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      <arglist></arglist>
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      <type>float</type>
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      <arglist></arglist>
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      <anchorfile>classglobal__planner_1_1DijkstraExpansion.html</anchorfile>
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      <arglist></arglist>
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    <name>global_planner::Expander</name>
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      <type>virtual bool</type>
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      <anchorfile>classglobal__planner_1_1Expander.html</anchorfile>
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      <arglist>(unsigned char *costs, double start_x, double start_y, double end_x, double end_y, int cycles, float *potential)=0</arglist>
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      <anchorfile>classglobal__planner_1_1Expander.html</anchorfile>
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      <arglist>(unsigned char *costs, float *potential, int gx, int gy, int s)</arglist>
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    <member kind="function">
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      <anchorfile>classglobal__planner_1_1Expander.html</anchorfile>
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      <arglist>(PotentialCalculator *p_calc, int nx, int ny)</arglist>
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      <anchorfile>classglobal__planner_1_1Expander.html</anchorfile>
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      <arglist>(float factor)</arglist>
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      <anchorfile>classglobal__planner_1_1Expander.html</anchorfile>
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      <arglist>(bool unknown)</arglist>
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      <anchorfile>classglobal__planner_1_1Expander.html</anchorfile>
      <anchor>aee9c360fb6316c538bbadcccc6bf98b1</anchor>
      <arglist>(unsigned char lethal_cost)</arglist>
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      <anchorfile>classglobal__planner_1_1Expander.html</anchorfile>
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      <arglist>(unsigned char neutral_cost)</arglist>
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      <anchorfile>classglobal__planner_1_1Expander.html</anchorfile>
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      <arglist>(int nx, int ny)</arglist>
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      <anchorfile>classglobal__planner_1_1Expander.html</anchorfile>
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      <arglist>(int x, int y)</arglist>
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      <anchorfile>classglobal__planner_1_1Expander.html</anchorfile>
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      <arglist></arglist>
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      <type>float</type>
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      <anchorfile>classglobal__planner_1_1Expander.html</anchorfile>
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      <arglist></arglist>
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      <type>unsigned char</type>
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      <anchorfile>classglobal__planner_1_1Expander.html</anchorfile>
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      <arglist></arglist>
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      <type>unsigned char</type>
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      <anchorfile>classglobal__planner_1_1Expander.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classglobal__planner_1_1Expander.html</anchorfile>
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      <arglist></arglist>
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      <type>int</type>
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      <anchorfile>classglobal__planner_1_1Expander.html</anchorfile>
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      <arglist></arglist>
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      <type>int</type>
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      <anchorfile>classglobal__planner_1_1Expander.html</anchorfile>
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      <arglist></arglist>
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      <type>PotentialCalculator *</type>
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      <anchorfile>classglobal__planner_1_1Expander.html</anchorfile>
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      <arglist></arglist>
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      <type>bool</type>
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      <anchorfile>classglobal__planner_1_1Expander.html</anchorfile>
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      <arglist></arglist>
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    <member kind="function">
      <type>bool</type>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
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      <arglist>(const geometry_msgs::Point &amp;world_point)</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>getPlanFromPotential</name>
      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
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      <arglist>(double start_x, double start_y, double end_x, double end_y, const geometry_msgs::PoseStamped &amp;goal, std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;plan)</arglist>
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    <member kