_id) const override</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>IsTrajectoryFrozen</name>
      <anchorfile>classcartographer_1_1cloud_1_1PoseGraphStub.html</anchorfile>
      <anchor>ab53ddf6efd343bf2f807fc99d970fbc8</anchor>
      <arglist>(int trajectory_id) const override</arglist>
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    <member kind="function">
      <type>PoseGraphStub &amp;</type>
      <name>operator=</name>
      <anchorfile>classcartographer_1_1cloud_1_1PoseGraphStub.html</anchorfile>
      <anchor>a86f230b6585c45ee0384726718cce9a7</anchor>
      <arglist>(const PoseGraphStub &amp;)</arglist>
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    <member kind="function">
      <type></type>
      <name>PoseGraphStub</name>
      <anchorfile>classcartographer_1_1cloud_1_1PoseGraphStub.html</anchorfile>
      <anchor>afcabfcbf52e4c0b29ed8003812abe932</anchor>
      <arglist>(std::shared_ptr&lt;::grpc::Channel &gt; client_channel, const std::string &amp;client_id)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PoseGraphStub</name>
      <anchorfile>classcartographer_1_1cloud_1_1PoseGraphStub.html</anchorfile>
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      <arglist>(const PoseGraphStub &amp;)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>RunFinalOptimization</name>
      <anchorfile>classcartographer_1_1cloud_1_1PoseGraphStub.html</anchorfile>
      <anchor>a7a96767d7177144f756163c1487def15</anchor>
      <arglist>() override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>SetGlobalSlamOptimizationCallback</name>
      <anchorfile>classcartographer_1_1cloud_1_1PoseGraphStub.html</anchorfile>
      <anchor>af0963bb86af9934d0a3013e043fd393b</anchor>
      <arglist>(GlobalSlamOptimizationCallback callback) override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>SetLandmarkPose</name>
      <anchorfile>classcartographer_1_1cloud_1_1PoseGraphStub.html</anchorfile>
      <anchor>a74b963b608d5b26521bcf8956819d710</anchor>
      <arglist>(const std::string &amp;landmark_id, const transform::Rigid3d &amp;global_pose, const bool frozen=false) override</arglist>
    </member>
    <member kind="function">
      <type>mapping::proto::PoseGraph</type>
      <name>ToProto</name>
      <anchorfile>classcartographer_1_1cloud_1_1PoseGraphStub.html</anchorfile>
      <anchor>a6ede9992b73e9edc3a43688bf36c43e9</anchor>
      <arglist>(bool include_unfinished_submaps) const override</arglist>
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    <member kind="variable" protection="private">
      <type>std::shared_ptr&lt;::grpc::Channel &gt;</type>
      <name>client_channel_</name>
      <anchorfile>classcartographer_1_1cloud_1_1PoseGraphStub.html</anchorfile>
      <anchor>ad2a45a4243f52f396d724bafb06a8d76</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const std::string</type>
      <name>client_id_</name>
      <anchorfile>classcartographer_1_1cloud_1_1PoseGraphStub.html</anchorfile>
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      <arglist></arglist>
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    <name>cartographer::cloud::TrajectoryBuilderStub</name>
    <filename>classcartographer_1_1cloud_1_1TrajectoryBuilderStub.html</filename>
    <base>cartographer::mapping::TrajectoryBuilderInterface</base>
    <member kind="function">
      <type>void</type>
      <name>AddLocalSlamResultData</name>
      <anchorfile>classcartographer_1_1cloud_1_1TrajectoryBuilderStub.html</anchorfile>
      <anchor>a3fec070e673c44666b9e2d13510cb39d</anchor>
      <arglist>(std::unique_ptr&lt; mapping::LocalSlamResultData &gt; local_slam_result_data) override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>AddSensorData</name>
      <anchorfile>classcartographer_1_1cloud_1_1TrajectoryBuilderStub.html</anchorfile>
      <anchor>a605e442b0ae95a215ee85e523b9de2dd</anchor>
      <arglist>(const std::string &amp;sensor_id, const sensor::TimedPointCloudData &amp;timed_point_cloud_data) override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>AddSensorData</name>
      <anchorfile>classcartographer_1_1cloud_1_1TrajectoryBuilderStub.html</anchorfile>
      <anchor>a08e9b21764ffd6533705862c4930a827</anchor>
      <arglist>(const std::string &amp;sensor_id, const sensor::ImuData &amp;imu_data) override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>AddSensorData</name>
      <anchorfile>classcartographer_1_1cloud_1_1TrajectoryBuilderStub.html</anchorfile>
      <anchor>ac095c085777a3bbcca60c4769d3ddb2b</anchor>
      <arglist>(const std::string &amp;sensor_id, const sensor::OdometryData &amp;odometry_data) override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>AddSensorData</name>
      <anchorfile>classcartographer_1_1cloud_1_1TrajectoryBuilderStub.html</anchorfile>
      <anchor>acb5755ee29e1c996c2f9c496f4160fb8</anchor>
      <arglist>(const std::string &amp;sensor_id, const sensor::FixedFramePoseData &amp;fixed_frame_pose) override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>AddSensorData</name>
      <anchorfile>classcartographer_1_1cloud_1_1TrajectoryBuilderStub.html</anchorfile>
      <anchor>a254a538e1675e369fe5a7d303a97cbb3</anchor>
      <arglist>(const std::string &amp;sensor_id, const sensor::LandmarkData &amp;landmark_data) override</arglist>
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    <member kind="function">
      <type>TrajectoryBuilderStub &amp;</type>
      <name>operator=</name>
      <anchorfile>classcartographer_1_1cloud_1_1TrajectoryBuilderStub.html</anchorfile>
      <anchor>add785695483ed390a8abecde7e4569a3</anchor>
      <arglist>(const TrajectoryBuilderStub &amp;)</arglist>
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    <member kind="function">
      <type></type>
      <name>TrajectoryBuilderStub</name>
      <anchorfile>classcartographer_1_1cloud_1_1TrajectoryBuilderStub.html</anchorfile>
      <anchor>a0d60393c60e48b7dc296210cfe8ffac3</anchor>
      <arglist>(std::shared_ptr&lt;::grpc::Channel &gt; client_channel, const int trajectory_id, const std::string &amp;client_id, LocalSlamResultCallback local_slam_result_callback)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TrajectoryBuilderStub</name>
      <anchorfile>classcartographer_1_1cloud_1_1TrajectoryBuilderStub.html</anchorfile>
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      <arglist>(const TrajectoryBuilderStub &amp;)</arglist>
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    <member kind="function">
      <type></type>
      <name>~TrajectoryBuilderStub</name>
      <anchorfile>classcartographer_1_1cloud_1_1TrajectoryBuilderStub.html</anchorfile>
      <anchor>a21fa4a30497ef0754569d142a82a0db1</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static void</type>
      <name>RunLocalSlamResultsReader</name>
      <anchorfile>classcartographer_1_1cloud_1_1TrajectoryBuilderStub.html</anchorfile>
      <anchor>a3ad79823b73837411b9cc4bc7f56b589</anchor>
      <arglist>(async_grpc::Client&lt; handlers::ReceiveLocalSlamResultsSignature &gt; *client_reader, LocalSlamResultCallback local_slam_result_callback)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; async_grpc::Client&lt; handlers::AddFixedFramePoseDataSignature &gt; &gt;</type>
      <name>add_fixed_frame_pose_client_</name>
      <anchorfile>classcartographer_1_1cloud_1_1TrajectoryBuilderStub.html</anchorfile>
      <anchor>a0ca597cbd27a0209fb337e1f96de621b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; async_grpc::Client&lt; handlers::AddImuDataSignature &gt; &gt;</type>
      <name>add_imu_client_</name>
      <anchorfile>classcartographer_1_1cloud_1_1TrajectoryBuilderStub.html</anchorfile>
      <anchor>a18e27817ce6d55ba873e72b851602218</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
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      <arglist></arglist>
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      <arglist>(const T &amp;proto)</arglist>
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      <arglist>(const proto::AddFixedFramePoseDataRequest &amp;proto)</arglist>
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      <arglist>(const proto::AddImuDataRequest &amp;proto)</arglist>
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      <arglist>(const proto::AddLandmarkDataRequest &amp;proto)</arglist>
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      <anchorfile>namespacecartographer_1_1cloud_1_1testing.html</anchorfile>
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      <arglist>(const proto::AddOdometryDataRequest &amp;proto)</arglist>
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      <arglist>(EnqueueLocalSlamResultData, void(int, const std::string &amp;, const mapping::proto::LocalSlamResultData &amp;))</arglist>
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      <arglist>(absl::flat_hash_set&lt; int &gt; to_remove, PointsBatch *batch)</arglist>
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    <member kind="function">
      <type>FloatColor</type>
      <name>ToFloatColor</name>
      <anchorfile>namespacecartographer_1_1io.html</anchorfile>
      <anchor>a1b042e96ffea7c82454b3d5fd9343c61</anchor>
      <arglist>(const Uint8Color &amp;color)</arglist>
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    <member kind="function">
      <type>Uint8Color</type>
      <name>ToUint8Color</name>
      <anchorfile>namespacecartographer_1_1io.html</anchorfile>
      <anchor>adff06697ea292b9d761b7b6b36a52c05</anchor>
      <arglist>(const FloatColor &amp;color)</arglist>
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    <member kind="function">
      <type>float</type>
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      <anchorfile>namespacecartographer_1_1io.html</anchorfile>
      <anchor>ae4f5d2dbf07d31c79d04cad6c481f4f1</anchor>
      <arglist>(uint8 c)</arglist>
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    <member kind="function">
      <type>SubmapTexture::Pixels</type>
      <name>UnpackTextureData</name>
      <anchorfile>namespacecartographer_1_1io.html</anchorfile>
      <anchor>aa765d8710f2edf163ecd0ee248ab6d78</anchor>
      <arglist>(const std::string &amp;compressed_cells, const int width, const int height)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>WritePbStream</name>
      <anchorfile>namespacecartographer_1_1io.html</anchorfile>
      <anchor>a2cd550629dee0f7cc5d5a71d51d8104c</anchor>
      <arglist>(const mapping::PoseGraph &amp;pose_graph, const std::vector&lt; mapping::proto::TrajectoryBuilderOptionsWithSensorIds &gt; &amp;trajectory_builder_options, ProtoStreamWriterInterface *const writer, bool include_unfinished_submaps)</arglist>
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    <member kind="variable">
      <type>constexpr cairo_format_t</type>
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      <anchor>a2d2a96faa9fe26e93b95e748d23c28e9</anchor>
      <arglist></arglist>
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    <member kind="variable" static="yes">
      <type>static constexpr int</type>
      <name>kFormatVersionWithoutSubmapHistograms</name>
      <anchorfile>namespacecartographer_1_1io.html</anchorfile>
      <anchor>a3cb185f0f0354ce31e4f8820dc1fea90</anchor>
      <arglist></arglist>
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    <member kind="variable" static="yes">
      <type>static constexpr int</type>
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      <arglist></arglist>
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  <compound kind="class">
    <name>cartographer::io::ColoringPointsProcessor</name>
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    <base>cartographer::io::PointsProcessor</base>
    <member kind="function">
      <type></type>
      <name>ColoringPointsProcessor</name>
      <anchorfile>classcartographer_1_1io_1_1ColoringPointsProcessor.html</anchorfile>
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      <arglist>(const FloatColor &amp;color, const std::string &amp;frame_id, PointsProcessor *next)</arglist>
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    <member kind="function">
      <type></type>
      <name>ColoringPointsProcessor</name>
      <anchorfile>classcartographer_1_1io_1_1ColoringPointsProcessor.html</anchorfile>
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      <arglist>(const ColoringPointsProcessor &amp;)</arglist>
    </member>
    <member kind="function">
      <type>FlushResult</type>
      <name>Flush</name>
      <anchorfile>classcartographer_1_1io_1_1ColoringPointsProcessor.html</anchorfile>
      <anchor>af034884e7a3c47178494a12b1c260129</anchor>
      <arglist>() override</arglist>
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    <member kind="function">
      <type>ColoringPointsProcessor &amp;</type>
      <name>operator=</name>
      <anchorfile>classcartographer_1_1io_1_1ColoringPointsProcessor.html</anchorfile>
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      <arglist>(const ColoringPointsProcessor &amp;)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>Process</name>
      <anchorfile>classcartographer_1_1io_1_1ColoringPointsProcessor.html</anchorfile>
      <anchor>af99aa9dd4c4ce1e50e2e29bd447e5f2b</anchor>
      <arglist>(std::unique_ptr&lt; PointsBatch &gt; batch) override</arglist>
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    <member kind="function">
      <type></type>
      <name>~ColoringPointsProcessor</name>
      <anchorfile>classcartographer_1_1io_1_1ColoringPointsProcessor.html</anchorfile>
      <anchor>a532807c048ac87f1cee77c6a03fcb3da</anchor>
      <arglist>() override</arglist>
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    <member kind="function" static="yes">
      <type>static std::unique_ptr&lt; ColoringPointsProcessor &gt;</type>
      <name>FromDictionary</name>
      <anchorfile>classcartographer_1_1io_1_1ColoringPointsProcessor.html</anchorfile>
      <anchor>a59b39f0bdbfe13afbc3025f6cbccb1d9</anchor>
      <arglist>(common::LuaParameterDictionary *dictionary, PointsProcessor *next)</arglist>
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    <member kind="variable" static="yes">
      <type>static constexpr const char *</type>
      <name>kConfigurationFileActionName</name>
      <anchorfile>classcartographer_1_1io_1_1ColoringPointsProcessor.html</anchorfile>
      <anchor>ad630f8926ae9ac1150a28b7d4a01e075</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const FloatColor</type>
      <name>color_</name>
      <anchorfile>classcartographer_1_1io_1_1ColoringPointsProcessor.html</anchorfile>
      <anchor>a0c06ece2d69c05b707749fa5e6546712</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const std::string</type>
      <name>frame_id_</name>
      <anchorfile>classcartographer_1_1io_1_1ColoringPointsProcessor.html</anchorfile>
      <anchor>a062db33507a4ddbba07eab7adbf23eff</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>PointsProcessor *const</type>
      <name>next_</name>
      <anchorfile>classcartographer_1_1io_1_1ColoringPointsProcessor.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
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    <base>cartographer::io::PointsProcessor</base>
    <member kind="function">
      <type></type>
      <name>CountingPointsProcessor</name>
      <anchorfile>classcartographer_1_1io_1_1CountingPointsProcessor.html</anchorfile>
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      <arglist>(PointsProcessor *next)</arglist>
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    <member kind="function">
      <type></type>
      <name>CountingPointsProcessor</name>
      <anchorfile>classcartographer_1_1io_1_1CountingPointsProcessor.html</anchorfile>
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      <arglist>(const CountingPointsProcessor &amp;)</arglist>
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    <member kind="function">
      <type>FlushResult</type>
      <name>Flush</name>
      <anchorfile>classcartographer_1_1io_1_1CountingPointsProcessor.html</anchorfile>
      <anchor>a8273b745aadccdf831f0190e93e99efc</anchor>
      <arglist>() override</arglist>
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    <member kind="function">
      <type>CountingPointsProcessor &amp;</type>
      <name>operator=</name>
      <anchorfile>classcartographer_1_1io_1_1CountingPointsProcessor.html</anchorfile>
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      <arglist>(const CountingPointsProcessor &amp;)</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classcartographer_1_1io_1_1CountingPointsProcessor.html</anchorfile>
      <anchor>a9067f973a95ed575b94b5dd69b50017c</anchor>
      <arglist>(std::unique_ptr&lt; PointsBatch &gt; points) override</arglist>
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    <member kind="function">
      <type></type>
      <name>~CountingPointsProcessor</name>
      <anchorfile>classcartographer_1_1io_1_1CountingPointsProcessor.html</anchorfile>
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      <arglist>() override</arglist>
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    <member kind="function" static="yes">
      <type>static std::unique_ptr&lt; CountingPointsProcessor &gt;</type>
      <name>FromDictionary</name>
      <anchorfile>classcartographer_1_1io_1_1CountingPointsProcessor.html</anchorfile>
      <anchor>afc04778cbcc7cedd16efd3cbd2dca26a</anchor>
      <arglist>(common::LuaParameterDictionary *dictionary, PointsProcessor *next)</arglist>
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    <member kind="variable" static="yes">
      <type>static constexpr const char *</type>
      <name>kConfigurationFileActionName</name>
      <anchorfile>classcartographer_1_1io_1_1CountingPointsProcessor.html</anchorfile>
      <anchor>a4b6a379f84f7babae3f9088326fd8113</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>PointsProcessor *</type>
      <name>next_</name>
      <anchorfile>classcartographer_1_1io_1_1CountingPointsProcessor.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>int64</type>
      <name>num_points_</name>
      <anchorfile>classcartographer_1_1io_1_1CountingPointsProcessor.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
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    <base>cartographer::io::FileWriter</base>
    <member kind="function">
      <type>bool</type>
      <name>Close</name>
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      <arglist>() override</arglist>
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    <member kind="function">
      <type></type>
      <name>FakeFileWriter</name>
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      <arglist>(const std::string &amp;filename, std::shared_ptr&lt; std::vector&lt; char &gt;&gt; content)</arglist>
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    <member kind="function">
      <type>std::string</type>
      <name>GetFilename</name>
      <anchorfile>classcartographer_1_1io_1_1FakeFileWriter.html</anchorfile>
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      <arglist>() override</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>Write</name>
      <anchorfile>classcartographer_1_1io_1_1FakeFileWriter.html</anchorfile>
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      <arglist>(const char *data, size_t len) override</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>WriteHeader</name>
      <anchorfile>classcartographer_1_1io_1_1FakeFileWriter.html</anchorfile>
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      <arglist>(const char *data, size_t len) override</arglist>
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    <member kind="function">
      <type></type>
      <name>~FakeFileWriter</name>
      <anchorfile>classcartographer_1_1io_1_1FakeFileWriter.html</anchorfile>
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      <arglist>() override</arglist>
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    <member kind="variable" protection="private">
      <type>std::shared_ptr&lt; std::vector&lt; char &gt; &gt;</type>
      <name>content_</name>
      <anchorfile>classcartographer_1_1io_1_1FakeFileWriter.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>filename_</name>
      <anchorfile>classcartographer_1_1io_1_1FakeFileWriter.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>bool</type>
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      <anchorfile>classcartographer_1_1io_1_1FakeFileWriter.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
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    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
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      <arglist>()=0</arglist>
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    <member kind="function">
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      <arglist>()</arglist>
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    <member kind="function">
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      <name>FileWriter</name>
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      <arglist>(const FileWriter &amp;)</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual std::string</type>
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      <arglist>()=0</arglist>
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    <member kind="function">
      <type>FileWriter &amp;</type>
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      <anchorfile>classcartographer_1_1io_1_1FileWriter.html</anchorfile>
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      <arglist>(const FileWriter &amp;)</arglist>
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    <member kind="function" virtualness="pure">
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      <arglist>(const char *data, size_t len)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
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      <arglist>(const char *data, size_t len)=0</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
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      <arglist>()</arglist>
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  <compound kind="class">
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    <base>cartographer::io::PointsProcessor</base>
    <member kind="function">
      <type></type>
      <name>FixedRatioSamplingPointsProcessor</name>
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      <arglist>(double sampling_ratio, PointsProcessor *next)</arglist>
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    <member kind="function">
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      <name>FixedRatioSamplingPointsProcessor</name>
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      <arglist>(const FixedRatioSamplingPointsProcessor &amp;)</arglist>
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    <member kind="function">
      <type>FlushResult</type>
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      <arglist>() override</arglist>
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    <member kind="function">
      <type>FixedRatioSamplingPointsProcessor &amp;</type>
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      <arglist>(const FixedRatioSamplingPointsProcessor &amp;)</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classcartographer_1_1io_1_1FixedRatioSamplingPointsProcessor.html</anchorfile>
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      <arglist>(std::unique_ptr&lt; PointsBatch &gt; batch) override</arglist>
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    <member kind="function">
      <type></type>
      <name>~FixedRatioSamplingPointsProcessor</name>
      <anchorfile>classcartographer_1_1io_1_1FixedRatioSamplingPointsProcessor.html</anchorfile>
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      <arglist>() override</arglist>
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    <member kind="function" static="yes">
      <type>static std::unique_ptr&lt; FixedRatioSamplingPointsProcessor &gt;</type>
      <name>FromDictionary</name>
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      <arglist>(common::LuaParameterDictionary *dictionary, PointsProcessor *next)</arglist>
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    <member kind="variable" static="yes">
      <type>static constexpr const char *</type>
      <name>kConfigurationFileActionName</name>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>PointsProcessor *const</type>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; common::FixedRatioSampler &gt;</type>
      <name>sampler_</name>
      <anchorfile>classcartographer_1_1io_1_1FixedRatioSamplingPointsProcessor.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const double</type>
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      <arglist></arglist>
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  </compound>
  <compound kind="class">
    <name>cartographer::io::ForwardingProtoStreamWriter</name>
    <filename>classcartographer_1_1io_1_1ForwardingProtoStreamWriter.html</filename>
    <base>cartographer::io::ProtoStreamWriterInterface</base>
    <member kind="function">
      <type>bool</type>
      <name>Close</name>
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      <anchor>ac8f5a20048e8007c0bf8272d5396f97f</anchor>
      <arglist>() override</arglist>
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    <member kind="function">
      <type></type>
      <name>ForwardingProtoStreamWriter</name>
      <anchorfile>classcartographer_1_1io_1_1ForwardingProtoStreamWriter.html</anchorfile>
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      <arglist>(WriterCallback writer_callback)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>WriteProto</name>
      <anchorfile>classcartographer_1_1io_1_1ForwardingProtoStreamWriter.html</anchorfile>
      <anchor>abaf7f576120238f9396de0662f90f8dc</anchor>
      <arglist>(const google::protobuf::Message &amp;proto) override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~ForwardingProtoStreamWriter</name>
      <anchorfile>classcartographer_1_1io_1_1ForwardingProtoStreamWriter.html</anchorfile>
      <anchor>a48deda97418a3ac4b5d6d826f59de31c</anchor>
      <arglist>()</arglist>
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    <member kind="variable" protection="private">
      <type>WriterCallback</type>
      <name>writer_callback_</name>
      <anchorfile>classcartographer_1_1io_1_1ForwardingProtoStreamWriter.html</anchorfile>
      <anchor>a7997a224c1c0f478785b7c675306506b</anchor>
      <arglist></arglist>
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  </compound>
  <compound kind="class">
    <name>cartographer::io::FrameIdFilteringPointsProcessor</name>
    <filename>classcartographer_1_1io_1_1FrameIdFilteringPointsProcessor.html</filename>
    <base>cartographer::io::PointsProcessor</base>
    <member kind="function">
      <type>FlushResult</type>
      <name>Flush</name>
      <anchorfile>classcartographer_1_1io_1_1FrameIdFilteringPointsProcessor.html</anchorfile>
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      <arglist>() override</arglist>
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    <member kind="function">
      <type></type>
      <name>FrameIdFilteringPointsProcessor</name>
      <anchorfile>classcartographer_1_1io_1_1FrameIdFilteringPointsProcessor.html</anchorfile>
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      <arglist>(const absl::flat_hash_set&lt; std::string &gt; &amp;keep_frame_ids, const absl::flat_hash_set&lt; std::string &gt; &amp;drop_frame_ids, PointsProcessor *next)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>FrameIdFilteringPointsProcessor</name>
      <anchorfile>classcartographer_1_1io_1_1FrameIdFilteringPointsProcessor.html</anchorfile>
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      <arglist>(const FrameIdFilteringPointsProcessor &amp;)</arglist>
    </member>
    <member kind="function">
      <type>FrameIdFilteringPointsProcessor &amp;</type>
      <name>operator=</name>
      <anchorfile>classcartographer_1_1io_1_1FrameIdFilteringPointsProcessor.html</anchorfile>
      <anchor>af3e54d6d75b0f3cacb59dff8107953e9</anchor>
      <arglist>(const FrameIdFilteringPointsProcessor &amp;)</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classcartographer_1_1io_1_1FrameIdFilteringPointsProcessor.html</anchorfile>
      <anchor>a44510e37056b43caddaec9adcc524078</anchor>
      <arglist>(std::unique_ptr&lt; PointsBatch &gt; batch) override</arglist>
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    <member kind="function">
      <type></type>
      <name>~FrameIdFilteringPointsProcessor</name>
      <anchorfile>classcartographer_1_1io_1_1FrameIdFilteringPointsProcessor.html</anchorfile>
      <anchor>ad94dc402e9a67cf6cd7ec82ef1c6af5b</anchor>
      <arglist>() override</arglist>
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    <member kind="function" static="yes">
      <type>static std::unique_ptr&lt; FrameIdFilteringPointsProcessor &gt;</type>
      <name>FromDictionary</name>
      <anchorfile>classcartographer_1_1io_1_1FrameIdFilteringPointsProcessor.html</anchorfile>
      <anchor>a9d9122ef8addd29f3dcf59480bc26551</anchor>
      <arglist>(common::LuaParameterDictionary *dictionary, PointsProcessor *next)</arglist>
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    <member kind="variable" static="yes">
      <type>static constexpr const char *</type>
      <name>kConfigurationFileActionName</name>
      <anchorfile>classcartographer_1_1io_1_1FrameIdFilteringPointsProcessor.html</anchorfile>
      <anchor>a75c87cf568549ce085efebc3e11ade1e</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const absl::flat_hash_set&lt; std::string &gt;</type>
      <name>drop_frame_ids_</name>
      <anchorfile>classcartographer_1_1io_1_1FrameIdFilteringPointsProcessor.html</anchorfile>
      <anchor>a81cf1b13c966b2f9bc905d9025235908</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const absl::flat_hash_set&lt; std::string &gt;</type>
      <name>keep_frame_ids_</name>
      <anchorfile>classcartographer_1_1io_1_1FrameIdFilteringPointsProcessor.html</anchorfile>
      <anchor>a3376d689050db7260cc9fb86176aa1b5</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>PointsProcessor *const</type>
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      <anchorfile>classcartographer_1_1io_1_1FrameIdFilteringPointsProcessor.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>cartographer::io::HybridGridPointsProcessor</name>
    <filename>classcartographer_1_1io_1_1HybridGridPointsProcessor.html</filename>
    <base>cartographer::io::PointsProcessor</base>
    <member kind="function">
      <type>FlushResult</type>
      <name>Flush</name>
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      <arglist>() override</arglist>
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    <member kind="function">
      <type></type>
      <name>HybridGridPointsProcessor</name>
      <anchorfile>classcartographer_1_1io_1_1HybridGridPointsProcessor.html</anchorfile>
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      <arglist>(double voxel_size, const mapping::proto::RangeDataInserterOptions3D &amp;range_data_inserter_options, std::unique_ptr&lt; FileWriter &gt; file_writer, PointsProcessor *next)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>HybridGridPointsProcessor</name>
      <anchorfile>classcartographer_1_1io_1_1HybridGridPointsProcessor.html</anchorfile>
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      <arglist>(const HybridGridPointsProcessor &amp;)</arglist>
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    <member kind="function">
      <type>HybridGridPointsProcessor &amp;</type>
      <name>operator=</name>
      <anchorfile>classcartographer_1_1io_1_1HybridGridPointsProcessor.html</anchorfile>
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      <arglist>(const HybridGridPointsProcessor &amp;)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>Process</name>
      <anchorfile>classcartographer_1_1io_1_1HybridGridPointsProcessor.html</anchorfile>
      <anchor>a7b8b9032c5ae3d76ee699551b3f9adf2</anchor>
      <arglist>(std::unique_ptr&lt; PointsBatch &gt; batch) override</arglist>
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    <member kind="function">
      <type></type>
      <name>~HybridGridPointsProcessor</name>
      <anchorfile>classcartographer_1_1io_1_1HybridGridPointsProcessor.html</anchorfile>
      <anchor>ae8d75c56029afdd3b20eecc391587ed8</anchor>
      <arglist>() override</arglist>
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    <member kind="function" static="yes">
      <type>static std::unique_ptr&lt; HybridGridPointsProcessor &gt;</type>
      <name>FromDictionary</name>
      <anchorfile>classcartographer_1_1io_1_1HybridGridPointsProcessor.html</anchorfile>
      <anchor>a70bc8c19976e8b0f311984237dea32cd</anchor>
      <arglist>(const FileWriterFactory &amp;file_writer_factory, common::LuaParameterDictionary *dictionary, PointsProcessor *next)</arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static constexpr const char *</type>
      <name>kConfigurationFileActionName</name>
      <anchorfile>classcartographer_1_1io_1_1HybridGridPointsProcessor.html</anchorfile>
      <anchor>a647f6a028f17bd134dafa0ca35aec3c6</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; FileWriter &gt;</type>
      <name>file_writer_</name>
      <anchorfile>classcartographer_1_1io_1_1HybridGridPointsProcessor.html</anchorfile>
      <anchor>adee32400bcfe65c802f7aa87f5c1ce01</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>mapping::HybridGrid</type>
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      <anchorfile>classcartographer_1_1io_1_1HybridGridPointsProcessor.html</anchorfile>
      <anchor>a929e61f4a3425445134887ca7e63bc5e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>PointsProcessor *const</type>
      <name>next_</name>
      <anchorfile>classcartographer_1_1io_1_1HybridGridPointsProcessor.html</anchorfile>
      <anchor>ab8ffa1b0faf72bbf0bcd30ef87a62efb</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>mapping::RangeDataInserter3D</type>
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      <anchorfile>classcartographer_1_1io_1_1HybridGridPointsProcessor.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>cartographer::io::Image</name>
    <filename>classcartographer_1_1io_1_1Image.html</filename>
    <member kind="function">
      <type>UniqueCairoSurfacePtr</type>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>const Uint8Color</type>
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      <anchor>aed4c6ec22bd4979d859801894be68947</anchor>
      <arglist>(int x, int y) const </arglist>
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    <member kind="function">
      <type>int</type>
      <name>height</name>
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      <arglist>() const </arglist>
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    <member kind="function">
      <type></type>
      <name>Image</name>
      <anchorfile>classcartographer_1_1io_1_1Image.html</anchorfile>
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      <arglist>(UniqueCairoSurfacePtr surface)</arglist>
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    <member kind="function">
      <type></type>
      <name>Image</name>
      <anchorfile>classcartographer_1_1io_1_1Image.html</anchorfile>
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      <arglist>(int width, int height)</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classcartographer_1_1io_1_1Image.html</anchorfile>
      <anchor>a889823f4db98f30e34b91c5fbd91f4e4</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchor>a5d984b6f723095176b6d8f7e3443b12f</anchor>
      <arglist>(int x, int y, const Uint8Color &amp;color)</arglist>
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    <member kind="function">
      <type>int</type>
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      <anchorfile>classcartographer_1_1io_1_1Image.html</anchorfile>
      <anchor>abc4707a3790a1082634d16d7ce285fd1</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>void</type>
      <name>WritePng</name>
      <anchorfile>classcartographer_1_1io_1_1Image.html</anchorfile>
      <anchor>a8ec43479b29b70e0b934fc807504af57</anchor>
      <arglist>(FileWriter *const file_writer)</arglist>
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    <member kind="variable" protection="private">
      <type>int</type>
      <name>height_</name>
      <anchorfile>classcartographer_1_1io_1_1Image.html</anchorfile>
      <anchor>a7e25b545a3f8ed79c39b83c95f50a55b</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::vector&lt; uint32 &gt;</type>
      <name>pixels_</name>
      <anchorfile>classcartographer_1_1io_1_1Image.html</anchorfile>
      <anchor>ad00c31a951e135e33ca11d5b69a3e182</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>int</type>
      <name>width_</name>
      <anchorfile>classcartographer_1_1io_1_1Image.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>cartographer::io::InMemoryProtoStreamReader</name>
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    <base>cartographer::io::ProtoStreamReaderInterface</base>
    <member kind="function">
      <type>void</type>
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      <anchorfile>classcartographer_1_1io_1_1InMemoryProtoStreamReader.html</anchorfile>
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      <arglist>(const MessageType &amp;proto)</arglist>
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    <member kind="function">
      <type>bool</type>
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      <arglist>() const override</arglist>
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    <member kind="function">
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      <name>InMemoryProtoStreamReader</name>
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      <arglist>(std::queue&lt; std::unique_ptr&lt; google::protobuf::Message &gt;&gt; &amp;&amp;state_chunks)</arglist>
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    <member kind="function">
      <type></type>
      <name>InMemoryProtoStreamReader</name>
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      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>InMemoryProtoStreamReader</name>
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      <arglist>(const InMemoryProtoStreamReader &amp;)</arglist>
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    <member kind="function">
      <type>InMemoryProtoStreamReader &amp;</type>
      <name>operator=</name>
      <anchorfile>classcartographer_1_1io_1_1InMemoryProtoStreamReader.html</anchorfile>
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      <arglist>(const InMemoryProtoStreamReader &amp;)</arglist>
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    <member kind="function">
      <type>bool</type>
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      <anchorfile>classcartographer_1_1io_1_1InMemoryProtoStreamReader.html</anchorfile>
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      <arglist>(google::protobuf::Message *proto) override</arglist>
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    <member kind="function">
      <type></type>
      <name>~InMemoryProtoStreamReader</name>
      <anchorfile>classcartographer_1_1io_1_1InMemoryProtoStreamReader.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="variable" protection="private">
      <type>std::queue&lt; std::unique_ptr&lt; google::protobuf::Message &gt; &gt;</type>
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      <arglist></arglist>
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  <compound kind="class">
    <name>cartographer::io::IntensityToColorPointsProcessor</name>
    <filename>classcartographer_1_1io_1_1IntensityToColorPointsProcessor.html</filename>
    <base>cartographer::io::PointsProcessor</base>
    <member kind="function">
      <type>FlushResult</type>
      <name>Flush</name>
      <anchorfile>classcartographer_1_1io_1_1IntensityToColorPointsProcessor.html</anchorfile>
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      <arglist>() override</arglist>
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    <member kind="function">
      <type></type>
      <name>IntensityToColorPointsProcessor</name>
      <anchorfile>classcartographer_1_1io_1_1IntensityToColorPointsProcessor.html</anchorfile>
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      <arglist>(float min_intensity, float max_intensity, const std::string &amp;frame_id, PointsProcessor *next)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>IntensityToColorPointsProcessor</name>
      <anchorfile>classcartographer_1_1io_1_1IntensityToColorPointsProcessor.html</anchorfile>
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      <arglist>(const IntensityToColorPointsProcessor &amp;)</arglist>
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    <member kind="function">
      <type>IntensityToColorPointsProcessor &amp;</type>
      <name>operator=</name>
      <anchorfile>classcartographer_1_1io_1_1IntensityToColorPointsProcessor.html</anchorfile>
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      <arglist>(const IntensityToColorPointsProcessor &amp;)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>Process</name>
      <anchorfile>classcartographer_1_1io_1_1IntensityToColorPointsProcessor.html</anchorfile>
      <anchor>a6fac481c6ecc533fb0a144c757e3d064</anchor>
      <arglist>(std::unique_ptr&lt; PointsBatch &gt; batch) override</arglist>
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    <member kind="function">
      <type></type>
      <name>~IntensityToColorPointsProcessor</name>
      <anchorfile>classcartographer_1_1io_1_1IntensityToColorPointsProcessor.html</anchorfile>
      <anchor>a100f554c50042a2efd69771349c03f34</anchor>
      <arglist>() override</arglist>
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    <member kind="function" static="yes">
      <type>static std::unique_ptr&lt; IntensityToColorPointsProcessor &gt;</type>
      <name>FromDictionary</name>
      <anchorfile>classcartographer_1_1io_1_1IntensityToColorPointsProcessor.html</anchorfile>
      <anchor>addbf1b51b0d2b86b85a05bcaf513b749</anchor>
      <arglist>(common::LuaParameterDictionary *dictionary, PointsProcessor *next)</arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static constexpr const char *</type>
      <name>kConfigurationFileActionName</name>
      <anchorfile>classcartographer_1_1io_1_1IntensityToColorPointsProcessor.html</anchorfile>
      <anchor>a5eca9d3b92a47772b64e6af26a31fd72</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const std::string</type>
      <name>frame_id_</name>
      <anchorfile>classcartographer_1_1io_1_1IntensityToColorPointsProcessor.html</anchorfile>
      <anchor>aab084c4d84634f7f93a484d78764242f</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const float</type>
      <name>max_intensity_</name>
      <anchorfile>classcartographer_1_1io_1_1IntensityToColorPointsProcessor.html</anchorfile>
      <anchor>a49d886d87a3248b8a7c644935dbca600</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const float</type>
      <name>min_intensity_</name>
      <anchorfile>classcartographer_1_1io_1_1IntensityToColorPointsProcessor.html</anchorfile>
      <anchor>a259368d699c5516ad07e720c90b57b60</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>PointsProcessor *const</type>
      <name>next_</name>
      <anchorfile>classcartographer_1_1io_1_1IntensityToColorPointsProcessor.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>cartographer::io::MinMaxRangeFiteringPointsProcessor</name>
    <filename>classcartographer_1_1io_1_1MinMaxRangeFiteringPointsProcessor.html</filename>
    <base>cartographer::io::PointsProcessor</base>
    <member kind="function">
      <type>FlushResult</type>
      <name>Flush</name>
      <anchorfile>classcartographer_1_1io_1_1MinMaxRangeFiteringPointsProcessor.html</anchorfile>
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      <arglist>() override</arglist>
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    <member kind="function">
      <type></type>
      <name>MinMaxRangeFiteringPointsProcessor</name>
      <anchorfile>classcartographer_1_1io_1_1MinMaxRangeFiteringPointsProcessor.html</anchorfile>
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      <arglist>(double min_range, double max_range, PointsProcessor *next)</arglist>
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    <member kind="function">
      <type></type>
      <name>MinMaxRangeFiteringPointsProcessor</name>
      <anchorfile>classcartographer_1_1io_1_1MinMaxRangeFiteringPointsProcessor.html</anchorfile>
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      <arglist>(const MinMaxRangeFiteringPointsProcessor &amp;)</arglist>
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    <member kind="function">
      <type>MinMaxRangeFiteringPointsProcessor &amp;</type>
      <name>operator=</name>
      <anchorfile>classcartographer_1_1io_1_1MinMaxRangeFiteringPointsProcessor.html</anchorfile>
      <anchor>a4b9c72a1402af1cd790b171625e01bbb</anchor>
      <arglist>(const MinMaxRangeFiteringPointsProcessor &amp;)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>Process</name>
      <anchorfile>classcartographer_1_1io_1_1MinMaxRangeFiteringPointsProcessor.html</anchorfile>
      <anchor>a8f838bb0e1a9f32af7c3a70eef27fdab</anchor>
      <arglist>(std::unique_ptr&lt; PointsBatch &gt; batch) override</arglist>
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    <member kind="function">
      <type></type>
      <name>~MinMaxRangeFiteringPointsProcessor</name>
      <anchorfile>classcartographer_1_1io_1_1MinMaxRangeFiteringPointsProcessor.html</anchorfile>
      <anchor>aabb5d1922ee04ee740c1599bddd4cc71</anchor>
      <arglist>() override</arglist>
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    <member kind="function" static="yes">
      <type>static std::unique_ptr&lt; MinMaxRangeFiteringPointsProcessor &gt;</type>
      <name>FromDictionary</name>
      <anchorfile>classcartographer_1_1io_1_1MinMaxRangeFiteringPointsProcessor.html</anchorfile>
      <anchor>a1cf85f4e85c42f1ae4f75325ffa78a21</anchor>
      <arglist>(common::LuaParameterDictionary *dictionary, PointsProcessor *next)</arglist>
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    <member kind="variable" static="yes">
      <type>static constexpr const char *</type>
      <name>kConfigurationFileActionName</name>
      <anchorfile>classcartographer_1_1io_1_1MinMaxRangeFiteringPointsProcessor.html</anchorfile>
      <anchor>afdea56d777014cb89d62a7a1dc8dbcfb</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const double</type>
      <name>max_range_</name>
      <anchorfile>classcartographer_1_1io_1_1MinMaxRangeFiteringPointsProcessor.html</anchorfile>
      <anchor>a1b57e3d7ebb92c760c7ceda4a747760d</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const double</type>
      <name>min_range_</name>
      <anchorfile>classcartographer_1_1io_1_1MinMaxRangeFiteringPointsProcessor.html</anchorfile>
      <anchor>a796294abc1dc11b268ff02257764b527</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>PointsProcessor *const</type>
      <name>next_</name>
      <anchorfile>classcartographer_1_1io_1_1MinMaxRangeFiteringPointsProcessor.html</anchorfile>
      <anchor>ac409c8106edb2064928b717b1b434a68</anchor>
      <arglist></arglist>
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  </compound>
  <compound kind="class">
    <name>cartographer::io::NullPointsProcessor</name>
    <filename>classcartographer_1_1io_1_1NullPointsProcessor.html</filename>
    <base>cartographer::io::PointsProcessor</base>
    <member kind="function">
      <type>FlushResult</type>
      <name>Flush</name>
      <anchorfile>classcartographer_1_1io_1_1NullPointsProcessor.html</anchorfile>
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      <arglist>() override</arglist>
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    <member kind="function">
      <type></type>
      <name>NullPointsProcessor</name>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
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      <arglist>(std::unique_ptr&lt; PointsBatch &gt; points_batch) override</arglist>
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    <member kind="function">
      <type></type>
      <name>~NullPointsProcessor</name>
      <anchorfile>classcartographer_1_1io_1_1NullPointsProcessor.html</anchorfile>
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      <arglist>() override</arglist>
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  <compound kind="class">
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    <class kind="struct">cartographer::io::OutlierRemovingPointsProcessor::VoxelData</class>
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      <type>FlushResult</type>
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      <arglist>() override</arglist>
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    <member kind="function">
      <type>OutlierRemovingPointsProcessor &amp;</type>
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      <arglist>(const OutlierRemovingPointsProcessor &amp;)</arglist>
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    <member kind="function">
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      <name>OutlierRemovingPointsProcessor</name>
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      <arglist>(double voxel_size, double miss_per_hit_limit, PointsProcessor *next)</arglist>
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    <member kind="function">
      <type></type>
      <name>OutlierRemovingPointsProcessor</name>
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      <arglist>(const OutlierRemovingPointsProcessor &amp;)</arglist>
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      <arglist>(std::unique_ptr&lt; PointsBatch &gt; batch) override</arglist>
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    <member kind="function">
      <type></type>
      <name>~OutlierRemovingPointsProcessor</name>
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      <arglist>() override</arglist>
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    <member kind="function" static="yes">
      <type>static std::unique_ptr&lt; OutlierRemovingPointsProcessor &gt;</type>
      <name>FromDictionary</name>
      <anchorfile>classcartographer_1_1io_1_1OutlierRemovingPointsProcessor.html</anchorfile>
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      <arglist>(common::LuaParameterDictionary *dictionary, PointsProcessor *next)</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>(const PointsBatch &amp;batch)</arglist>
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      <type>void</type>
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      <arglist>(std::unique_ptr&lt; PointsBatch &gt; batch)</arglist>
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    <member kind="function" protection="private">
      <type>void</type>
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      <arglist>(const PointsBatch &amp;batch)</arglist>
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      <type>const double</type>
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      <anchorfile>classcartographer_1_1io_1_1OutlierRemovingPointsProcessor.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classcartographer_1_1io_1_1OutlierRemovingPointsProcessor.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">
      <type>int</type>
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      <arglist></arglist>
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      <arglist></arglist>
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  <compound kind="struct">
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    <member kind="function">
      <type></type>
      <name>PaintSubmapSlicesResult</name>
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      <arglist>(::cartographer::io::UniqueCairoSurfacePtr surface, Eigen::Array2f origin)</arglist>
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    <member kind="variable">
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      <arglist></arglist>
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      <arglist></arglist>
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  <compound kind="class">
    <name>cartographer::io::PcdWritingPointsProcessor</name>
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    <base>cartographer::io::PointsProcessor</base>
    <member kind="function">
      <type>FlushResult</type>
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      <arglist>() override</arglist>
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    <member kind="function">
      <type>PcdWritingPointsProcessor &amp;</type>
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      <arglist>(const PcdWritingPointsProcessor &amp;)</arglist>
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    <member kind="function">
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      <name>PcdWritingPointsProcessor</name>
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      <arglist>(std::unique_ptr&lt; FileWriter &gt; file_writer, PointsProcessor *next)</arglist>
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    <member kind="function">
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      <name>PcdWritingPointsProcessor</name>
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      <arglist>(const PcdWritingPointsProcessor &amp;)</arglist>
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      <type>void</type>
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      <anchorfile>classcartographer_1_1io_1_1PcdWritingPointsProcessor.html</anchorfile>
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      <arglist>(std::unique_ptr&lt; PointsBatch &gt; batch) override</arglist>
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    <member kind="function">
      <type></type>
      <name>~PcdWritingPointsProcessor</name>
      <anchorfile>classcartographer_1_1io_1_1PcdWritingPointsProcessor.html</anchorfile>
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      <arglist>() override</arglist>
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    <member kind="function" static="yes">
      <type>static std::unique_ptr&lt; PcdWritingPointsProcessor &gt;</type>
      <name>FromDictionary</name>
      <anchorfile>classcartographer_1_1io_1_1PcdWritingPointsProcessor.html</anchorfile>
      <anchor>abbe82c88481f5aa5ad185c467b65c436</anchor>
      <arglist>(FileWriterFactory file_writer_factory, common::LuaParameterDictionary *dictionary, PointsProcessor *next)</arglist>
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    <member kind="variable" static="yes">
      <type>static constexpr const char *</type>
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      <anchorfile>classcartographer_1_1io_1_1PcdWritingPointsProcessor.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; FileWriter &gt;</type>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>bool</type>
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      <anchorfile>classcartographer_1_1io_1_1PcdWritingPointsProcessor.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>PointsProcessor *const</type>
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      <anchorfile>classcartographer_1_1io_1_1PcdWritingPointsProcessor.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>int64</type>
      <name>num_points_</name>
      <anchorfile>classcartographer_1_1io_1_1PcdWritingPointsProcessor.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>cartographer::io::PlyWritingPointsProcessor</name>
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    <base>cartographer::io::PointsProcessor</base>
    <member kind="function">
      <type>FlushResult</type>
      <name>Flush</name>
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      <arglist>() override</arglist>
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    <member kind="function">
      <type>PlyWritingPointsProcessor &amp;</type>
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      <arglist>(const PlyWritingPointsProcessor &amp;)</arglist>
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    <member kind="function">
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      <name>PlyWritingPointsProcessor</name>
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      <arglist>(std::unique_ptr&lt; FileWriter &gt; file_writer, const std::vector&lt; std::string &gt; &amp;comments, PointsProcessor *next)</arglist>
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    <member kind="function">
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      <name>PlyWritingPointsProcessor</name>
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      <arglist>(const PlyWritingPointsProcessor &amp;)</arglist>
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      <type>void</type>
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      <anchorfile>classcartographer_1_1io_1_1PlyWritingPointsProcessor.html</anchorfile>
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      <arglist>(std::unique_ptr&lt; PointsBatch &gt; batch) override</arglist>
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    <member kind="function">
      <type></type>
      <name>~PlyWritingPointsProcessor</name>
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      <arglist>() override</arglist>
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    <member kind="function" static="yes">
      <type>static std::unique_ptr&lt; PlyWritingPointsProcessor &gt;</type>
      <name>FromDictionary</name>
      <anchorfile>classcartographer_1_1io_1_1PlyWritingPointsProcessor.html</anchorfile>
      <anchor>a11bd0c332bfbde89e0bf2e8615562d15</anchor>
      <arglist>(const FileWriterFactory &amp;file_writer_factory, common::LuaParameterDictionary *dictionary, PointsProcessor *next)</arglist>
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    <member kind="variable" static="yes">
      <type>static constexpr const char *</type>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::vector&lt; std::string &gt;</type>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; FileWriter &gt;</type>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>bool</type>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
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      <arglist></arglist>
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      <type>PointsProcessor *const</type>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>int64</type>
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      <arglist></arglist>
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  <compound kind="struct">
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    <member kind="function">
      <type></type>
      <name>PointsBatch</name>
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      <arglist>()</arglist>
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    <member kind="variable">
      <type>std::vector&lt; FloatColor &gt;</type>
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      <arglist></arglist>
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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>Eigen::Vector3f</type>
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      <arglist></arglist>
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    <member kind="variable">
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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  <compound kind="class">
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      <name>FlushResult</name>
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      <arglist></arglist>
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      <type>virtual FlushResult</type>
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      <arglist>()=0</arglist>
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      <arglist>(const std::vector&lt; mapping::proto::Trajectory &gt; &amp;trajectories, const FileWriterFactory &amp;file_writer_factory, common::LuaParameterDictionary *dictionary, PointsProcessor *next)</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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  <compound kind="class">
    <name>cartographer::io::ProtoStreamWriterInterface</name>
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    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
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      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
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      <arglist>(const google::protobuf::Message &amp;proto)=0</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
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      <arglist>()</arglist>
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  <compound kind="class">
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      <type>bool</type>
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      <arglist>() override</arglist>
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    <member kind="function">
      <type>std::string</type>
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      <arglist>() override</arglist>
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    <member kind="function">
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      <name>StreamFileWriter</name>
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      <arglist>(const std::string &amp;filename)</arglist>
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    <member kind="function">
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      <arglist>(const char *data, size_t len) override</arglist>
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    <member kind="function">
      <type>bool</type>
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      <anchorfile>classcartographer_1_1io_1_1StreamFileWriter.html</anchorfile>
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      <arglist>(const char *data, size_t len) override</arglist>
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    <member kind="function">
      <type></type>
      <name>~StreamFileWriter</name>
      <anchorfile>classcartographer_1_1io_1_1StreamFileWriter.html</anchorfile>
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      <arglist>() override</arglist>
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      <anchorfile>classcartographer_1_1io_1_1StreamFileWriter.html</anchorfile>
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      <arglist></arglist>
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      <type>std::ofstream</type>
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      <arglist></arglist>
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    <member kind="function">
      <type></type>
      <name>SubmapSlice</name>
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      <arglist>()</arglist>
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    <member kind="variable">
      <type>std::vector&lt; uint32_t &gt;</type>
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      <arglist></arglist>
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    <member kind="variable">
      <type>int</type>
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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>::cartographer::transform::Rigid3d</type>
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      <arglist></arglist>
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      <arglist></arglist>
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    <member kind="variable">
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      <anchor>ad0948d63c4467d879c3fb259669199df</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>::cartographer::io::UniqueCairoSurfacePtr</type>
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      <arglist></arglist>
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    <member kind="variable">
      <type>int</type>
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      <arglist></arglist>
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    <member kind="variable">
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      <arglist></arglist>
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  <compound kind="struct">
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    <member kind="variable">
      <type>int</type>
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      <arglist></arglist>
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    <member kind="variable">
      <type>Pixels</type>
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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>::cartographer::transform::Rigid3d</type>
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      <arglist></arglist>
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    <member kind="variable">
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      <arglist></arglist>
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  <compound kind="struct">
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    <member kind="variable">
      <type>std::vector&lt; char &gt;</type>
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      <arglist></arglist>
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    <member kind="variable">
      <type>std::vector&lt; char &gt;</type>
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      <arglist></arglist>
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  <compound kind="struct">
    <name>cartographer::io::SubmapTextures</name>
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    <member kind="variable">
      <type>std::vector&lt; SubmapTexture &gt;</type>
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      <arglist></arglist>
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    <member kind="variable">
      <type>int</type>
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      <arglist></arglist>
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  <compound kind="class">
    <name>cartographer::io::XRayPointsProcessor</name>
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    <base>cartographer::io::PointsProcessor</base>
    <class kind="struct">cartographer::io::XRayPointsProcessor::Aggregation</class>
    <class kind="struct">cartographer::io::XRayPointsProcessor::ColumnData</class>
    <member kind="enumeration">
      <name>DrawTrajectories</name>
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      <arglist></arglist>
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    <member kind="enumvalue">
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      <anchorfile>classcartographer_1_1io_1_1XRayPointsProcessor.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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    <member kind="function">
      <type>Eigen::AlignedBox3i</type>
      <name>bounding_box</name>
      <anchorfile>classcartographer_1_1io_1_1XRayPointsProcessor.html</anchorfile>
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      <arglist>() const </arglist>
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    <member kind="function">
      <type>FlushResult</type>
      <name>Flush</name>
      <anchorfile>classcartographer_1_1io_1_1XRayPointsProcessor.html</anchorfile>
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      <arglist>() override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>Process</name>
      <anchorfile>classcartographer_1_1io_1_1XRayPointsProcessor.html</anchorfile>
      <anchor>a5039946306447e9ea23576c1c0246515</anchor>
      <arglist>(std::unique_ptr&lt; PointsBatch &gt; batch) override</arglist>
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    <member kind="function">
      <type></type>
      <name>XRayPointsProcessor</name>
      <anchorfile>classcartographer_1_1io_1_1XRayPointsProcessor.html</anchorfile>
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      <arglist>(double voxel_size, double saturation_factor, const transform::Rigid3f &amp;transform, const std::vector&lt; mapping::Floor &gt; &amp;floors, const DrawTrajectories &amp;draw_trajectories, const std::string &amp;output_filename, const std::vector&lt; mapping::proto::Trajectory &gt; &amp;trajectories, FileWriterFactory file_writer_factory, PointsProcessor *next)</arglist>
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    <member kind="function">
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      <name>~XRayPointsProcessor</name>
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      <arglist>() override</arglist>
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      <type>static std::unique_ptr&lt; XRayPointsProcessor &gt;</type>
      <name>FromDictionary</name>
      <anchorfile>classcartographer_1_1io_1_1XRayPointsProcessor.html</anchorfile>
      <anchor>a8b02d6b1c50dc91bb81e1106d81fd1d5</anchor>
      <arglist>(const std::vector&lt; mapping::proto::Trajectory &gt; &amp;trajectories, FileWriterFactory file_writer_factory, common::LuaParameterDictionary *dictionary, PointsProcessor *next)</arglist>
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    <member kind="variable" static="yes">
      <type>static constexpr const char *</type>
      <name>kConfigurationFileActionName</name>
      <anchorfile>classcartographer_1_1io_1_1XRayPointsProcessor.html</anchorfile>
      <anchor>a1cd5e160ded7b46e4bb09aa97872b900</anchor>
      <arglist></arglist>
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    <member kind="function" protection="private">
      <type>void</type>
      <name>Insert</name>
      <anchorfile>classcartographer_1_1io_1_1XRayPointsProcessor.html</anchorfile>
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      <arglist>(const PointsBatch &amp;batch, Aggregation *aggregation)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>WriteVoxels</name>
      <anchorfile>classcartographer_1_1io_1_1XRayPointsProcessor.html</anchorfile>
      <anchor>a13f1ea217a2fc464ca83f52946cba2f7</anchor>
      <arglist>(const Aggregation &amp;aggregation, FileWriter *const file_writer)</arglist>
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    <member kind="variable" protection="private">
      <type>std::vector&lt; Aggregation &gt;</type>
      <name>aggregations_</name>
      <anchorfile>classcartographer_1_1io_1_1XRayPointsProcessor.html</anchorfile>
      <anchor>a0639f397e2d2aa0f86871c3ec7f7acf4</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>Eigen::AlignedBox3i</type>
      <name>bounding_box_</name>
      <anchorfile>classcartographer_1_1io_1_1XRayPointsProcessor.html</anchorfile>
      <anchor>a901cb3bf85d43bd0ad89ccd291b88f4a</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const DrawTrajectories</type>
      <name>draw_trajectories_</name>
      <anchorfile>classcartographer_1_1io_1_1XRayPointsProcessor.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>FileWriterFactory</type>
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      <anchorfile>classcartographer_1_1io_1_1XRayPointsProcessor.html</anchorfile>
      <anchor>a322a7546baf2e66d6130f423e98ec62a</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::vector&lt; mapping::Floor &gt;</type>
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      <anchorfile>classcartographer_1_1io_1_1XRayPointsProcessor.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>PointsProcessor *const</type>
      <name>next_</name>
      <anchorfile>classcartographer_1_1io_1_1XRayPointsProcessor.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const std::string</type>
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      <anchorfile>classcartographer_1_1io_1_1XRayPointsProcessor.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const double</type>
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      <anchorfile>classcartographer_1_1io_1_1XRayPointsProcessor.html</anchorfile>
      <anchor>afa512611a92e996319961c6cc48973aa</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const std::vector&lt; mapping::proto::Trajectory &gt;</type>
      <name>trajectories_</name>
      <anchorfile>classcartographer_1_1io_1_1XRayPointsProcessor.html</anchorfile>
      <anchor>ad891405e9adbdb818bede7e5b6b199fb</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const transform::Rigid3f</type>
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      <anchorfile>classcartographer_1_1io_1_1XRayPointsProcessor.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="struct">
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    <member kind="variable">
      <type>std::map&lt; std::pair&lt; int, int &gt;, ColumnData &gt;</type>
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      <arglist></arglist>
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    <member kind="variable">
      <type>mapping::HybridGridBase&lt; bool &gt;</type>
      <name>voxels</name>
      <anchorfile>structcartographer_1_1io_1_1XRayPointsProcessor_1_1Aggregation.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="struct">
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    <member kind="variable">
      <type>uint32_t</type>
      <name>count</name>
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      <arglist></arglist>
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    <member kind="variable">
      <type>float</type>
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      <anchorfile>structcartographer_1_1io_1_1XRayPointsProcessor_1_1ColumnData.html</anchorfile>
      <anchor>a0d0ef7ff4ad694069d130099a1196bfa</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>float</type>
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      <anchorfile>structcartographer_1_1io_1_1XRayPointsProcessor_1_1ColumnData.html</anchorfile>
      <anchor>ae8f0e16413517a664ff5fef91a5f90a3</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>float</type>
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      <anchorfile>structcartographer_1_1io_1_1XRayPointsProcessor_1_1ColumnData.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>cartographer::io::XyzWriterPointsProcessor</name>
    <filename>classcartographer_1_1io_1_1XyzWriterPointsProcessor.html</filename>
    <base>cartographer::io::PointsProcessor</base>
    <member kind="function">
      <type>FlushResult</type>
      <name>Flush</name>
      <anchorfile>classcartographer_1_1io_1_1XyzWriterPointsProcessor.html</anchorfile>
      <anchor>a4215a14e16697d752230121f3b0cad85</anchor>
      <arglist>() override</arglist>
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    <member kind="function">
      <type>XyzWriterPointsProcessor &amp;</type>
      <name>operator=</name>
      <anchorfile>classcartographer_1_1io_1_1XyzWriterPointsProcessor.html</anchorfile>
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      <arglist>(const XyzWriterPointsProcessor &amp;)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>Process</name>
      <anchorfile>classcartographer_1_1io_1_1XyzWriterPointsProcessor.html</anchorfile>
      <anchor>a4bdd8766daa08d57e02a990ac2903ea3</anchor>
      <arglist>(std::unique_ptr&lt; PointsBatch &gt; batch) override</arglist>
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    <member kind="function">
      <type></type>
      <name>XyzWriterPointsProcessor</name>
      <anchorfile>classcartographer_1_1io_1_1XyzWriterPointsProcessor.html</anchorfile>
      <anchor>a9c0dc8df5920856e0f804846156c6a71</anchor>
      <arglist>(std::unique_ptr&lt; FileWriter &gt;, PointsProcessor *next)</arglist>
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    <member kind="function">
      <type></type>
      <name>XyzWriterPointsProcessor</name>
      <anchorfile>classcartographer_1_1io_1_1XyzWriterPointsProcessor.html</anchorfile>
      <anchor>a6f9f1adff2da7a2a65967991a68dad23</anchor>
      <arglist>(const XyzWriterPointsProcessor &amp;)</arglist>
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    <member kind="function">
      <type></type>
      <name>~XyzWriterPointsProcessor</name>
      <anchorfile>classcartographer_1_1io_1_1XyzWriterPointsProcessor.html</anchorfile>
      <anchor>a4536687a400c2992140cdcf51609bf65</anchor>
      <arglist>() override</arglist>
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    <member kind="function" static="yes">
      <type>static std::unique_ptr&lt; XyzWriterPointsProcessor &gt;</type>
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      <arglist>(const float probability)</arglist>
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      <arglist>(const float probability)</arglist>
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      <arglist>(uint16 probability_value)</arglist>
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      <arglist>(expected_range_sensor_ids)</arglist>
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      <arglist>(const Eigen::Array3i &amp;index, const int bits)</arglist>
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      <arglist>(const uint16 value)</arglist>
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      <arglist>(const uint16 value)</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></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></arglist>
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      <type>std::vector&lt; std::vector&lt; int &gt;&gt; PoseGraph2D::GetConnectedTrajectories() const {absl::MutexLock locker(&amp;mutex_);return data_.trajectory_connectivity_state.Components();}PoseGraphInterface::SubmapData PoseGraph2D::GetSubmapData(const SubmapId &amp;submap_id) const {absl::MutexLock locker(&amp;mutex_);return GetSubmapDataUnderLock(submap_id);}MapById&lt; SubmapId, PoseGraphInterface::SubmapData &gt;PoseGraph2D::GetAllSubmapData() const {absl::MutexLock locker(&amp;mutex_);return GetSubmapDataUnderLock();}MapById&lt; SubmapId, PoseGraphInterface::SubmapPose &gt;PoseGraph2D::GetAllSubmapPoses() const {absl::MutexLock locker(&amp;mutex_);MapById&lt; SubmapId, SubmapPose &gt; submap_poses;for(const auto &amp;submap_id_data:data_.submap_data){auto submap_data=GetSubmapDataUnderLock(submap_id_data.id);submap_poses.Insert(submap_id_data.id, PoseGraph::SubmapPose{submap_data.submap-&gt;num_range_data(), submap_data.pose});}return submap_poses;}transform::Rigid3d PoseGraph2D::ComputeLocalToGlobalTransform(const MapById&lt; SubmapId, optimization::SubmapSpec2D &gt; &amp;global_submap_poses, const int trajectory_id) const {auto begin_it=global_submap_poses.BeginOfTrajectory(trajectory_id);auto end_it=global_submap_poses.EndOfTrajectory(trajectory_id);if(begin_it==end_it){const auto it=data_.initial_trajectory_poses.find(trajectory_id);if(it!=data_.initial_trajectory_poses.end()){return GetInterpolatedGlobalTrajectoryPose(it-&gt; second it second time *it second</type>
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      <arglist>(const ActiveSubmaps2D &amp;)</arglist>
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      <arglist>(const sensor::RangeData &amp;range_data)</arglist>
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      <arglist>(const Eigen::Vector2f &amp;origin)</arglist>
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      <arglist>(const Eigen::Vector2f &amp;origin)</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>(const proto::SubmapsOptions3D &amp;options)</arglist>
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      <arglist>(const ActiveSubmaps3D &amp;)</arglist>
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      <arglist>(const sensor::RangeData &amp;range_data_in_local, const Eigen::Quaterniond &amp;local_from_gravity_aligned, const Eigen::VectorXf &amp;rotational_scan_matcher_histogram_in_gravity)</arglist>
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      <type>ActiveSubmaps3D &amp;</type>
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      <arglist>(const ActiveSubmaps3D &amp;)</arglist>
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      <arglist>() const </arglist>
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      <type>void</type>
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      <arglist>(const transform::Rigid3d &amp;local_submap_pose, int rotational_scan_matcher_histogram_size)</arglist>
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      <type>const proto::SubmapsOptions3D</type>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>RangeDataInserter3D</type>
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      <anchorfile>classcartographer_1_1mapping_1_1ActiveSubmaps3D.html</anchorfile>
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      <arglist></arglist>
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      <type>std::vector&lt; std::shared_ptr&lt; Submap3D &gt; &gt;</type>
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      <arglist></arglist>
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    <member kind="function">
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      <name>CellLimits</name>
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      <arglist>()</arglist>
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      <name>CellLimits</name>
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      <arglist>(int init_num_x_cells, int init_num_y_cells)</arglist>
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      <name>CellLimits</name>
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      <arglist>(const proto::CellLimits &amp;cell_limits)</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>void</type>
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      <arglist>(std::unique_ptr&lt; mapping::LocalSlamResultData &gt; local_slam_result_data) override</arglist>
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      <type>void</type>
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      <arglist>(const std::string &amp;sensor_id, const sensor::TimedPointCloudData &amp;timed_point_cloud_data) override</arglist>
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    <member kind="function">
      <type>void</type>
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      <arglist>(const std::string &amp;sensor_id, const sensor::ImuData &amp;imu_data) override</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classcartographer_1_1mapping_1_1CollatedTrajectoryBuilder.html</anchorfile>
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      <arglist>(const std::string &amp;sensor_id, const sensor::OdometryData &amp;odometry_data) override</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classcartographer_1_1mapping_1_1CollatedTrajectoryBuilder.html</anchorfile>
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      <arglist>(const std::string &amp;sensor_id, const sensor::FixedFramePoseData &amp;fixed_frame_pose_data) override</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classcartographer_1_1mapping_1_1CollatedTrajectoryBuilder.html</anchorfile>
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      <arglist>(const std::string &amp;sensor_id, const sensor::LandmarkData &amp;landmark_data) override</arglist>
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      <name>CollatedTrajectoryBuilder</name>
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      <arglist>(const proto::TrajectoryBuilderOptions &amp;trajectory_options, sensor::CollatorInterface *sensor_collator, int trajectory_id, const std::set&lt; SensorId &gt; &amp;expected_sensor_ids, std::unique_ptr&lt; TrajectoryBuilderInterface &gt; wrapped_trajectory_builder)</arglist>
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      <name>CollatedTrajectoryBuilder</name>
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      <arglist>(const CollatedTrajectoryBuilder &amp;)</arglist>
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      <anchorfile>classcartographer_1_1mapping_1_1CollatedTrajectoryBuilder.html</anchorfile>
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      <arglist>(const CollatedTrajectoryBuilder &amp;)</arglist>
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      <name>~CollatedTrajectoryBuilder</name>
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      <arglist>() override</arglist>
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      <type>void</type>
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      <anchorfile>classcartographer_1_1mapping_1_1CollatedTrajectoryBuilder.html</anchorfile>
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      <arglist>(std::unique_ptr&lt; sensor::Data &gt; data)</arglist>
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      <type>void</type>
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      <anchorfile>classcartographer_1_1mapping_1_1CollatedTrajectoryBuilder.html</anchorfile>
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      <arglist>(const std::string &amp;sensor_id, std::unique_ptr&lt; sensor::Data &gt; data)</arglist>
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      <anchor>ab4431f049324082ae26a1a1593ec3c0e</anchor>
      <arglist></arglist>
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      <type>const bool</type>
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      <arglist></arglist>
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      <type>std::chrono::steady_clock::time_point</type>
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      <arglist></arglist>
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      <type>std::map&lt; std::string, common::RateTimer&lt;&gt; &gt;</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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    <member kind="function">
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      <arglist>(int trajectory_id) LOCKS_EXCLUDED(lock_)</arglist>
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    <member kind="function">
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      <arglist>() LOCKS_EXCLUDED(lock_)</arglist>
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      <arglist>(int trajectory_id_a, int trajectory_id_b) LOCKS_EXCLUDED(lock_)</arglist>
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      <arglist>()</arglist>
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      <arglist>(int trajectory_id_a, int trajectory_id_b) LOCKS_EXCLUDED(lock_)</arglist>
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      <name>GetComponent</name>
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      <arglist>(int trajectory_id) LOCKS_EXCLUDED(lock_)</arglist>
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      <arglist>(const ConnectedComponents &amp;)</arglist>
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      <arglist>(int trajectory_id_a, int trajectory_id_b) LOCKS_EXCLUDED(lock_)</arglist>
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      <type>int</type>
      <name>FindSet</name>
      <anchorfile>classcartographer_1_1mapping_1_1ConnectedComponents.html</anchorfile>
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      <arglist>(int trajectory_id) EXCLUSIVE_LOCKS_REQUIRED(lock_)</arglist>
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      <type>std::map&lt; int, int &gt; forest_</type>
      <name>GUARDED_BY</name>
      <anchorfile>classcartographer_1_1mapping_1_1ConnectedComponents.html</anchorfile>
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      <arglist>(lock_)</arglist>
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      <arglist>(lock_)</arglist>
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      <anchorfile>classcartographer_1_1mapping_1_1ConnectedComponents.html</anchorfile>
      <anchor>a6c187bc6cac4df5470fa47defafd1ab7</anchor>
      <arglist>(int trajectory_id_a, int trajectory_id_b) EXCLUSIVE_LOCKS_REQUIRED(lock_)</arglist>
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    <member kind="variable" protection="private">
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      <anchorfile>classcartographer_1_1mapping_1_1ConnectedComponents.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="struct">
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    <member kind="function">
      <type>bool</type>
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      <arglist>(const T *x, const T *delta, T *x_plus_delta) const </arglist>
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    <templarg></templarg>
    <class kind="class">cartographer::mapping::DynamicGrid::Iterator</class>
    <member kind="function">
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      <name>DynamicGrid</name>
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      <arglist>()</arglist>
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    <member kind="function">
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      <name>DynamicGrid</name>
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      <arglist>(DynamicGrid &amp;&amp;)</arglist>
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      <arglist>(common::Time time, const sensor::RangeData &amp;gravity_aligned_range_data, const transform::Rigid3d &amp;gravity_alignment, const absl::optional&lt; common::Duration &gt; &amp;sensor_duration)</arglist>
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      <arglist>(common::Time time, const sensor::RangeData &amp;range_data_in_local, const sensor::PointCloud &amp;filtered_gravity_aligned_point_cloud, const transform::Rigid3d &amp;pose_estimate, const Eigen::Quaterniond &amp;gravity_alignment)</arglist>
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      <arglist>(metrics::FamilyFactory *family_factory)</arglist>
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      <arglist></arglist>
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      <arglist>()</arglist>
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      <arglist>(const SubmapId &amp;id)</arglist>
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      <arglist>(common::Time time)</arglist>
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      <arglist>() const </arglist>
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      <arglist>(common::Duration pose_queue_duration, double imu_gravity_time_constant)</arglist>
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      <arglist>(common::Time time, ImuTracker *imu_tracker) const </arglist>
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      <arglist>(common::Time time)</arglist>
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      <arglist></arglist>
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      <type>Eigen::Vector3d</type>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(const transform::Rigid3d &amp;global_pose, const proto::Node &amp;node)=0</arglist>
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      <arglist>(int trajectory_id, const sensor::OdometryData &amp;odometry_data)=0</arglist>
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      <arglist>(const std::vector&lt; Constraint &gt; &amp;constraints)=0</arglist>
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      <arglist>(const transform::Rigid3d &amp;global_pose, const proto::Submap &amp;submap)=0</arglist>
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      <arglist>(std::unique_ptr&lt; PoseGraphTrimmer &gt; trimmer)=0</arglist>
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      <name>FinishTrajectory</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph.html</anchorfile>
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      <arglist>(int trajectory_id)=0</arglist>
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      <name>FreezeTrajectory</name>
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      <arglist>(int trajectory_id)=0</arglist>
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      <name>GetConnectedTrajectories</name>
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      <arglist>() const =0</arglist>
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      <type>virtual sensor::MapByTime&lt; sensor::FixedFramePoseData &gt;</type>
      <name>GetFixedFramePoseData</name>
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      <arglist>() const =0</arglist>
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      <name>GetImuData</name>
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      <arglist>() const =0</arglist>
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      <name>GetLandmarkNodes</name>
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      <arglist>() const =0</arglist>
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      <type>virtual sensor::MapByTime&lt; sensor::OdometryData &gt;</type>
      <name>GetOdometryData</name>
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      <arglist>() const =0</arglist>
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      <type>virtual SubmapData</type>
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      <arglist>(const SubmapId &amp;submap_id) const =0</arglist>
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      <type>PoseGraph &amp;</type>
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      <arglist>(const PoseGraph &amp;)</arglist>
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      <name>PoseGraph</name>
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      <arglist>()</arglist>
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      <name>PoseGraph</name>
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      <arglist>(const PoseGraph &amp;)</arglist>
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    <member kind="function" virtualness="pure">
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      <name>SetInitialTrajectoryPose</name>
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      <arglist>(int from_trajectory_id, int to_trajectory_id, const transform::Rigid3d &amp;pose, const common::Time time)=0</arglist>
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    <member kind="function" virtualness="pure">
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      <name>SetTrajectoryDataFromProto</name>
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      <arglist>(const mapping::proto::TrajectoryData &amp;data)=0</arglist>
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      <type>proto::PoseGraph</type>
      <name>ToProto</name>
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      <arglist>(bool include_unfinished_submaps) const override</arglist>
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      <name>~PoseGraph</name>
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      <arglist>() override</arglist>
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    <member kind="variable">
      <type>transform::Rigid3d</type>
      <name>relative_pose</name>
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      <arglist></arglist>
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    <member kind="variable">
      <type>common::Time</type>
      <name>time</name>
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      <arglist></arglist>
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      <name>to_trajectory_id</name>
      <anchorfile>structcartographer_1_1mapping_1_1PoseGraph_1_1InitialTrajectoryPose.html</anchorfile>
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      <arglist></arglist>
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    <base>cartographer::mapping::PoseGraph</base>
    <class kind="class">cartographer::mapping::PoseGraph2D::TrimmingHandle</class>
    <member kind="function">
      <type>void</type>
      <name>AddFixedFramePoseData</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
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      <arglist>(int trajectory_id, const sensor::FixedFramePoseData &amp;fixed_frame_pose_data) override LOCKS_EXCLUDED(mutex_)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>AddImuData</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a0ee4a0f6ab85641b24bf2ba30c6ac418</anchor>
      <arglist>(int trajectory_id, const sensor::ImuData &amp;imu_data) override LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>AddLandmarkData</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>aab0428feac0a5b20ca26e9ec729bd7dd</anchor>
      <arglist>(int trajectory_id, const sensor::LandmarkData &amp;landmark_data) override LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>NodeId</type>
      <name>AddNode</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a4287fe0d06c766b29accd1a5a2b53cec</anchor>
      <arglist>(std::shared_ptr&lt; const TrajectoryNode::Data &gt; constant_data, int trajectory_id, const std::vector&lt; std::shared_ptr&lt; const Submap2D &gt;&gt; &amp;insertion_submaps) LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>AddNodeFromProto</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>aefd5aacd2076bcff4e21f721a606a224</anchor>
      <arglist>(const transform::Rigid3d &amp;global_pose, const proto::Node &amp;node) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>AddNodeToSubmap</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>adecd246ac250ddd03325b62da7a36c64</anchor>
      <arglist>(const NodeId &amp;node_id, const SubmapId &amp;submap_id) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>AddOdometryData</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a09f91036449ef4a605ef294d1b2f1f0c</anchor>
      <arglist>(int trajectory_id, const sensor::OdometryData &amp;odometry_data) override LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>AddSerializedConstraints</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a8a30035b2c5790712fa38a7dcc94529c</anchor>
      <arglist>(const std::vector&lt; Constraint &gt; &amp;constraints) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>AddSubmapFromProto</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a640777d4d7ecaf8a4a5ed2f49e667924</anchor>
      <arglist>(const transform::Rigid3d &amp;global_submap_pose, const proto::Submap &amp;submap) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>AddTrimmer</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a00d16fe7faf0c7f9a2049576115eacc9</anchor>
      <arglist>(std::unique_ptr&lt; PoseGraphTrimmer &gt; trimmer) override</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; Constraint &gt;</type>
      <name>constraints</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a99bdb562617d8b7b5bf14536bfb8fef1</anchor>
      <arglist>() const override LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>DeleteTrajectory</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a17eaeb54b299fa9bba17c4eb3e82170a</anchor>
      <arglist>(int trajectory_id) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>FinishTrajectory</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>ae89e8e438744b6ac57245148bbcf4157</anchor>
      <arglist>(int trajectory_id) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>FreezeTrajectory</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a681f5228006c8d10cca95cf395b37ce9</anchor>
      <arglist>(int trajectory_id) override</arglist>
    </member>
    <member kind="function">
      <type>MapById&lt; SubmapId, PoseGraphInterface::SubmapData &gt;</type>
      <name>GetAllSubmapData</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>aa21edcc38c3ff6cfd8d65541a227fab0</anchor>
      <arglist>() const LOCKS_EXCLUDED(mutex_) override</arglist>
    </member>
    <member kind="function">
      <type>MapById&lt; SubmapId, SubmapPose &gt;</type>
      <name>GetAllSubmapPoses</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a070dd1592e1e4b289275ac8f1ddc8dd2</anchor>
      <arglist>() const LOCKS_EXCLUDED(mutex_) override</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; std::vector&lt; int &gt; &gt;</type>
      <name>GetConnectedTrajectories</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a9c9fa9d9220eafe43452de41c2f1b04b</anchor>
      <arglist>() const override LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>sensor::MapByTime&lt; sensor::FixedFramePoseData &gt;</type>
      <name>GetFixedFramePoseData</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a1e44e3bf9f7f364467c1dace12769b99</anchor>
      <arglist>() const override LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>sensor::MapByTime&lt; sensor::ImuData &gt;</type>
      <name>GetImuData</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a4235f0e34c654dc559745d8c1ad8b687</anchor>
      <arglist>() const override LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>transform::Rigid3d</type>
      <name>GetInterpolatedGlobalTrajectoryPose</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>af94ef724519ef7c315d513728300fad2</anchor>
      <arglist>(int trajectory_id, const common::Time time) const EXCLUSIVE_LOCKS_REQUIRED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>std::map&lt; std::string, PoseGraph::LandmarkNode &gt;</type>
      <name>GetLandmarkNodes</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a1210a6a870eb0ec921e37736e9055e5d</anchor>
      <arglist>() const override LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>std::map&lt; std::string, transform::Rigid3d &gt;</type>
      <name>GetLandmarkPoses</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a1a5daf9e137b928e2c94082563476c62</anchor>
      <arglist>() const override LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>transform::Rigid3d</type>
      <name>GetLocalToGlobalTransform</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a1f3714b979c0d4b0715969a19d582eee</anchor>
      <arglist>(int trajectory_id) const LOCKS_EXCLUDED(mutex_) override</arglist>
    </member>
    <member kind="function">
      <type>sensor::MapByTime&lt; sensor::OdometryData &gt;</type>
      <name>GetOdometryData</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a458124396ebd9726cb4737a2a99dfefc</anchor>
      <arglist>() const override LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>PoseGraphInterface::SubmapData</type>
      <name>GetSubmapData</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>ac8540062f7653f91ba87d67632e642db</anchor>
      <arglist>(const SubmapId &amp;submap_id) const LOCKS_EXCLUDED(mutex_) override</arglist>
    </member>
    <member kind="function">
      <type>std::map&lt; int, TrajectoryData &gt;</type>
      <name>GetTrajectoryData</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>af2baa1cf3aa21d8bd4d695a4ec44e241</anchor>
      <arglist>() const override LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>MapById&lt; NodeId, TrajectoryNodePose &gt;</type>
      <name>GetTrajectoryNodePoses</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a576047c109e83d04b755a6f3ac611d1f</anchor>
      <arglist>() const override LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>MapById&lt; NodeId, TrajectoryNode &gt;</type>
      <name>GetTrajectoryNodes</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a015560a0f0f010f6faeacf770585fac1</anchor>
      <arglist>() const override LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>std::map&lt; int, TrajectoryState &gt;</type>
      <name>GetTrajectoryStates</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>abd2958fc25aa570afd659c29a92cb011</anchor>
      <arglist>() const override LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>IsTrajectoryFinished</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a45ff3dfd2bfb623662ccde5936e88259</anchor>
      <arglist>(int trajectory_id) const override EXCLUSIVE_LOCKS_REQUIRED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>IsTrajectoryFrozen</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>af01329a408bcea13be434771ddba1cba</anchor>
      <arglist>(int trajectory_id) const override EXCLUSIVE_LOCKS_REQUIRED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>PoseGraph2D &amp;</type>
      <name>operator=</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a8540b238c1182484b219748ed05cccc3</anchor>
      <arglist>(const PoseGraph2D &amp;)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PoseGraph2D</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a630402154fdb4edfb3fffe3456d89a95</anchor>
      <arglist>(const proto::PoseGraphOptions &amp;options, std::unique_ptr&lt; optimization::OptimizationProblem2D &gt; optimization_problem, common::ThreadPool *thread_pool)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PoseGraph2D</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a3172f357e0b0fad142e4f825b60c605b</anchor>
      <arglist>(const PoseGraph2D &amp;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>RunFinalOptimization</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a783a8767c1423bb81289abfdb6b66a5a</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetGlobalSlamOptimizationCallback</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a0e3c07211cfabeab743378a3f2daec5a</anchor>
      <arglist>(PoseGraphInterface::GlobalSlamOptimizationCallback callback) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetInitialTrajectoryPose</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a70084a0652b5a90df95add2582629bcc</anchor>
      <arglist>(int from_trajectory_id, int to_trajectory_id, const transform::Rigid3d &amp;pose, const common::Time time) override LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetLandmarkPose</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>ae07a5724b1f8005100d8cbd6057edde8</anchor>
      <arglist>(const std::string &amp;landmark_id, const transform::Rigid3d &amp;global_pose, const bool frozen=false) override LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetTrajectoryDataFromProto</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a9ff6284bc0f1f070463fdf5ce06ebfbf</anchor>
      <arglist>(const proto::TrajectoryData &amp;data) override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~PoseGraph2D</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>af71b4cae710607bf18bbf7e73cbb0f30</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>RegisterMetrics</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a78a19f8213bd0780623f605cabfe437e</anchor>
      <arglist>(metrics::FamilyFactory *family_factory)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>AddTrajectoryIfNeeded</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>adc213de78bf855b63cf64ecd176fd965</anchor>
      <arglist>(int trajectory_id) EXCLUSIVE_LOCKS_REQUIRED(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>AddWorkItem</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>ac37ece089bfe3c534d8392c1c7c3b0b2</anchor>
      <arglist>(const std::function&lt; WorkItem::Result()&gt; &amp;work_item) LOCKS_EXCLUDED(mutex_) LOCKS_EXCLUDED(work_queue_mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>NodeId</type>
      <name>AppendNode</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a3f9bbf0b1319c9526895d16dfcaa45e9</anchor>
      <arglist>(std::shared_ptr&lt; const TrajectoryNode::Data &gt; constant_data, int trajectory_id, const std::vector&lt; std::shared_ptr&lt; const Submap2D &gt;&gt; &amp;insertion_submaps, const transform::Rigid3d &amp;optimized_pose) LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>CanAddWorkItemModifying</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>adb800cc2f96ab209fd6d97372cc863f3</anchor>
      <arglist>(int trajectory_id) EXCLUSIVE_LOCKS_REQUIRED(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>ComputeConstraint</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>ac57926f3cab8dbbcd1b67843b8863594</anchor>
      <arglist>(const NodeId &amp;node_id, const SubmapId &amp;submap_id) LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>WorkItem::Result</type>
      <name>ComputeConstraintsForNode</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a046cf22822f7478d5d1415e2c61c38f7</anchor>
      <arglist>(const NodeId &amp;node_id, std::vector&lt; std::shared_ptr&lt; const Submap2D &gt;&gt; insertion_submaps, bool newly_finished_submap) LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>transform::Rigid3d</type>
      <name>ComputeLocalToGlobalTransform</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a65894b10360144a47abd6a032ce8e7dd</anchor>
      <arglist>(const MapById&lt; SubmapId, optimization::SubmapSpec2D &gt; &amp;global_submap_poses, int trajectory_id) const EXCLUSIVE_LOCKS_REQUIRED(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>DeleteTrajectoriesIfNeeded</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>aa92ca97270fd66f2a63d162b97f78987</anchor>
      <arglist>() EXCLUSIVE_LOCKS_REQUIRED(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>DrainWorkQueue</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>aed22a4a09dcef9dfcc3f643fab58f7d0</anchor>
      <arglist>() LOCKS_EXCLUDED(mutex_) LOCKS_EXCLUDED(work_queue_mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>common::Time</type>
      <name>GetLatestNodeTime</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a9371783a8742e4db0d563934ce3a172f</anchor>
      <arglist>(const NodeId &amp;node_id, const SubmapId &amp;submap_id) const EXCLUSIVE_LOCKS_REQUIRED(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>MapById&lt; SubmapId, PoseGraphInterface::SubmapData &gt;</type>
      <name>GetSubmapDataUnderLock</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a67d45a346f0669ba6c0640db8039caa2</anchor>
      <arglist>() const EXCLUSIVE_LOCKS_REQUIRED(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>SubmapData</type>
      <name>GetSubmapDataUnderLock</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a1ad0bc1105b8265b4dbb443fed1eabd9</anchor>
      <arglist>(const SubmapId &amp;submap_id) const EXCLUSIVE_LOCKS_REQUIRED(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>std::unique_ptr&lt; WorkQueue &gt; work_queue_</type>
      <name>GUARDED_BY</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a66d3eabf2cc848b307eec108b6b3ec2e</anchor>
      <arglist>(work_queue_mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>absl::flat_hash_map&lt; int, std::unique_ptr&lt; common::FixedRatioSampler &gt; &gt; global_localization_samplers_</type>
      <name>GUARDED_BY</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a974bc49263b765fd183c5deeaf6fd252</anchor>
      <arglist>(mutex_)</arglist>
    </member>
    <member kind="function" protection="private" virtualness="pure">
      <type>int num_nodes_since_last_loop_closure_</type>
      <name>GUARDED_BY</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a5e8257a55c24998ef7a715f0eca461d1</anchor>
      <arglist>(mutex_)=0</arglist>
    </member>
    <member kind="function" protection="private">
      <type>std::vector&lt; std::unique_ptr&lt; PoseGraphTrimmer &gt; &gt; trimmers_</type>
      <name>GUARDED_BY</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a9a765a71ba88274117abdc1c5f615b30</anchor>
      <arglist>(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>PoseGraphData data_</type>
      <name>GUARDED_BY</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a48f5f33c611a0f448324c74b111fb522</anchor>
      <arglist>(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>HandleWorkQueue</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a1c9f07b5f62c7e9229555838ebf21084</anchor>
      <arglist>(const constraints::ConstraintBuilder2D::Result &amp;result) LOCKS_EXCLUDED(mutex_) LOCKS_EXCLUDED(work_queue_mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>std::vector&lt; SubmapId &gt;</type>
      <name>InitializeGlobalSubmapPoses</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a77d00f55071849b30f4898d0e002b193</anchor>
      <arglist>(int trajectory_id, const common::Time time, const std::vector&lt; std::shared_ptr&lt; const Submap2D &gt;&gt; &amp;insertion_submaps) EXCLUSIVE_LOCKS_REQUIRED(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>RunOptimization</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>abf83f9e9ca2dff72f1b0ebc24f01640f</anchor>
      <arglist>() LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>UpdateTrajectoryConnectivity</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a85a034bdcadc1043b49eead9354d5da9</anchor>
      <arglist>(const Constraint &amp;constraint) EXCLUSIVE_LOCKS_REQUIRED(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>WaitForAllComputations</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>aaf8f9003773c88ad7c120133b6e5e582</anchor>
      <arglist>() LOCKS_EXCLUDED(mutex_) LOCKS_EXCLUDED(work_queue_mutex_)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>constraints::ConstraintBuilder2D</type>
      <name>constraint_builder_</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>aff37490950e1d314fd86dedb0244124c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ValueConversionTables</type>
      <name>conversion_tables_</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a3c0a1680323ef688c19baffc6a4cac99</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>GlobalSlamOptimizationCallback</type>
      <name>global_slam_optimization_callback_</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a9f3b672f02613f5fd4f98fb69040a3a3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>absl::Mutex</type>
      <name>mutex_</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a6c2109ddfe0489f90dc8469d75b646e4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; optimization::OptimizationProblem2D &gt;</type>
      <name>optimization_problem_</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>ae860f2c19fb7342073cd7e56a259022a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const proto::PoseGraphOptions</type>
      <name>options_</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a3c026e64bd42c4096b345990f0cdcde8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>common::ThreadPool *const</type>
      <name>thread_pool_</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>ae2cfb94823e13a5a6792387c7d7c2a69</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>absl::Mutex</type>
      <name>work_queue_mutex_</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D.html</anchorfile>
      <anchor>a4fd8d3e7cb3d429827535904e32dbb05</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>cartographer::mapping::PoseGraph2D::TrimmingHandle</name>
    <filename>classcartographer_1_1mapping_1_1PoseGraph2D_1_1TrimmingHandle.html</filename>
    <base>cartographer::mapping::Trimmable</base>
    <member kind="function">
      <type>const std::vector&lt; Constraint &gt; &amp;</type>
      <name>GetConstraints</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D_1_1TrimmingHandle.html</anchorfile>
      <anchor>a1114f47df3fd17ad9f04abf9042acc93</anchor>
      <arglist>() const override EXCLUSIVE_LOCKS_REQUIRED(parent_-&gt;mutex_)</arglist>
    </member>
    <member kind="function">
      <type>MapById&lt; SubmapId, SubmapData &gt;</type>
      <name>GetOptimizedSubmapData</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D_1_1TrimmingHandle.html</anchorfile>
      <anchor>a99e2d9f7da211ffa1d0f188c7afbaf6f</anchor>
      <arglist>() const override EXCLUSIVE_LOCKS_REQUIRED(parent_-&gt;mutex_)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; SubmapId &gt;</type>
      <name>GetSubmapIds</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D_1_1TrimmingHandle.html</anchorfile>
      <anchor>ae2ea3446156824472f3e3a6ac5822586</anchor>
      <arglist>(int trajectory_id) const override</arglist>
    </member>
    <member kind="function">
      <type>const MapById&lt; NodeId, TrajectoryNode &gt; &amp;</type>
      <name>GetTrajectoryNodes</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D_1_1TrimmingHandle.html</anchorfile>
      <anchor>a27cb937577112f083cee858b927df625</anchor>
      <arglist>() const override EXCLUSIVE_LOCKS_REQUIRED(parent_-&gt;mutex_)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>IsFinished</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D_1_1TrimmingHandle.html</anchorfile>
      <anchor>afe53d03239148cf0ce54af0716b2fd96</anchor>
      <arglist>(int trajectory_id) const override EXCLUSIVE_LOCKS_REQUIRED(parent_-&gt;mutex_)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>num_submaps</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D_1_1TrimmingHandle.html</anchorfile>
      <anchor>a98e74cd7acc366c7e26db6e62c274598</anchor>
      <arglist>(int trajectory_id) const override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetTrajectoryState</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D_1_1TrimmingHandle.html</anchorfile>
      <anchor>a4d1816797681244ae8fb8900d010cea1</anchor>
      <arglist>(int trajectory_id, TrajectoryState state) override EXCLUSIVE_LOCKS_REQUIRED(parent_-&gt;mutex_)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TrimmingHandle</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D_1_1TrimmingHandle.html</anchorfile>
      <anchor>a7ac4a522ad4f8b3678ca4874257f9e1b</anchor>
      <arglist>(PoseGraph2D *parent)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>TrimSubmap</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D_1_1TrimmingHandle.html</anchorfile>
      <anchor>a8e2c8c4df52c5b29a6846de61b6543f1</anchor>
      <arglist>(const SubmapId &amp;submap_id) EXCLUSIVE_LOCKS_REQUIRED(parent_-&gt;mutex_) override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~TrimmingHandle</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D_1_1TrimmingHandle.html</anchorfile>
      <anchor>ae9fde6f5d323f8ff6f0b7c2aff445e8a</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>PoseGraph2D *const</type>
      <name>parent_</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph2D_1_1TrimmingHandle.html</anchorfile>
      <anchor>a86990c41bfb89fb50b9aeceb19ff47f8</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>cartographer::mapping::PoseGraph3D</name>
    <filename>classcartographer_1_1mapping_1_1PoseGraph3D.html</filename>
    <base>cartographer::mapping::PoseGraph</base>
    <class kind="class">cartographer::mapping::PoseGraph3D::TrimmingHandle</class>
    <member kind="function">
      <type>void</type>
      <name>AddFixedFramePoseData</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>aa4ed21dfc8db09efbe7629901a12cfbe</anchor>
      <arglist>(int trajectory_id, const sensor::FixedFramePoseData &amp;fixed_frame_pose_data) override LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>AddImuData</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>ac56b7d8f0064ec7597a78a15f7879ab0</anchor>
      <arglist>(int trajectory_id, const sensor::ImuData &amp;imu_data) override LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>AddLandmarkData</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a614f9b0d6ae74abc7d14b0ef5424ac76</anchor>
      <arglist>(int trajectory_id, const sensor::LandmarkData &amp;landmark_data) override LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>NodeId</type>
      <name>AddNode</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>aa03e6c9adf5d749947c29b5f25f74f7c</anchor>
      <arglist>(std::shared_ptr&lt; const TrajectoryNode::Data &gt; constant_data, int trajectory_id, const std::vector&lt; std::shared_ptr&lt; const Submap3D &gt;&gt; &amp;insertion_submaps) LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>AddNodeFromProto</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>aff6c8803bab6f7c7d3f668858d0307b8</anchor>
      <arglist>(const transform::Rigid3d &amp;global_pose, const proto::Node &amp;node) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>AddNodeToSubmap</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>abc987da111ea184ffaac991f00e876b9</anchor>
      <arglist>(const NodeId &amp;node_id, const SubmapId &amp;submap_id) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>AddOdometryData</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>ac8bfaea738748d343e1681f4acac07f9</anchor>
      <arglist>(int trajectory_id, const sensor::OdometryData &amp;odometry_data) override LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>AddSerializedConstraints</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a8a14a7ed218680b1c57c5f1320640c50</anchor>
      <arglist>(const std::vector&lt; Constraint &gt; &amp;constraints) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>AddSubmapFromProto</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a2912b9d66e37eb9b0bc9a8f6efd96dba</anchor>
      <arglist>(const transform::Rigid3d &amp;global_submap_pose, const proto::Submap &amp;submap) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>AddTrimmer</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>ab517f669d098befc82ee1b839c40a91e</anchor>
      <arglist>(std::unique_ptr&lt; PoseGraphTrimmer &gt; trimmer) override</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; Constraint &gt;</type>
      <name>constraints</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a674eb63dc455f16a77bfce518f253af6</anchor>
      <arglist>() const override LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>DeleteTrajectory</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a8b054d2bd48b3ef758f7451aae5bcd4d</anchor>
      <arglist>(int trajectory_id) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>FinishTrajectory</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a9ecb74fa45f9191da16c9de2eba3bf74</anchor>
      <arglist>(int trajectory_id) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>FreezeTrajectory</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a8c66857aefc1494a4dc8b842e8d985a7</anchor>
      <arglist>(int trajectory_id) override</arglist>
    </member>
    <member kind="function">
      <type>MapById&lt; SubmapId, SubmapData &gt;</type>
      <name>GetAllSubmapData</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>aebecc34c540a52c850fa07765dbaf260</anchor>
      <arglist>() const LOCKS_EXCLUDED(mutex_) override</arglist>
    </member>
    <member kind="function">
      <type>MapById&lt; SubmapId, SubmapPose &gt;</type>
      <name>GetAllSubmapPoses</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a7603e064058e7d2d447b1c9961a621bc</anchor>
      <arglist>() const LOCKS_EXCLUDED(mutex_) override</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; std::vector&lt; int &gt; &gt;</type>
      <name>GetConnectedTrajectories</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a681b6bc93a0718c560e06fe8a60367c7</anchor>
      <arglist>() const override LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>sensor::MapByTime&lt; sensor::FixedFramePoseData &gt;</type>
      <name>GetFixedFramePoseData</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a8d8f280c7421375e214cb809cfc44ddc</anchor>
      <arglist>() const override LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>sensor::MapByTime&lt; sensor::ImuData &gt;</type>
      <name>GetImuData</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>aae96c3d9b6e1152546d37711b9e16f90</anchor>
      <arglist>() const override LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>transform::Rigid3d</type>
      <name>GetInterpolatedGlobalTrajectoryPose</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a01897bc8dd3ac45548dfca2656e091f4</anchor>
      <arglist>(int trajectory_id, const common::Time time) const EXCLUSIVE_LOCKS_REQUIRED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>std::map&lt; std::string, PoseGraph::LandmarkNode &gt;</type>
      <name>GetLandmarkNodes</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a2ee0f0b9574389aca81c5fd4e05059dd</anchor>
      <arglist>() const override LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>std::map&lt; std::string, transform::Rigid3d &gt;</type>
      <name>GetLandmarkPoses</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a399aaa231cf7f2ec74db854d4085919c</anchor>
      <arglist>() const override LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>transform::Rigid3d</type>
      <name>GetLocalToGlobalTransform</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a9de2eb92cbe1ec9760a20f7f174f22f1</anchor>
      <arglist>(int trajectory_id) const LOCKS_EXCLUDED(mutex_) override</arglist>
    </member>
    <member kind="function">
      <type>sensor::MapByTime&lt; sensor::OdometryData &gt;</type>
      <name>GetOdometryData</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a73a374caeb469d5f36a2eb05e20f4f94</anchor>
      <arglist>() const override LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>PoseGraph::SubmapData</type>
      <name>GetSubmapData</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>ae6ce2cc0423650ec0fde30be6f6ab7c2</anchor>
      <arglist>(const SubmapId &amp;submap_id) const LOCKS_EXCLUDED(mutex_) override</arglist>
    </member>
    <member kind="function">
      <type>std::map&lt; int, TrajectoryData &gt;</type>
      <name>GetTrajectoryData</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a79956497f68f27eb8238c663e994e2a6</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>MapById&lt; NodeId, TrajectoryNodePose &gt;</type>
      <name>GetTrajectoryNodePoses</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a6adeafeac2d480a781aeb241d39c9b40</anchor>
      <arglist>() const override LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>MapById&lt; NodeId, TrajectoryNode &gt;</type>
      <name>GetTrajectoryNodes</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a41a5264fa66009de31ba025302fc1381</anchor>
      <arglist>() const override LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>std::map&lt; int, TrajectoryState &gt;</type>
      <name>GetTrajectoryStates</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a93877d487f2089eee5d8e7f9d4933526</anchor>
      <arglist>() const override LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>IsTrajectoryFinished</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>ab363843d14368301d02b5fe23249ddde</anchor>
      <arglist>(int trajectory_id) const override EXCLUSIVE_LOCKS_REQUIRED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>IsTrajectoryFrozen</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a38f21602ff8d1a3069387cd55ef0a8a8</anchor>
      <arglist>(int trajectory_id) const override EXCLUSIVE_LOCKS_REQUIRED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>PoseGraph3D &amp;</type>
      <name>operator=</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>ab6dc37174498300919643f514e1a9057</anchor>
      <arglist>(const PoseGraph3D &amp;)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PoseGraph3D</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>ac84b1f1cbbdc11785c6a21fe141a22a7</anchor>
      <arglist>(const proto::PoseGraphOptions &amp;options, std::unique_ptr&lt; optimization::OptimizationProblem3D &gt; optimization_problem, common::ThreadPool *thread_pool)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PoseGraph3D</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a098a28f4ca8125af9b4bf23d00fc8c60</anchor>
      <arglist>(const PoseGraph3D &amp;)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>RunFinalOptimization</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a4cc0951081cda073fc40d16a0c16c187</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetGlobalSlamOptimizationCallback</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a9dbb26adf2b77d56e57d03df5c7b2324</anchor>
      <arglist>(PoseGraphInterface::GlobalSlamOptimizationCallback callback) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetInitialTrajectoryPose</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a0ea5193faa84f7cadefc9d4e83f63f3d</anchor>
      <arglist>(int from_trajectory_id, int to_trajectory_id, const transform::Rigid3d &amp;pose, const common::Time time) override LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetLandmarkPose</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a3497007d04a2bc785868a71039b90177</anchor>
      <arglist>(const std::string &amp;landmark_id, const transform::Rigid3d &amp;global_pose, const bool frozen=false) override LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetTrajectoryDataFromProto</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a811f55fdfc4bbad3dee8852971dc2a33</anchor>
      <arglist>(const proto::TrajectoryData &amp;data) override</arglist>
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    <member kind="function">
      <type></type>
      <name>~PoseGraph3D</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a47ca6b7c9558f310e7bf97f005fbccb1</anchor>
      <arglist>() override</arglist>
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    <member kind="function" static="yes">
      <type>static void</type>
      <name>RegisterMetrics</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a59b0ec2b435b36d08ee682af7e5e1234</anchor>
      <arglist>(metrics::FamilyFactory *family_factory)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>WaitForAllComputations</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a60e6ef1a09c8175680bd44319c24b7b7</anchor>
      <arglist>() LOCKS_EXCLUDED(mutex_) LOCKS_EXCLUDED(work_queue_mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>AddTrajectoryIfNeeded</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a62ccd6551946718db3f08b92cbd27bb8</anchor>
      <arglist>(int trajectory_id) EXCLUSIVE_LOCKS_REQUIRED(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>AddWorkItem</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a3b52d8f0f3043b5d4c8e7114010ee216</anchor>
      <arglist>(const std::function&lt; WorkItem::Result()&gt; &amp;work_item) LOCKS_EXCLUDED(mutex_) LOCKS_EXCLUDED(work_queue_mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>NodeId</type>
      <name>AppendNode</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a49091d84b4b99947d0253811a49cead0</anchor>
      <arglist>(std::shared_ptr&lt; const TrajectoryNode::Data &gt; constant_data, int trajectory_id, const std::vector&lt; std::shared_ptr&lt; const Submap3D &gt;&gt; &amp;insertion_submaps, const transform::Rigid3d &amp;optimized_pose) LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>CanAddWorkItemModifying</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a51799eb896b79e136f269ae0196e1f29</anchor>
      <arglist>(int trajectory_id) EXCLUSIVE_LOCKS_REQUIRED(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>ComputeConstraint</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a85b1d88ab7d4a09fa74e8675da1f436f</anchor>
      <arglist>(const NodeId &amp;node_id, const SubmapId &amp;submap_id) LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>WorkItem::Result</type>
      <name>ComputeConstraintsForNode</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>ab74950f058a598694a48d63058b08278</anchor>
      <arglist>(const NodeId &amp;node_id, std::vector&lt; std::shared_ptr&lt; const Submap3D &gt;&gt; insertion_submaps, bool newly_finished_submap) LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>transform::Rigid3d</type>
      <name>ComputeLocalToGlobalTransform</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a01990050dcf4b5a45e960d97c4fe3002</anchor>
      <arglist>(const MapById&lt; SubmapId, optimization::SubmapSpec3D &gt; &amp;global_submap_poses, int trajectory_id) const EXCLUSIVE_LOCKS_REQUIRED(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>DeleteTrajectoriesIfNeeded</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a610fcc31a1c0e5eb12a33220dfa051da</anchor>
      <arglist>() EXCLUSIVE_LOCKS_REQUIRED(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>DrainWorkQueue</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a51afc68403e18d99e9a09a1c8bbcf2b2</anchor>
      <arglist>() LOCKS_EXCLUDED(mutex_) LOCKS_EXCLUDED(work_queue_mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>common::Time</type>
      <name>GetLatestNodeTime</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a898a078585cd56c6632efaed5419a585</anchor>
      <arglist>(const NodeId &amp;node_id, const SubmapId &amp;submap_id) const EXCLUSIVE_LOCKS_REQUIRED(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>MapById&lt; SubmapId, SubmapData &gt;</type>
      <name>GetSubmapDataUnderLock</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a3ea6fd6e5f8b1da7ef23038283cbe03d</anchor>
      <arglist>() const EXCLUSIVE_LOCKS_REQUIRED(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>PoseGraph::SubmapData</type>
      <name>GetSubmapDataUnderLock</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a930f0727a70bc0af87ebcc1d93fcd94d</anchor>
      <arglist>(const SubmapId &amp;submap_id) const EXCLUSIVE_LOCKS_REQUIRED(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>std::unique_ptr&lt; WorkQueue &gt; work_queue_</type>
      <name>GUARDED_BY</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a749b38f6236bc9ab6f0fb9dc5c37daa6</anchor>
      <arglist>(work_queue_mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>absl::flat_hash_map&lt; int, std::unique_ptr&lt; common::FixedRatioSampler &gt; &gt; global_localization_samplers_</type>
      <name>GUARDED_BY</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a556ca22fd94eaa98202c6f0acbc2907e</anchor>
      <arglist>(mutex_)</arglist>
    </member>
    <member kind="function" protection="private" virtualness="pure">
      <type>int num_nodes_since_last_loop_closure_</type>
      <name>GUARDED_BY</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a10b1d0bc2c18d562ebeb7e7c0f949035</anchor>
      <arglist>(mutex_)=0</arglist>
    </member>
    <member kind="function" protection="private">
      <type>std::vector&lt; std::unique_ptr&lt; PoseGraphTrimmer &gt; &gt; trimmers_</type>
      <name>GUARDED_BY</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>aa548d7f8d3014cd6393145b436522e72</anchor>
      <arglist>(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>PoseGraphData data_</type>
      <name>GUARDED_BY</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a0f2fdebaab4502c2e0529c084f472aab</anchor>
      <arglist>(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>HandleWorkQueue</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>ad81ea16296b7c391009d068e89b50d7e</anchor>
      <arglist>(const constraints::ConstraintBuilder3D::Result &amp;result) LOCKS_EXCLUDED(mutex_) LOCKS_EXCLUDED(work_queue_mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>std::vector&lt; SubmapId &gt;</type>
      <name>InitializeGlobalSubmapPoses</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>ab8020e53742cafaf3100b1bf5b4c0f30</anchor>
      <arglist>(int trajectory_id, const common::Time time, const std::vector&lt; std::shared_ptr&lt; const Submap3D &gt;&gt; &amp;insertion_submaps) EXCLUSIVE_LOCKS_REQUIRED(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>LogResidualHistograms</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>ac1fc2e96674d41dd4fc8577ad0a23cfd</anchor>
      <arglist>() const EXCLUSIVE_LOCKS_REQUIRED(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>RunOptimization</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a60f9f621e9bb9ae20099c58715fe13d3</anchor>
      <arglist>() LOCKS_EXCLUDED(mutex_)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>UpdateTrajectoryConnectivity</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>aaadeb14337e274eafbb58f0839c4d9b8</anchor>
      <arglist>(const Constraint &amp;constraint) EXCLUSIVE_LOCKS_REQUIRED(mutex_)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>constraints::ConstraintBuilder3D</type>
      <name>constraint_builder_</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>aedc8503bae9987dd48abe42af947c247</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>GlobalSlamOptimizationCallback</type>
      <name>global_slam_optimization_callback_</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a2407c8e341e28cf42192af7301538797</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>absl::Mutex</type>
      <name>mutex_</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a6d0534e68c9a79259addc836faa16b64</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unique_ptr&lt; optimization::OptimizationProblem3D &gt;</type>
      <name>optimization_problem_</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>ab00850abf767557e04a5b2a76708ca42</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const proto::PoseGraphOptions</type>
      <name>options_</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a27cf0573f2ffb97271afd58ffd71b304</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>common::ThreadPool *const</type>
      <name>thread_pool_</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a9918186e25da4fb03972c141519ae6a5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>absl::Mutex</type>
      <name>work_queue_mutex_</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D.html</anchorfile>
      <anchor>a2a52560e67e0baebd1ef90792fe17b7e</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>cartographer::mapping::PoseGraph3D::TrimmingHandle</name>
    <filename>classcartographer_1_1mapping_1_1PoseGraph3D_1_1TrimmingHandle.html</filename>
    <base>cartographer::mapping::Trimmable</base>
    <member kind="function">
      <type>const std::vector&lt; Constraint &gt; &amp;</type>
      <name>GetConstraints</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D_1_1TrimmingHandle.html</anchorfile>
      <anchor>a7f1f27776345f5718a9490351ff32ccb</anchor>
      <arglist>() const override EXCLUSIVE_LOCKS_REQUIRED(parent_-&gt;mutex_)</arglist>
    </member>
    <member kind="function">
      <type>MapById&lt; SubmapId, SubmapData &gt;</type>
      <name>GetOptimizedSubmapData</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D_1_1TrimmingHandle.html</anchorfile>
      <anchor>a2a177ee3a21f7868ebdad52b651956a6</anchor>
      <arglist>() const override EXCLUSIVE_LOCKS_REQUIRED(parent_-&gt;mutex_)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; SubmapId &gt;</type>
      <name>GetSubmapIds</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D_1_1TrimmingHandle.html</anchorfile>
      <anchor>a010af29d1fbc232b33aa8a99e574dd3f</anchor>
      <arglist>(int trajectory_id) const override</arglist>
    </member>
    <member kind="function">
      <type>const MapById&lt; NodeId, TrajectoryNode &gt; &amp;</type>
      <name>GetTrajectoryNodes</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D_1_1TrimmingHandle.html</anchorfile>
      <anchor>ac185035c1354ea13c5ebbbf6d9f999f3</anchor>
      <arglist>() const override EXCLUSIVE_LOCKS_REQUIRED(parent_-&gt;mutex_)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>IsFinished</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D_1_1TrimmingHandle.html</anchorfile>
      <anchor>aa102ac625b88e92b3efdf321563d6d46</anchor>
      <arglist>(int trajectory_id) const override EXCLUSIVE_LOCKS_REQUIRED(parent_-&gt;mutex_)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>num_submaps</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D_1_1TrimmingHandle.html</anchorfile>
      <anchor>a8def93697f5aacfb621652de4583d92c</anchor>
      <arglist>(int trajectory_id) const override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetTrajectoryState</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D_1_1TrimmingHandle.html</anchorfile>
      <anchor>aada21ef31641dd1c7618e5c19bc2b14c</anchor>
      <arglist>(int trajectory_id, TrajectoryState state) override EXCLUSIVE_LOCKS_REQUIRED(parent_-&gt;mutex_)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TrimmingHandle</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D_1_1TrimmingHandle.html</anchorfile>
      <anchor>a4f904365f476a4d99d71fcc3cccf8056</anchor>
      <arglist>(PoseGraph3D *parent)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>TrimSubmap</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D_1_1TrimmingHandle.html</anchorfile>
      <anchor>abd80d5a907fc86895ce378825ff07850</anchor>
      <arglist>(const SubmapId &amp;submap_id) EXCLUSIVE_LOCKS_REQUIRED(parent_-&gt;mutex_) override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~TrimmingHandle</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D_1_1TrimmingHandle.html</anchorfile>
      <anchor>aa5102ae6c306a19f00d299306e650359</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>PoseGraph3D *const</type>
      <name>parent_</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraph3D_1_1TrimmingHandle.html</anchorfile>
      <anchor>aca7413f9f3d5340d042e8500b9c73d47</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>cartographer::mapping::PoseGraphData</name>
    <filename>structcartographer_1_1mapping_1_1PoseGraphData.html</filename>
    <member kind="variable">
      <type>std::vector&lt; PoseGraphInterface::Constraint &gt;</type>
      <name>constraints</name>
      <anchorfile>structcartographer_1_1mapping_1_1PoseGraphData.html</anchorfile>
      <anchor>a7dafd69a0de436890d8c454d5c9ab908</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>MapById&lt; SubmapId, optimization::SubmapSpec2D &gt;</type>
      <name>global_submap_poses_2d</name>
      <anchorfile>structcartographer_1_1mapping_1_1PoseGraphData.html</anchorfile>
      <anchor>a00a03535fae75a45c52f86e0ce7364c8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>MapById&lt; SubmapId, optimization::SubmapSpec3D &gt;</type>
      <name>global_submap_poses_3d</name>
      <anchorfile>structcartographer_1_1mapping_1_1PoseGraphData.html</anchorfile>
      <anchor>a651d20d0eb9dd2d8ec3022e2c7f2b31c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::map&lt; int, PoseGraph::InitialTrajectoryPose &gt;</type>
      <name>initial_trajectory_poses</name>
      <anchorfile>structcartographer_1_1mapping_1_1PoseGraphData.html</anchorfile>
      <anchor>af26f8d71a5360408826b1380dbc31bd7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::map&lt; std::string, PoseGraphInterface::LandmarkNode &gt;</type>
      <name>landmark_nodes</name>
      <anchorfile>structcartographer_1_1mapping_1_1PoseGraphData.html</anchorfile>
      <anchor>ab11ddb6a8e9d4a33041331e4f519665b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>num_trajectory_nodes</name>
      <anchorfile>structcartographer_1_1mapping_1_1PoseGraphData.html</anchorfile>
      <anchor>a2bac205d418eb184cdf599e6e629eee8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>MapById&lt; SubmapId, InternalSubmapData &gt;</type>
      <name>submap_data</name>
      <anchorfile>structcartographer_1_1mapping_1_1PoseGraphData.html</anchorfile>
      <anchor>a56cabd6f4030b7d076739671e4622b5b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::map&lt; int, InternalTrajectoryState &gt;</type>
      <name>trajectories_state</name>
      <anchorfile>structcartographer_1_1mapping_1_1PoseGraphData.html</anchorfile>
      <anchor>ae52a8b8b12f44d0aaa38038dce863dd1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>TrajectoryConnectivityState</type>
      <name>trajectory_connectivity_state</name>
      <anchorfile>structcartographer_1_1mapping_1_1PoseGraphData.html</anchorfile>
      <anchor>a17e7ba81798aa6fb1716dd9dda5f9118</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>MapById&lt; NodeId, TrajectoryNode &gt;</type>
      <name>trajectory_nodes</name>
      <anchorfile>structcartographer_1_1mapping_1_1PoseGraphData.html</anchorfile>
      <anchor>abd5e99a65ef9d7e0b437d6669494166f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>cartographer::mapping::PoseGraphInterface</name>
    <filename>classcartographer_1_1mapping_1_1PoseGraphInterface.html</filename>
    <class kind="struct">cartographer::mapping::PoseGraphInterface::Constraint</class>
    <class kind="struct">cartographer::mapping::PoseGraphInterface::LandmarkNode</class>
    <class kind="struct">cartographer::mapping::PoseGraphInterface::SubmapData</class>
    <class kind="struct">cartographer::mapping::PoseGraphInterface::SubmapPose</class>
    <class kind="struct">cartographer::mapping::PoseGraphInterface::TrajectoryData</class>
    <member kind="enumeration">
      <name>TrajectoryState</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraphInterface.html</anchorfile>
      <anchor>a5795d57033be3bd3866bd2917b9a442a</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>ACTIVE</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraphInterface.html</anchorfile>
      <anchor>a5795d57033be3bd3866bd2917b9a442aa74fc668a51624af1272e4b5ebfc1bafd</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>FINISHED</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraphInterface.html</anchorfile>
      <anchor>a5795d57033be3bd3866bd2917b9a442aa0d909f9aabb623c697f3f49ccc04ec6a</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>FROZEN</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraphInterface.html</anchorfile>
      <anchor>a5795d57033be3bd3866bd2917b9a442aa56e7f23ed9dd685f4bc22e4e87072a99</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>DELETED</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraphInterface.html</anchorfile>
      <anchor>a5795d57033be3bd3866bd2917b9a442aaad9a8edcb932d71f150e1d6b08905e75</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual std::vector&lt; Constraint &gt;</type>
      <name>constraints</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraphInterface.html</anchorfile>
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      <arglist>() const =0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>DeleteTrajectory</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraphInterface.html</anchorfile>
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      <arglist>(int trajectory_id)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual MapById&lt; SubmapId, SubmapData &gt;</type>
      <name>GetAllSubmapData</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraphInterface.html</anchorfile>
      <anchor>a870ee800bdf05800bbb01d7a60027325</anchor>
      <arglist>() const =0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual MapById&lt; SubmapId, SubmapPose &gt;</type>
      <name>GetAllSubmapPoses</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraphInterface.html</anchorfile>
      <anchor>ab515874ef758833805feac3a41ca5c56</anchor>
      <arglist>() const =0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual std::map&lt; std::string, transform::Rigid3d &gt;</type>
      <name>GetLandmarkPoses</name>
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      <anchor>ac82c1b660d98aad12aed888ad1263d53</anchor>
      <arglist>() const =0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual transform::Rigid3d</type>
      <name>GetLocalToGlobalTransform</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraphInterface.html</anchorfile>
      <anchor>a21fcb3de5b369eeffe676f4bb61a9f9d</anchor>
      <arglist>(int trajectory_id) const =0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual std::map&lt; int, TrajectoryData &gt;</type>
      <name>GetTrajectoryData</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraphInterface.html</anchorfile>
      <anchor>afd7ed2f61673a7f5351c66de265f06c5</anchor>
      <arglist>() const =0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual MapById&lt; NodeId, TrajectoryNodePose &gt;</type>
      <name>GetTrajectoryNodePoses</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraphInterface.html</anchorfile>
      <anchor>af309e72538b1effb81a6ee6431bdd1ae</anchor>
      <arglist>() const =0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual MapById&lt; NodeId, TrajectoryNode &gt;</type>
      <name>GetTrajectoryNodes</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraphInterface.html</anchorfile>
      <anchor>ac2f39651e2ae457bff437cf583115501</anchor>
      <arglist>() const =0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual std::map&lt; int, TrajectoryState &gt;</type>
      <name>GetTrajectoryStates</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraphInterface.html</anchorfile>
      <anchor>ac53de88d87a527f791487a886863e62b</anchor>
      <arglist>() const =0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>IsTrajectoryFinished</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraphInterface.html</anchorfile>
      <anchor>afd2cf24da28090d55a5f83cd5f1152f1</anchor>
      <arglist>(int trajectory_id) const =0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>IsTrajectoryFrozen</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraphInterface.html</anchorfile>
      <anchor>a7defed4e83b265b89f3ee008995d76b7</anchor>
      <arglist>(int trajectory_id) const =0</arglist>
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    <member kind="function">
      <type>PoseGraphInterface &amp;</type>
      <name>operator=</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraphInterface.html</anchorfile>
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      <arglist>(const PoseGraphInterface &amp;)</arglist>
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    <member kind="function">
      <type></type>
      <name>PoseGraphInterface</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraphInterface.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>PoseGraphInterface</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraphInterface.html</anchorfile>
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      <arglist>(const PoseGraphInterface &amp;)</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>RunFinalOptimization</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraphInterface.html</anchorfile>
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      <arglist>()=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>SetGlobalSlamOptimizationCallback</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraphInterface.html</anchorfile>
      <anchor>a6584c7d1d64357a1d30cf0a8c34fef6b</anchor>
      <arglist>(GlobalSlamOptimizationCallback callback)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>SetLandmarkPose</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraphInterface.html</anchorfile>
      <anchor>a25af3fe8f67b1dd2a133349aefd376ae</anchor>
      <arglist>(const std::string &amp;landmark_id, const transform::Rigid3d &amp;global_pose, const bool frozen=false)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual proto::PoseGraph</type>
      <name>ToProto</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraphInterface.html</anchorfile>
      <anchor>a0bad4caf806024612ae4ad6d2a426b6d</anchor>
      <arglist>(bool include_unfinished_submaps) const =0</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~PoseGraphInterface</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraphInterface.html</anchorfile>
      <anchor>ab454742ffa8309f470415b87bfeb4ef4</anchor>
      <arglist>()</arglist>
    </member>
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  <compound kind="struct">
    <name>cartographer::mapping::PoseGraphInterface::Constraint</name>
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    <class kind="struct">cartographer::mapping::PoseGraphInterface::Constraint::Pose</class>
    <member kind="enumeration">
      <name>Tag</name>
      <anchorfile>structcartographer_1_1mapping_1_1PoseGraphInterface_1_1Constraint.html</anchorfile>
      <anchor>a8d396166068792520d8343e93be0914b</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>INTRA_SUBMAP</name>
      <anchorfile>structcartographer_1_1mapping_1_1PoseGraphInterface_1_1Constraint.html</anchorfile>
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>INTER_SUBMAP</name>
      <anchorfile>structcartographer_1_1mapping_1_1PoseGraphInterface_1_1Constraint.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable">
      <type>NodeId</type>
      <name>node_id</name>
      <anchorfile>structcartographer_1_1mapping_1_1PoseGraphInterface_1_1Constraint.html</anchorfile>
      <anchor>ad60b64af047ef1a9871f6db92fbf6f94</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Pose</type>
      <name>pose</name>
      <anchorfile>structcartographer_1_1mapping_1_1PoseGraphInterface_1_1Constraint.html</anchorfile>
      <anchor>aabde5e22b93617078febc604e5e32267</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>SubmapId</type>
      <name>submap_id</name>
      <anchorfile>structcartographer_1_1mapping_1_1PoseGraphInterface_1_1Constraint.html</anchorfile>
      <anchor>aad424267c508f690f3a0d06ea20f0cb3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>enum cartographer::mapping::PoseGraphInterface::Constraint::Tag</type>
      <name>tag</name>
      <anchorfile>structcartographer_1_1mapping_1_1PoseGraphInterface_1_1Constraint.html</anchorfile>
      <anchor>a10817e1dfafa83b5bde4f2ecf43e41a5</anchor>
      <arglist></arglist>
    </member>
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  <compound kind="struct">
    <name>cartographer::mapping::PoseGraphInterface::Constraint::Pose</name>
    <filename>structcartographer_1_1mapping_1_1PoseGraphInterface_1_1Constraint_1_1Pose.html</filename>
    <member kind="variable">
      <type>double</type>
      <name>rotation_weight</name>
      <anchorfile>structcartographer_1_1mapping_1_1PoseGraphInterface_1_1Constraint_1_1Pose.html</anchorfile>
      <anchor>a06d5a176e4901bc851bb544cb42bcd5e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>translation_weight</name>
      <anchorfile>structcartographer_1_1mapping_1_1PoseGraphInterface_1_1Constraint_1_1Pose.html</anchorfile>
      <anchor>a244293a6551a77c8ef4b584613d4d0c8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>transform::Rigid3d</type>
      <name>zbar_ij</name>
      <anchorfile>structcartographer_1_1mapping_1_1PoseGraphInterface_1_1Constraint_1_1Pose.html</anchorfile>
      <anchor>adef97b1c922dcef3a9f7d45e2d6fc946</anchor>
      <arglist></arglist>
    </member>
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  <compound kind="struct">
    <name>cartographer::mapping::PoseGraphInterface::LandmarkNode</name>
    <filename>structcartographer_1_1mapping_1_1PoseGraphInterface_1_1LandmarkNode.html</filename>
    <class kind="struct">cartographer::mapping::PoseGraphInterface::LandmarkNode::LandmarkObservation</class>
    <member kind="variable">
      <type>bool</type>
      <name>frozen</name>
      <anchorfile>structcartographer_1_1mapping_1_1PoseGraphInterface_1_1LandmarkNode.html</anchorfile>
      <anchor>a4c185dc4d7d123c729a8faac74d50a53</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>absl::optional&lt; transform::Rigid3d &gt;</type>
      <name>global_landmark_pose</name>
      <anchorfile>structcartographer_1_1mapping_1_1PoseGraphInterface_1_1LandmarkNode.html</anchorfile>
      <anchor>a574e1009732bcb4fa9eda352316390a2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; LandmarkObservation &gt;</type>
      <name>landmark_observations</name>
      <anchorfile>structcartographer_1_1mapping_1_1PoseGraphInterface_1_1LandmarkNode.html</anchorfile>
      <anchor>abd4c80f19b3f7dff0ac8a0b14d071d22</anchor>
      <arglist></arglist>
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  <compound kind="struct">
    <name>cartographer::mapping::PoseGraphInterface::LandmarkNode::LandmarkObservation</name>
    <filename>structcartographer_1_1mapping_1_1PoseGraphInterface_1_1LandmarkNode_1_1LandmarkObservation.html</filename>
    <member kind="variable">
      <type>transform::Rigid3d</type>
      <name>landmark_to_tracking_transform</name>
      <anchorfile>structcartographer_1_1mapping_1_1PoseGraphInterface_1_1LandmarkNode_1_1LandmarkObservation.html</anchorfile>
      <anchor>aa5014c08acacad2e51722666763d9a8a</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>double</type>
      <name>rotation_weight</name>
      <anchorfile>structcartographer_1_1mapping_1_1PoseGraphInterface_1_1LandmarkNode_1_1LandmarkObservation.html</anchorfile>
      <anchor>a29650559b382ccdc67ea50fb3a0f19da</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>common::Time</type>
      <name>time</name>
      <anchorfile>structcartographer_1_1mapping_1_1PoseGraphInterface_1_1LandmarkNode_1_1LandmarkObservation.html</anchorfile>
      <anchor>a0111e9f17519452bed6c04573c925347</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>int</type>
      <name>trajectory_id</name>
      <anchorfile>structcartographer_1_1mapping_1_1PoseGraphInterface_1_1LandmarkNode_1_1LandmarkObservation.html</anchorfile>
      <anchor>a2a8a6a3b2d44b0035da1ef8216bcc400</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>translation_weight</name>
      <anchorfile>structcartographer_1_1mapping_1_1PoseGraphInterface_1_1LandmarkNode_1_1LandmarkObservation.html</anchorfile>
      <anchor>a2a982f4f6ab4e939d01a117078a3ca32</anchor>
      <arglist></arglist>
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  <compound kind="struct">
    <name>cartographer::mapping::PoseGraphInterface::SubmapData</name>
    <filename>structcartographer_1_1mapping_1_1PoseGraphInterface_1_1SubmapData.html</filename>
    <member kind="variable">
      <type>transform::Rigid3d</type>
      <name>pose</name>
      <anchorfile>structcartographer_1_1mapping_1_1PoseGraphInterface_1_1SubmapData.html</anchorfile>
      <anchor>a9bc87ca146f544de6c2ce3148e3b2c73</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::shared_ptr&lt; const Submap &gt;</type>
      <name>submap</name>
      <anchorfile>structcartographer_1_1mapping_1_1PoseGraphInterface_1_1SubmapData.html</anchorfile>
      <anchor>ac7ffcf4e42dfe514c35e87578aa477bc</anchor>
      <arglist></arglist>
    </member>
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  <compound kind="struct">
    <name>cartographer::mapping::PoseGraphInterface::SubmapPose</name>
    <filename>structcartographer_1_1mapping_1_1PoseGraphInterface_1_1SubmapPose.html</filename>
    <member kind="variable">
      <type>transform::Rigid3d</type>
      <name>pose</name>
      <anchorfile>structcartographer_1_1mapping_1_1PoseGraphInterface_1_1SubmapPose.html</anchorfile>
      <anchor>a28bfb5093c9f1c3283c001dff8246b90</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>version</name>
      <anchorfile>structcartographer_1_1mapping_1_1PoseGraphInterface_1_1SubmapPose.html</anchorfile>
      <anchor>a5f37f452c217270a894bd4d8e1686cef</anchor>
      <arglist></arglist>
    </member>
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  <compound kind="struct">
    <name>cartographer::mapping::PoseGraphInterface::TrajectoryData</name>
    <filename>structcartographer_1_1mapping_1_1PoseGraphInterface_1_1TrajectoryData.html</filename>
    <member kind="variable">
      <type>absl::optional&lt; transform::Rigid3d &gt;</type>
      <name>fixed_frame_origin_in_map</name>
      <anchorfile>structcartographer_1_1mapping_1_1PoseGraphInterface_1_1TrajectoryData.html</anchorfile>
      <anchor>acd6666622c128fa03a2c721000c57c22</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>gravity_constant</name>
      <anchorfile>structcartographer_1_1mapping_1_1PoseGraphInterface_1_1TrajectoryData.html</anchorfile>
      <anchor>abac1f3b90b8146da44ef67f979c22a79</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>cartographer::mapping::PoseGraphTrimmer</name>
    <filename>classcartographer_1_1mapping_1_1PoseGraphTrimmer.html</filename>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>IsFinished</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraphTrimmer.html</anchorfile>
      <anchor>af6c6caa2365d933fc0871bf36fb3ff3c</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>Trim</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraphTrimmer.html</anchorfile>
      <anchor>a42fb43f22615fb5b6d668c6772e504f9</anchor>
      <arglist>(Trimmable *pose_graph)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~PoseGraphTrimmer</name>
      <anchorfile>classcartographer_1_1mapping_1_1PoseGraphTrimmer.html</anchorfile>
      <anchor>a02fb65756e90abe372415e3a3ccbf551</anchor>
      <arglist>()</arglist>
    </member>
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  <compound kind="class">
    <name>cartographer::mapping::ProbabilityGrid</name>
    <filename>classcartographer_1_1mapping_1_1ProbabilityGrid.html</filename>
    <base>cartographer::mapping::Grid2D</base>
    <member kind="function">
      <type>bool</type>
      <name>ApplyLookupTable</name>
      <anchorfile>classcartographer_1_1mapping_1_1ProbabilityGrid.html</anchorfile>
      <anchor>a02e4d30b3a254b8f40e3ad5549bc8e15</anchor>
      <arglist>(const Eigen::Array2i &amp;cell_index, const std::vector&lt; uint16 &gt; &amp;table)</arglist>
    </member>
    <member kind="function">
      <type>std::unique_ptr&lt; Grid2D &gt;</type>
      <name>ComputeCroppedGrid</name>
      <anchorfile>classcartographer_1_1mapping_1_1ProbabilityGrid.html</anchorfile>
      <anchor>aefe3dd0a7f4fd7894ae60a6b0899c8e7</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>DrawToSubmapTexture</name>
      <anchorfile>classcartographer_1_1mapping_1_1ProbabilityGrid.html</anchorfile>
      <anchor>a69a0fc0a13504f3d00132b85448acb2d</anchor>
      <arglist>(proto::SubmapQuery::Response::SubmapTexture *const texture, transform::Rigid3d local_pose) const override</arglist>
    </member>
    <member kind="function">
      <type>GridType</type>
      <name>GetGridType</name>
      <anchorfile>classcartographer_1_1mapping_1_1ProbabilityGrid.html</anchorfile>
      <anchor>a4eaedf96a64c7260643d8fb10155a633</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>GetProbability</name>
      <anchorfile>classcartographer_1_1mapping_1_1ProbabilityGrid.html</anchorfile>
      <anchor>aa159618585d5b3a0fa4a0162afed2d2f</anchor>
      <arglist>(const Eigen::Array2i &amp;cell_index) const </arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ProbabilityGrid</name>
      <anchorfile>classcartographer_1_1mapping_1_1ProbabilityGrid.html</anchorfile>
      <anchor>a0776e410ef0adcb9a12ba698f676a71f</anchor>
      <arglist>(const MapLimits &amp;limits, ValueConversionTables *conversion_tables)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ProbabilityGrid</name>
      <anchorfile>classcartographer_1_1mapping_1_1ProbabilityGrid.html</anchorfile>
      <anchor>a73a80b486e593b872f9e001ef9fa07ca</anchor>
      <arglist>(const proto::Grid2D &amp;proto, ValueConversionTables *conversion_tables)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetProbability</name>
      <anchorfile>classcartographer_1_1mapping_1_1ProbabilityGrid.html</anchorfile>
      <anchor>a7bb7bbc4a4772756c260f8f1f8c4bd6f</anchor>
      <arglist>(const Eigen::Array2i &amp;cell_index, const float probability)</arglist>
    </member>
    <member kind="function">
      <type>proto::Grid2D</type>
      <name>ToProto</name>
      <anchorfile>classcartographer_1_1mapping_1_1ProbabilityGrid.html</anchorfile>
      <anchor>af799e69e89ce407f5298de48eaae833f</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ValueConversionTables *</type>
      <name>conversion_tables_</name>
      <anchorfile>classcartographer_1_1mapping_1_1ProbabilityGrid.html</anchorfile>
      <anchor>a7a1acdc7d0b3ef02bcb7378932a765ca</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>cartographer::mapping::ProbabilityGridRangeDataInserter2D</name>
    <filename>classcartographer_1_1mapping_1_1ProbabilityGridRangeDataInserter2D.html</filename>
    <base>cartographer::mapping::RangeDataInserterInterface</base>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>Insert</name>
      <anchorfile>classcartographer_1_1mapping_1_1ProbabilityGridRangeDataInserter2D.html</anchorfile>
      <anchor>aefb4702932eb214f13df380018fc16c6</anchor>
      <arglist>(const sensor::RangeData &amp;range_data, GridInterface *grid) const override</arglist>
    </member>
    <member kind="function">
      <type>ProbabilityGridRangeDataInserter2D &amp;</type>
      <name>operator=</name>
      <anchorfile>classcartographer_1_1mapping_1_1ProbabilityGridRangeDataInserter2D.html</anchorfile>
      <anchor>a0a9a5e37a297054abba8997e8ed4688c</anchor>
      <arglist>(const ProbabilityGridRangeDataInserter2D &amp;)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ProbabilityGridRangeDataInserter2D</name>
      <anchorfile>classcartographer_1_1mapping_1_1ProbabilityGridRangeDataInserter2D.html</anchorfile>
      <anchor>a0ea28b1cf8ec2faa0d4123f2534c35a8</anchor>
      <arglist>(const proto::ProbabilityGridRangeDataInserterOptions2D &amp;options)</arglist>
    </member>
    <member kind="function">
      <type></type>
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      <arglist></arglist>
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      <arglist>(int trajectory_id) const =0</arglist>
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      <arglist>(int trajectory_id, PoseGraphInterface::TrajectoryState state)=0</arglist>
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      <arglist>(const SubmapId &amp;submap_id)=0</arglist>
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      <arglist>(proto::SubmapQuery::Response::SubmapTexture *const texture, transform::Rigid3d local_pose) const override</arglist>
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      <arglist>() const override</arglist>
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      <arglist>(const Eigen::Array2i &amp;cell_index) const </arglist>
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      <arglist>(const Eigen::Array2i &amp;cell_index) const </arglist>
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      <arglist>(const Eigen::Array2i &amp;cell_index) const </arglist>
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      <arglist>(const Eigen::Vector2f &amp;point) override</arglist>
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      <arglist>(const Eigen::Array2i &amp;cell_index, const float tsd, const float weight)</arglist>
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      <arglist>() const override</arglist>
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      <arglist>(const MapLimits &amp;limits, float truncation_distance, float max_weight, ValueConversionTables *conversion_tables)</arglist>
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      <arglist>(const proto::Grid2D &amp;proto, ValueConversionTables *conversion_tables)</arglist>
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      <arglist></arglist>
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      <type>std::vector&lt; uint16 &gt;</type>
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      <arglist></arglist>
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      <arglist>(const sensor::RangeData &amp;range_data, GridInterface *grid) const override</arglist>
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      <arglist>(const proto::TSDFRangeDataInserterOptions2D &amp;options)</arglist>
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      <name>TSDFRangeDataInserter2D</name>
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      <arglist>(const TSDFRangeDataInserter2D &amp;)</arglist>
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      <arglist>(const proto::TSDFRangeDataInserterOptions2D &amp;options, const Eigen::Vector2f &amp;hit, const Eigen::Vector2f &amp;origin, float normal, TSDF2D *tsdf) const </arglist>
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      <arglist>(const Eigen::Array2i &amp;cell, float update_sdf, float update_weight, TSDF2D *tsdf) const </arglist>
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      <type>const proto::TSDFRangeDataInserterOptions2D</type>
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      <arglist></arglist>
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      <arglist>() const </arglist>
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      <arglist>(float max_tsd, float max_weight, ValueConversionTables *conversion_tables)</arglist>
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      <arglist>(const float weight) const </arglist>
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      <arglist>()</arglist>
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      <arglist>(const float tsd) const </arglist>
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      <arglist>(const float weight) const </arglist>
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      <arglist>(const std::array&lt; T, 6 &gt; &amp;error, double translation_weight, double rotation_weight)</arglist>
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    <member kind="function">
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      <name>SlerpQuaternions</name>
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      <arglist>(const T *const start, const T *const end, double factor)</arglist>
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    <name>cartographer::mapping::optimization::CeresPose</name>
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    <member kind="function">
      <type></type>
      <name>CeresPose</name>
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      <arglist>(const transform::Rigid3d &amp;rigid, std::unique_ptr&lt; ceres::LocalParameterization &gt; translation_parametrization, std::unique_ptr&lt; ceres::LocalParameterization &gt; rotation_parametrization, ceres::Problem *problem)</arglist>
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    <member kind="function">
      <type>Data &amp;</type>
      <name>data</name>
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      <arglist>()</arglist>
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      <type>double *</type>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>const double *</type>
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      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1CeresPose.html</anchorfile>
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      <arglist>() const </arglist>
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      <type>const transform::Rigid3d</type>
      <name>ToRigid</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1CeresPose.html</anchorfile>
      <anchor>aeb00900df07054235f803fc1645f8406</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>double *</type>
      <name>translation</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1CeresPose.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function">
      <type>const double *</type>
      <name>translation</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1CeresPose.html</anchorfile>
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      <arglist>() const </arglist>
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      <type>std::shared_ptr&lt; Data &gt;</type>
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      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1CeresPose.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable">
      <type>std::array&lt; double, 4 &gt;</type>
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      <anchor>ad6b5e1cff90c6d1e650fa86e59335dfd</anchor>
      <arglist></arglist>
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      <type>std::array&lt; double, 3 &gt;</type>
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      <arglist></arglist>
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  <compound kind="class">
    <name>cartographer::mapping::optimization::LandmarkCostFunction2D</name>
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    <member kind="function">
      <type>bool</type>
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      <arglist>(const T *const prev_node_pose, const T *const next_node_pose, const T *const landmark_rotation, const T *const landmark_translation, T *const e) const </arglist>
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    <member kind="function" static="yes">
      <type>static ceres::CostFunction *</type>
      <name>CreateAutoDiffCostFunction</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1LandmarkCostFunction2D.html</anchorfile>
      <anchor>a02cf54dae51baeb1d0eff4478b378276</anchor>
      <arglist>(const LandmarkObservation &amp;observation, const NodeSpec2D &amp;prev_node, const NodeSpec2D &amp;next_node)</arglist>
    </member>
    <member kind="function" protection="private">
      <type></type>
      <name>LandmarkCostFunction2D</name>
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      <arglist>(const LandmarkObservation &amp;observation, const NodeSpec2D &amp;prev_node, const NodeSpec2D &amp;next_node)</arglist>
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    <member kind="variable" protection="private">
      <type>const double</type>
      <name>interpolation_parameter_</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1LandmarkCostFunction2D.html</anchorfile>
      <anchor>a13f5535ea2c9b8a1a5583075bf157b09</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const transform::Rigid3d</type>
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      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1LandmarkCostFunction2D.html</anchorfile>
      <anchor>a5bf8c7b8c10a9051759292e03b8dacf1</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const Eigen::Quaterniond</type>
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      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1LandmarkCostFunction2D.html</anchorfile>
      <anchor>ae1f0a3ef31b0830ce845cef2a82b756e</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const Eigen::Quaterniond</type>
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      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1LandmarkCostFunction2D.html</anchorfile>
      <anchor>aab6bb94eb6d2dacf2ea5da4d97e3d2fc</anchor>
      <arglist></arglist>
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      <type>const double</type>
      <name>rotation_weight_</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1LandmarkCostFunction2D.html</anchorfile>
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      <arglist></arglist>
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      <type>const double</type>
      <name>translation_weight_</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1LandmarkCostFunction2D.html</anchorfile>
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      <arglist></arglist>
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    <name>cartographer::mapping::optimization::LandmarkCostFunction3D</name>
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    <member kind="function">
      <type>bool</type>
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      <arglist>(const T *const prev_node_rotation, const T *const prev_node_translation, const T *const next_node_rotation, const T *const next_node_translation, const T *const landmark_rotation, const T *const landmark_translation, T *const e) const </arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ceres::CostFunction *</type>
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      <anchor>a5312ee3bd9a5b757aff8a1a830651e73</anchor>
      <arglist>(const LandmarkObservation &amp;observation, const NodeSpec3D &amp;prev_node, const NodeSpec3D &amp;next_node)</arglist>
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    <member kind="function" protection="private">
      <type></type>
      <name>LandmarkCostFunction3D</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1LandmarkCostFunction3D.html</anchorfile>
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      <arglist>(const LandmarkObservation &amp;observation, const NodeSpec3D &amp;prev_node, const NodeSpec3D &amp;next_node)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const double</type>
      <name>interpolation_parameter_</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1LandmarkCostFunction3D.html</anchorfile>
      <anchor>aba7e87a0444b6b5363c182235db12687</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const transform::Rigid3d</type>
      <name>landmark_to_tracking_transform_</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1LandmarkCostFunction3D.html</anchorfile>
      <anchor>a4586af77d00cb4fef7070a55519f14a1</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const double</type>
      <name>rotation_weight_</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1LandmarkCostFunction3D.html</anchorfile>
      <anchor>a86a21738a519e21fecefb992dd2e79b1</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const double</type>
      <name>translation_weight_</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1LandmarkCostFunction3D.html</anchorfile>
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      <arglist></arglist>
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    <name>cartographer::mapping::optimization::NodeSpec2D</name>
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    <member kind="variable">
      <type>transform::Rigid2d</type>
      <name>global_pose_2d</name>
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      <anchor>a13372c1e48528b3fd9ceba7deb97239e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Eigen::Quaterniond</type>
      <name>gravity_alignment</name>
      <anchorfile>structcartographer_1_1mapping_1_1optimization_1_1NodeSpec2D.html</anchorfile>
      <anchor>a7026993064fe8b536207f3f8cadc5c53</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>transform::Rigid2d</type>
      <name>local_pose_2d</name>
      <anchorfile>structcartographer_1_1mapping_1_1optimization_1_1NodeSpec2D.html</anchorfile>
      <anchor>ad9910059de02f6a02feb41a601b17a2b</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>common::Time</type>
      <name>time</name>
      <anchorfile>structcartographer_1_1mapping_1_1optimization_1_1NodeSpec2D.html</anchorfile>
      <anchor>ae19fcf783ac804184607955e3df39c54</anchor>
      <arglist></arglist>
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  </compound>
  <compound kind="struct">
    <name>cartographer::mapping::optimization::NodeSpec3D</name>
    <filename>structcartographer_1_1mapping_1_1optimization_1_1NodeSpec3D.html</filename>
    <member kind="variable">
      <type>transform::Rigid3d</type>
      <name>global_pose</name>
      <anchorfile>structcartographer_1_1mapping_1_1optimization_1_1NodeSpec3D.html</anchorfile>
      <anchor>a31be1bf64167bea68c2dd9df6375bfe4</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>transform::Rigid3d</type>
      <name>local_pose</name>
      <anchorfile>structcartographer_1_1mapping_1_1optimization_1_1NodeSpec3D.html</anchorfile>
      <anchor>ad3fcc56676c187b76499453ca1f5ca59</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>common::Time</type>
      <name>time</name>
      <anchorfile>structcartographer_1_1mapping_1_1optimization_1_1NodeSpec3D.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>cartographer::mapping::optimization::OptimizationProblem2D</name>
    <filename>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem2D.html</filename>
    <base>OptimizationProblemInterface&lt; NodeSpec2D, SubmapSpec2D, transform::Rigid2d &gt;</base>
    <member kind="function">
      <type>void</type>
      <name>AddImuData</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem2D.html</anchorfile>
      <anchor>a18d5042b52c0522fb4db9a9a16e2ddf8</anchor>
      <arglist>(int trajectory_id, const sensor::ImuData &amp;imu_data) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>AddOdometryData</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem2D.html</anchorfile>
      <anchor>a693b0446ba5e313727e09664fb34179e</anchor>
      <arglist>(int trajectory_id, const sensor::OdometryData &amp;odometry_data) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>AddSubmap</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem2D.html</anchorfile>
      <anchor>a99b7b3f7ec89f1e8acb3ba32e9d48891</anchor>
      <arglist>(int trajectory_id, const transform::Rigid2d &amp;global_submap_pose) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>AddTrajectoryNode</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem2D.html</anchorfile>
      <anchor>a6c2d1562e2ef56158d566d4c61e9b44a</anchor>
      <arglist>(int trajectory_id, const NodeSpec2D &amp;node_data) override</arglist>
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    <member kind="function">
      <type>const sensor::MapByTime&lt; sensor::ImuData &gt; &amp;</type>
      <name>imu_data</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem2D.html</anchorfile>
      <anchor>ac912edea859613b4cf6117731dd2d62d</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>InsertSubmap</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem2D.html</anchorfile>
      <anchor>abe32e21464131aed4dc6d25d5fb6c299</anchor>
      <arglist>(const SubmapId &amp;submap_id, const transform::Rigid2d &amp;global_submap_pose) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>InsertTrajectoryNode</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem2D.html</anchorfile>
      <anchor>a727e9cbc114cc6fecc490d6dcef8c34e</anchor>
      <arglist>(const NodeId &amp;node_id, const NodeSpec2D &amp;node_data) override</arglist>
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    <member kind="function">
      <type>const std::map&lt; std::string, transform::Rigid3d &gt; &amp;</type>
      <name>landmark_data</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem2D.html</anchorfile>
      <anchor>a9068b505eba9c9edea21b4948562a6c6</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>const MapById&lt; NodeId, NodeSpec2D &gt; &amp;</type>
      <name>node_data</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem2D.html</anchorfile>
      <anchor>ab1976c347dff3fc387ab95064a5fb1b4</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>const sensor::MapByTime&lt; sensor::OdometryData &gt; &amp;</type>
      <name>odometry_data</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem2D.html</anchorfile>
      <anchor>a1da4b9f97367d5fb0b37d5d6699f647c</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>OptimizationProblem2D &amp;</type>
      <name>operator=</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem2D.html</anchorfile>
      <anchor>a51e37427d5ef2355976daa7deba71a45</anchor>
      <arglist>(const OptimizationProblem2D &amp;)</arglist>
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    <member kind="function">
      <type></type>
      <name>OptimizationProblem2D</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem2D.html</anchorfile>
      <anchor>a2c68a9e6c5db79838a97531639fc7be5</anchor>
      <arglist>(const optimization::proto::OptimizationProblemOptions &amp;options)</arglist>
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    <member kind="function">
      <type></type>
      <name>OptimizationProblem2D</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem2D.html</anchorfile>
      <anchor>af1e74d5a1f95c08b6403126112179e3a</anchor>
      <arglist>(const OptimizationProblem2D &amp;)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>SetMaxNumIterations</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem2D.html</anchorfile>
      <anchor>aa7ce8514e34947a74c4de46cc928ad46</anchor>
      <arglist>(int32 max_num_iterations) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>Solve</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem2D.html</anchorfile>
      <anchor>a0c9c758c80d6325499559f673192d69c</anchor>
      <arglist>(const std::vector&lt; Constraint &gt; &amp;constraints, const std::map&lt; int, PoseGraphInterface::TrajectoryState &gt; &amp;trajectories_state, const std::map&lt; std::string, LandmarkNode &gt; &amp;landmark_nodes) override</arglist>
    </member>
    <member kind="function">
      <type>const MapById&lt; SubmapId, SubmapSpec2D &gt; &amp;</type>
      <name>submap_data</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem2D.html</anchorfile>
      <anchor>af45fff54a2213ca19feb43be72b4f568</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>TrimSubmap</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem2D.html</anchorfile>
      <anchor>ace59eff25171c49b746b27f6a6a66c16</anchor>
      <arglist>(const SubmapId &amp;submap_id) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>TrimTrajectoryNode</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem2D.html</anchorfile>
      <anchor>abe0970c8040184ca6e5037b0d48f5c34</anchor>
      <arglist>(const NodeId &amp;node_id) override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~OptimizationProblem2D</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem2D.html</anchorfile>
      <anchor>a2614335bcc286bde5c5fd25f87b5ad2f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>std::unique_ptr&lt; transform::Rigid3d &gt;</type>
      <name>CalculateOdometryBetweenNodes</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem2D.html</anchorfile>
      <anchor>a778b964fb70d20a77fbf2c46a4ea113d</anchor>
      <arglist>(int trajectory_id, const NodeSpec2D &amp;first_node_data, const NodeSpec2D &amp;second_node_data) const </arglist>
    </member>
    <member kind="function" protection="private">
      <type>std::unique_ptr&lt; transform::Rigid3d &gt;</type>
      <name>InterpolateOdometry</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem2D.html</anchorfile>
      <anchor>a92148c5a8976a8bb424cd78b8e27bb63</anchor>
      <arglist>(int trajectory_id, common::Time time) const </arglist>
    </member>
    <member kind="variable" protection="private">
      <type>sensor::MapByTime&lt; sensor::ImuData &gt;</type>
      <name>imu_data_</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem2D.html</anchorfile>
      <anchor>a2a0e961a1ac67fdecbc1a1d5c96194dc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::map&lt; std::string, transform::Rigid3d &gt;</type>
      <name>landmark_data_</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem2D.html</anchorfile>
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      <arglist></arglist>
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      <type>MapById&lt; NodeId, NodeSpec2D &gt;</type>
      <name>node_data_</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem2D.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>sensor::MapByTime&lt; sensor::OdometryData &gt;</type>
      <name>odometry_data_</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem2D.html</anchorfile>
      <anchor>af903561f6a253023d972279baa6e815b</anchor>
      <arglist></arglist>
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      <type>optimization::proto::OptimizationProblemOptions</type>
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      <arglist></arglist>
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      <type>MapById&lt; SubmapId, SubmapSpec2D &gt;</type>
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      <arglist></arglist>
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    <base>OptimizationProblemInterface&lt; NodeSpec3D, SubmapSpec3D, transform::Rigid3d &gt;</base>
    <member kind="function">
      <type>void</type>
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      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem3D.html</anchorfile>
      <anchor>a8539d4bfab9f33d4cc8656f89f6ed012</anchor>
      <arglist>(int trajectory_id, const sensor::FixedFramePoseData &amp;fixed_frame_pose_data)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>AddImuData</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem3D.html</anchorfile>
      <anchor>ab212fe309038a487c7f147a7dc89db6d</anchor>
      <arglist>(int trajectory_id, const sensor::ImuData &amp;imu_data) override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>AddOdometryData</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem3D.html</anchorfile>
      <anchor>ac8a187a9f8ad36adf884fd6f722cb0df</anchor>
      <arglist>(int trajectory_id, const sensor::OdometryData &amp;odometry_data) override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>AddSubmap</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem3D.html</anchorfile>
      <anchor>ac7ac53a1a3f33b3d157eb4e2863307ed</anchor>
      <arglist>(int trajectory_id, const transform::Rigid3d &amp;global_submap_pose) override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>AddTrajectoryNode</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem3D.html</anchorfile>
      <anchor>ab1cbf2c7bb25dbf7bdbabb87412b29ba</anchor>
      <arglist>(int trajectory_id, const NodeSpec3D &amp;node_data) override</arglist>
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    <member kind="function">
      <type>const sensor::MapByTime&lt; sensor::FixedFramePoseData &gt; &amp;</type>
      <name>fixed_frame_pose_data</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem3D.html</anchorfile>
      <anchor>a3bf1124ae1443d402ca0043b6c84297a</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>const sensor::MapByTime&lt; sensor::ImuData &gt; &amp;</type>
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      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem3D.html</anchorfile>
      <anchor>ae34be95ae24238a3c76a11c427938872</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem3D.html</anchorfile>
      <anchor>a3f3918b1189ac81cad3fcf63d294612c</anchor>
      <arglist>(const SubmapId &amp;submap_id, const transform::Rigid3d &amp;global_submap_pose) override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>InsertTrajectoryNode</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem3D.html</anchorfile>
      <anchor>a4691bf701d0b8f4b86a7713015b51e7a</anchor>
      <arglist>(const NodeId &amp;node_id, const NodeSpec3D &amp;node_data) override</arglist>
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    <member kind="function">
      <type>const std::map&lt; std::string, transform::Rigid3d &gt; &amp;</type>
      <name>landmark_data</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem3D.html</anchorfile>
      <anchor>a4593f8b828d64fd64870f74601ffd709</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>const MapById&lt; NodeId, NodeSpec3D &gt; &amp;</type>
      <name>node_data</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem3D.html</anchorfile>
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      <arglist>() const override</arglist>
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    <member kind="function">
      <type>const sensor::MapByTime&lt; sensor::OdometryData &gt; &amp;</type>
      <name>odometry_data</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem3D.html</anchorfile>
      <anchor>ab0c92fbac81b7686aaf8824e1e36975b</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>OptimizationProblem3D &amp;</type>
      <name>operator=</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem3D.html</anchorfile>
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      <arglist>(const OptimizationProblem3D &amp;)</arglist>
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    <member kind="function">
      <type></type>
      <name>OptimizationProblem3D</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem3D.html</anchorfile>
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      <arglist>(const optimization::proto::OptimizationProblemOptions &amp;options)</arglist>
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    <member kind="function">
      <type></type>
      <name>OptimizationProblem3D</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem3D.html</anchorfile>
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      <arglist>(const OptimizationProblem3D &amp;)</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem3D.html</anchorfile>
      <anchor>a7faf97cad8b52af8345f2f67456d451b</anchor>
      <arglist>(int32 max_num_iterations) override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>SetTrajectoryData</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem3D.html</anchorfile>
      <anchor>aac656a48c57e8be3dda0666b7fd485db</anchor>
      <arglist>(int trajectory_id, const PoseGraphInterface::TrajectoryData &amp;trajectory_data)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>Solve</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem3D.html</anchorfile>
      <anchor>a5e99884ca0d8b5b11950cb9139015e02</anchor>
      <arglist>(const std::vector&lt; Constraint &gt; &amp;constraints, const std::map&lt; int, PoseGraphInterface::TrajectoryState &gt; &amp;trajectories_state, const std::map&lt; std::string, LandmarkNode &gt; &amp;landmark_nodes) override</arglist>
    </member>
    <member kind="function">
      <type>const MapById&lt; SubmapId, SubmapSpec3D &gt; &amp;</type>
      <name>submap_data</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem3D.html</anchorfile>
      <anchor>aec9046de6b9595d77cbab69b5997c8b2</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>const std::map&lt; int, PoseGraphInterface::TrajectoryData &gt; &amp;</type>
      <name>trajectory_data</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem3D.html</anchorfile>
      <anchor>ac1074fef3f507c61985119a04dc1b206</anchor>
      <arglist>() const </arglist>
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    <member kind="function">
      <type>void</type>
      <name>TrimSubmap</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem3D.html</anchorfile>
      <anchor>ab0fb3ef9f868a986995565c6e5238a91</anchor>
      <arglist>(const SubmapId &amp;submap_id) override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>TrimTrajectoryNode</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem3D.html</anchorfile>
      <anchor>a55ebf54d71ae8ef874bc4714c6f35002</anchor>
      <arglist>(const NodeId &amp;node_id) override</arglist>
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    <member kind="function">
      <type></type>
      <name>~OptimizationProblem3D</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem3D.html</anchorfile>
      <anchor>acad0fb5f09f020008bde460795998fdc</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="private">
      <type>std::unique_ptr&lt; transform::Rigid3d &gt;</type>
      <name>CalculateOdometryBetweenNodes</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem3D.html</anchorfile>
      <anchor>a351f974464da7fbd2124fb57d77a8df9</anchor>
      <arglist>(int trajectory_id, const NodeSpec3D &amp;first_node_data, const NodeSpec3D &amp;second_node_data) const </arglist>
    </member>
    <member kind="variable" protection="private">
      <type>sensor::MapByTime&lt; sensor::FixedFramePoseData &gt;</type>
      <name>fixed_frame_pose_data_</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem3D.html</anchorfile>
      <anchor>afdf6ff79aabc4a786e4b33bb2d59c72e</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>sensor::MapByTime&lt; sensor::ImuData &gt;</type>
      <name>imu_data_</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem3D.html</anchorfile>
      <anchor>aa15d73622223e99a3faafa05732751a9</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::map&lt; std::string, transform::Rigid3d &gt;</type>
      <name>landmark_data_</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem3D.html</anchorfile>
      <anchor>afc078c8110eb25d0f59035009b307ec0</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>MapById&lt; NodeId, NodeSpec3D &gt;</type>
      <name>node_data_</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem3D.html</anchorfile>
      <anchor>abd1b2856a53a1e8973b7cb5ef70f0627</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>sensor::MapByTime&lt; sensor::OdometryData &gt;</type>
      <name>odometry_data_</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem3D.html</anchorfile>
      <anchor>a664162d4af87c393e4dfc1f7c65863e0</anchor>
      <arglist></arglist>
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      <type>optimization::proto::OptimizationProblemOptions</type>
      <name>options_</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem3D.html</anchorfile>
      <anchor>abe6460120d82bbacfb1f09a3c526f0b8</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>MapById&lt; SubmapId, SubmapSpec3D &gt;</type>
      <name>submap_data_</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem3D.html</anchorfile>
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      <arglist></arglist>
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      <type>std::map&lt; int, PoseGraphInterface::TrajectoryData &gt;</type>
      <name>trajectory_data_</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblem3D.html</anchorfile>
      <anchor>a96af846a4cc1744ed5c4bfa067eda0c9</anchor>
      <arglist></arglist>
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    <name>cartographer::mapping::optimization::OptimizationProblemInterface</name>
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    <templarg>NodeDataType</templarg>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>AddImuData</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblemInterface.html</anchorfile>
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      <arglist>(int trajectory_id, const sensor::ImuData &amp;imu_data)=0</arglist>
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      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblemInterface.html</anchorfile>
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      <arglist>(int trajectory_id, const sensor::OdometryData &amp;odometry_data)=0</arglist>
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      <type>virtual void</type>
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      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblemInterface.html</anchorfile>
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      <arglist>(int trajectory_id, const RigidTransformType &amp;global_submap_pose)=0</arglist>
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      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblemInterface.html</anchorfile>
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      <arglist>(int trajectory_id, const NodeDataType &amp;node_data)=0</arglist>
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      <type>virtual const sensor::MapByTime&lt; sensor::ImuData &gt; &amp;</type>
      <name>imu_data</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblemInterface.html</anchorfile>
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      <arglist>() const =0</arglist>
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      <type>virtual void</type>
      <name>InsertSubmap</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblemInterface.html</anchorfile>
      <anchor>ac48c478b5081873e74acc037a6df1889</anchor>
      <arglist>(const SubmapId &amp;submap_id, const RigidTransformType &amp;global_submap_pose)=0</arglist>
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      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblemInterface.html</anchorfile>
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      <arglist>(const NodeId &amp;node_id, const NodeDataType &amp;node_data)=0</arglist>
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      <type>virtual const std::map&lt; std::string, transform::Rigid3d &gt; &amp;</type>
      <name>landmark_data</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblemInterface.html</anchorfile>
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      <arglist>() const =0</arglist>
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      <type>virtual const MapById&lt; NodeId, NodeDataType &gt; &amp;</type>
      <name>node_data</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblemInterface.html</anchorfile>
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      <arglist>() const =0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual const sensor::MapByTime&lt; sensor::OdometryData &gt; &amp;</type>
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      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblemInterface.html</anchorfile>
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      <arglist>() const =0</arglist>
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      <type>OptimizationProblemInterface &amp;</type>
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      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblemInterface.html</anchorfile>
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      <arglist>(const OptimizationProblemInterface &amp;)</arglist>
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      <type></type>
      <name>OptimizationProblemInterface</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblemInterface.html</anchorfile>
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      <arglist>()</arglist>
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      <type></type>
      <name>OptimizationProblemInterface</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblemInterface.html</anchorfile>
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      <arglist>(const OptimizationProblemInterface &amp;)</arglist>
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      <name>SetMaxNumIterations</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblemInterface.html</anchorfile>
      <anchor>a9883c930e2cf9ea39244a7f66c1ea84c</anchor>
      <arglist>(int32 max_num_iterations)=0</arglist>
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    <member kind="function" virtualness="pure">
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      <name>Solve</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblemInterface.html</anchorfile>
      <anchor>a786b39f7f4d66b6eed532399f396c860</anchor>
      <arglist>(const std::vector&lt; Constraint &gt; &amp;constraints, const std::map&lt; int, PoseGraphInterface::TrajectoryState &gt; &amp;trajectories_state, const std::map&lt; std::string, LandmarkNode &gt; &amp;landmark_nodes)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual const MapById&lt; SubmapId, SubmapDataType &gt; &amp;</type>
      <name>submap_data</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblemInterface.html</anchorfile>
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      <arglist>() const =0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>TrimSubmap</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblemInterface.html</anchorfile>
      <anchor>af5aebc9bb20f229bc3d11c10168bfec0</anchor>
      <arglist>(const SubmapId &amp;submap_id)=0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>TrimTrajectoryNode</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblemInterface.html</anchorfile>
      <anchor>a64dde0eec989e8bafc22be656aba21ef</anchor>
      <arglist>(const NodeId &amp;node_id)=0</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~OptimizationProblemInterface</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1OptimizationProblemInterface.html</anchorfile>
      <anchor>a02fd9473dbfd39d290d83337bb8b1cd9</anchor>
      <arglist>()</arglist>
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  <compound kind="class">
    <name>cartographer::mapping::optimization::SpaCostFunction3D</name>
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    <member kind="function">
      <type>bool</type>
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      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1SpaCostFunction3D.html</anchorfile>
      <anchor>a6c832bc8925a9b247ead7162070a65d3</anchor>
      <arglist>(const T *const c_i_rotation, const T *const c_i_translation, const T *const c_j_rotation, const T *const c_j_translation, T *const e) const </arglist>
    </member>
    <member kind="function" static="yes">
      <type>static ceres::CostFunction *</type>
      <name>CreateAutoDiffCostFunction</name>
      <anchorfile>classcartographer_1_1mapping_1_1optimization_1_1SpaCostFunction3D.html</anchorfile>
      <anchor>a67231af920c79cd6dc226fe4d8e7221c</anchor>
      <arglist>(const PoseGraph::Constraint::Pose &amp;pose)</arglist>
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    <member kind="function" protection="private">
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      <arglist>(const Eigen::Vector3f &amp;translation, double duration, double time_step, const transform::Rigid3f &amp;local_to_global)</arglist>
    </member>
    <member kind="function">
      <type>std::unique_ptr&lt;::cartographer::common::LuaParameterDictionary &gt;</type>
      <name>ResolveLuaParameters</name>
      <anchorfile>namespacecartographer_1_1mapping_1_1testing.html</anchorfile>
      <anchor>abd5ba402364e28ef3331ee82ab55a17e</anchor>
      <arglist>(const std::string &amp;lua_code)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>cartographer::mapping::testing::FakeTrimmable</name>
    <filename>classcartographer_1_1mapping_1_1testing_1_1FakeTrimmable.html</filename>
    <base>cartographer::mapping::Trimmable</base>
    <member kind="function">
      <type></type>
      <name>FakeTrimmable</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1FakeTrimmable.html</anchorfile>
      <anchor>a3e5a15158b34945c624952ebce85475f</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>FakeTrimmable</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1FakeTrimmable.html</anchorfile>
      <anchor>ae037b9be7a46f7e7f988261fa8a93552</anchor>
      <arglist>(int trajectory_id, int num_submaps)</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; PoseGraphInterface::Constraint &gt; &amp;</type>
      <name>GetConstraints</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1FakeTrimmable.html</anchorfile>
      <anchor>a7ea27d16b6fe653d9f17f78ef15eb767</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>MapById&lt; SubmapId, PoseGraphInterface::SubmapData &gt;</type>
      <name>GetOptimizedSubmapData</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1FakeTrimmable.html</anchorfile>
      <anchor>ae5865d25c37b87809436b73369c3c2cb</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; SubmapId &gt;</type>
      <name>GetSubmapIds</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1FakeTrimmable.html</anchorfile>
      <anchor>a65b34e0605e855b8d9c2b6475180cc8e</anchor>
      <arglist>(int trajectory_id) const override</arglist>
    </member>
    <member kind="function">
      <type>const MapById&lt; NodeId, TrajectoryNode &gt; &amp;</type>
      <name>GetTrajectoryNodes</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1FakeTrimmable.html</anchorfile>
      <anchor>a0999ec88ab45e58d221a8c3b3e51956b</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>IsFinished</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1FakeTrimmable.html</anchorfile>
      <anchor>ac0a1e4844a7075d91d14477483ed2e7b</anchor>
      <arglist>(const int trajectory_id) const override</arglist>
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    <member kind="function">
      <type>std::vector&lt; PoseGraphInterface::Constraint &gt; *</type>
      <name>mutable_constraints</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1FakeTrimmable.html</anchorfile>
      <anchor>a0a1cb18843ca98387700643f9c2485ff</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>MapById&lt; SubmapId, PoseGraphInterface::SubmapData &gt; *</type>
      <name>mutable_submap_data</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1FakeTrimmable.html</anchorfile>
      <anchor>a7bc2213ae8d89f98dc3e571d2a07f14d</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>MapById&lt; NodeId, TrajectoryNode &gt; *</type>
      <name>mutable_trajectory_nodes</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1FakeTrimmable.html</anchorfile>
      <anchor>ae257a70b75eda4eac5521eeed9078bc3</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>int</type>
      <name>num_submaps</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1FakeTrimmable.html</anchorfile>
      <anchor>ae733280c172f672737d9ad95d207f82a</anchor>
      <arglist>(const int trajectory_id) const override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>set_constraints</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1FakeTrimmable.html</anchorfile>
      <anchor>a5cd7930c630d4b2d23fdae51c0c93505</anchor>
      <arglist>(const std::vector&lt; PoseGraphInterface::Constraint &gt; &amp;constraints)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>set_submap_data</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1FakeTrimmable.html</anchorfile>
      <anchor>a603410745282709ba39b4297bf5d61f9</anchor>
      <arglist>(const MapById&lt; SubmapId, PoseGraphInterface::SubmapData &gt; &amp;submap_data)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>set_trajectory_nodes</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1FakeTrimmable.html</anchorfile>
      <anchor>af3f0456a7834340b6e41b1db9e90989d</anchor>
      <arglist>(const MapById&lt; NodeId, TrajectoryNode &gt; &amp;trajectory_nodes)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetTrajectoryState</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1FakeTrimmable.html</anchorfile>
      <anchor>a53f9157c4ab04c0eed1a69a3fdbfb644</anchor>
      <arglist>(int, PoseGraphInterface::TrajectoryState) override</arglist>
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    <member kind="function">
      <type>std::vector&lt; SubmapId &gt;</type>
      <name>trimmed_submaps</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1FakeTrimmable.html</anchorfile>
      <anchor>a821c5c92b07e04e9ef7b852c8e8f340e</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>TrimSubmap</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1FakeTrimmable.html</anchorfile>
      <anchor>a0ffa11eab880c9c10d429daa007cd8e3</anchor>
      <arglist>(const SubmapId &amp;submap_id) override</arglist>
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    <member kind="function">
      <type></type>
      <name>~FakeTrimmable</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1FakeTrimmable.html</anchorfile>
      <anchor>a2a720649ccfc0fdf2d635bb428101ea1</anchor>
      <arglist>() override</arglist>
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    <member kind="variable" protection="private">
      <type>std::vector&lt; PoseGraphInterface::Constraint &gt;</type>
      <name>constraints_</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1FakeTrimmable.html</anchorfile>
      <anchor>a01756f1e07098f135a6a19c849d8f0b5</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>MapById&lt; SubmapId, PoseGraphInterface::SubmapData &gt;</type>
      <name>submap_data_</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1FakeTrimmable.html</anchorfile>
      <anchor>ac62abe6539840fff9c5453fc76e46957</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>MapById&lt; NodeId, TrajectoryNode &gt;</type>
      <name>trajectory_nodes_</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1FakeTrimmable.html</anchorfile>
      <anchor>a203d200c3df08a0b1acb3aecd4488a11</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; SubmapId &gt;</type>
      <name>trimmed_submaps_</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1FakeTrimmable.html</anchorfile>
      <anchor>a3ad5452edb0107031e50cccaa0a0e970</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>cartographer::mapping::testing::MockMapBuilder</name>
    <filename>classcartographer_1_1mapping_1_1testing_1_1MockMapBuilder.html</filename>
    <base>cartographer::mapping::MapBuilderInterface</base>
    <member kind="function">
      <type></type>
      <name>MOCK_CONST_METHOD0</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1MockMapBuilder.html</anchorfile>
      <anchor>af5fb902bef0f478d27ee6c8b728df5d5</anchor>
      <arglist>(num_trajectory_builders, int())</arglist>
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    <member kind="function">
      <type></type>
      <name>MOCK_CONST_METHOD0</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1MockMapBuilder.html</anchorfile>
      <anchor>a5fce63f74bf45df77b65f6b9f6ef5f97</anchor>
      <arglist>(GetAllTrajectoryBuilderOptions, const std::vector&lt; mapping::proto::TrajectoryBuilderOptionsWithSensorIds &gt; &amp;())</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOCK_CONST_METHOD1</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1MockMapBuilder.html</anchorfile>
      <anchor>a58623321309c76dd82fc836ef0992372</anchor>
      <arglist>(GetTrajectoryBuilder, mapping::TrajectoryBuilderInterface *(int trajectory_id))</arglist>
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    <member kind="function">
      <type></type>
      <name>MOCK_METHOD0</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1MockMapBuilder.html</anchorfile>
      <anchor>a042433d78f7474ab6f9dc102d19da818</anchor>
      <arglist>(pose_graph, mapping::PoseGraphInterface *())</arglist>
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    <member kind="function">
      <type></type>
      <name>MOCK_METHOD1</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1MockMapBuilder.html</anchorfile>
      <anchor>a9d9b0dfcba7b2d6790af25605740ed75</anchor>
      <arglist>(AddTrajectoryForDeserialization, int(const mapping::proto::TrajectoryBuilderOptionsWithSensorIds &amp;options_with_sensor_ids_proto))</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOCK_METHOD1</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1MockMapBuilder.html</anchorfile>
      <anchor>a00968b6db1fc9f449598695099836df9</anchor>
      <arglist>(FinishTrajectory, void(int trajectory_id))</arglist>
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    <member kind="function">
      <type></type>
      <name>MOCK_METHOD2</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1MockMapBuilder.html</anchorfile>
      <anchor>a558715651eaad629e508bc9f30857887</anchor>
      <arglist>(SubmapToProto, std::string(const mapping::SubmapId &amp;, mapping::proto::SubmapQuery::Response *))</arglist>
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    <member kind="function">
      <type></type>
      <name>MOCK_METHOD2</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1MockMapBuilder.html</anchorfile>
      <anchor>a25671d8404e02d6a46f7a7a7dce85628</anchor>
      <arglist>(SerializeState, void(bool, io::ProtoStreamWriterInterface *))</arglist>
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    <member kind="function">
      <type></type>
      <name>MOCK_METHOD2</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1MockMapBuilder.html</anchorfile>
      <anchor>a39bbc8db1d494dc723156bc272e2b24c</anchor>
      <arglist>(SerializeStateToFile, bool(bool, const std::string &amp;))</arglist>
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    <member kind="function">
      <type></type>
      <name>MOCK_METHOD2</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1MockMapBuilder.html</anchorfile>
      <anchor>a9de8f0d3ad4832a92a2beff76a4e69f2</anchor>
      <arglist>(LoadState, std::map&lt; int, int &gt;(io::ProtoStreamReaderInterface *, bool))</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOCK_METHOD2</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1MockMapBuilder.html</anchorfile>
      <anchor>a01d210ed6313390f5d9918b8f9bc8ad8</anchor>
      <arglist>(LoadStateFromFile, std::map&lt; int, int &gt;(const std::string &amp;, bool))</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOCK_METHOD3</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1MockMapBuilder.html</anchorfile>
      <anchor>a1c68281aa6c4f3da40a88067472890d6</anchor>
      <arglist>(AddTrajectoryBuilder, int(const std::set&lt; SensorId &gt; &amp;expected_sensor_ids, const mapping::proto::TrajectoryBuilderOptions &amp;trajectory_options, mapping::MapBuilderInterface::LocalSlamResultCallbacklocal_slam_result_callback))</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>cartographer::mapping::testing::MockPoseGraph</name>
    <filename>classcartographer_1_1mapping_1_1testing_1_1MockPoseGraph.html</filename>
    <base>cartographer::mapping::PoseGraphInterface</base>
    <member kind="function">
      <type></type>
      <name>MOCK_CONST_METHOD0</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1MockPoseGraph.html</anchorfile>
      <anchor>ad93c9282d335b3d5f6b93faa80b1c44d</anchor>
      <arglist>(GetAllSubmapData, mapping::MapById&lt; mapping::SubmapId, SubmapData &gt;())</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOCK_CONST_METHOD0</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1MockPoseGraph.html</anchorfile>
      <anchor>a49705b5a7ac3cadda8c11e0a0dc2eb20</anchor>
      <arglist>(GetAllSubmapPoses, mapping::MapById&lt; mapping::SubmapId, SubmapPose &gt;())</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOCK_CONST_METHOD0</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1MockPoseGraph.html</anchorfile>
      <anchor>ade15c816117898dd88cb18ab6ca7af3b</anchor>
      <arglist>(GetTrajectoryNodes, mapping::MapById&lt; mapping::NodeId, mapping::TrajectoryNode &gt;())</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOCK_CONST_METHOD0</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1MockPoseGraph.html</anchorfile>
      <anchor>a334019f2d1c8ba5d794b93658e60570e</anchor>
      <arglist>(GetTrajectoryNodePoses, mapping::MapById&lt; mapping::NodeId, mapping::TrajectoryNodePose &gt;())</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOCK_CONST_METHOD0</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1MockPoseGraph.html</anchorfile>
      <anchor>a70604c64b79f15fd8719f294237dd81b</anchor>
      <arglist>(GetTrajectoryStates, std::map&lt; int, mapping::PoseGraphInterface::TrajectoryState &gt;())</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOCK_CONST_METHOD0</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1MockPoseGraph.html</anchorfile>
      <anchor>a52b34d009dc0a58551dd4ad4d082e3d3</anchor>
      <arglist>(GetLandmarkPoses, std::map&lt; std::string, transform::Rigid3d &gt;())</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOCK_CONST_METHOD0</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1MockPoseGraph.html</anchorfile>
      <anchor>aefab11d3f3d299fa68227b343b44986d</anchor>
      <arglist>(GetTrajectoryData, std::map&lt; int, mapping::PoseGraphInterface::TrajectoryData &gt;())</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOCK_CONST_METHOD0</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1MockPoseGraph.html</anchorfile>
      <anchor>a235a62b4d9f23d0568f1b3fba8c5c43f</anchor>
      <arglist>(constraints, std::vector&lt; Constraint &gt;())</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOCK_CONST_METHOD1</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1MockPoseGraph.html</anchorfile>
      <anchor>a1a70077779f193d8d47b113ddb1652f9</anchor>
      <arglist>(GetLocalToGlobalTransform, transform::Rigid3d(int))</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOCK_CONST_METHOD1</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1MockPoseGraph.html</anchorfile>
      <anchor>a2b38c5a5782822503874e586481afe7f</anchor>
      <arglist>(IsTrajectoryFinished, bool(int))</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOCK_CONST_METHOD1</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1MockPoseGraph.html</anchorfile>
      <anchor>a60c793e6ab6f00b5b26670bb42f3d4e4</anchor>
      <arglist>(IsTrajectoryFrozen, bool(int))</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOCK_CONST_METHOD1</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1MockPoseGraph.html</anchorfile>
      <anchor>a97655982cfa4884ead4da8fea81e0e2e</anchor>
      <arglist>(ToProto, mapping::proto::PoseGraph(bool))</arglist>
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    <member kind="function">
      <type></type>
      <name>MOCK_METHOD0</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1MockPoseGraph.html</anchorfile>
      <anchor>a9670f29cf5215a8b97e37e6fb410d797</anchor>
      <arglist>(RunFinalOptimization, void())</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOCK_METHOD1</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1MockPoseGraph.html</anchorfile>
      <anchor>adf0920d2e44eafddcc452b805bc0eb39</anchor>
      <arglist>(DeleteTrajectory, void(int))</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOCK_METHOD1</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1MockPoseGraph.html</anchorfile>
      <anchor>ab549c541a71942d4c4ab0ad7019a4fbc</anchor>
      <arglist>(SetGlobalSlamOptimizationCallback, void(GlobalSlamOptimizationCallback callback))</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOCK_METHOD3</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1MockPoseGraph.html</anchorfile>
      <anchor>a649be3fff47e97097d5829923bd2c632</anchor>
      <arglist>(SetLandmarkPose, void(const std::string &amp;, const transform::Rigid3d &amp;, const bool))</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MockPoseGraph</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1MockPoseGraph.html</anchorfile>
      <anchor>afd270965c42f5ac6efd915c66e330045</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~MockPoseGraph</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1MockPoseGraph.html</anchorfile>
      <anchor>a74693f49e380296fff098e8ebb307c33</anchor>
      <arglist>() override</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>cartographer::mapping::testing::MockTrajectoryBuilder</name>
    <filename>classcartographer_1_1mapping_1_1testing_1_1MockTrajectoryBuilder.html</filename>
    <base>cartographer::mapping::TrajectoryBuilderInterface</base>
    <member kind="function">
      <type>void</type>
      <name>AddLocalSlamResultData</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1MockTrajectoryBuilder.html</anchorfile>
      <anchor>a39339141d35316a4afef3dcbc6d6439a</anchor>
      <arglist>(std::unique_ptr&lt; mapping::LocalSlamResultData &gt; local_slam_result_data) override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOCK_METHOD1</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1MockTrajectoryBuilder.html</anchorfile>
      <anchor>a9051ef48b4e65613bbe2077aca9591f4</anchor>
      <arglist>(DoAddLocalSlamResultData, void(mapping::LocalSlamResultData *))</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOCK_METHOD2</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1MockTrajectoryBuilder.html</anchorfile>
      <anchor>afb95d964c6477410f5a81071059f29cd</anchor>
      <arglist>(AddSensorData, void(const std::string &amp;, const sensor::TimedPointCloudData &amp;))</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOCK_METHOD2</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1MockTrajectoryBuilder.html</anchorfile>
      <anchor>aba2f1087da6a312e3ab32af62c283483</anchor>
      <arglist>(AddSensorData, void(const std::string &amp;, const sensor::ImuData &amp;))</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOCK_METHOD2</name>
      <anchorfile>classcartographer_1_1mapping_1_1testing_1_1MockTrajectoryBuilder.html</anchorfile>
      <anchor>acbdf10c7f670bdfd45b69f6cb24971ed</anchor>
      <arglist>(AddSensorData, void(const std::string &amp;, const sensor::OdometryData &amp;))</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MOCK_METHOD2</name>
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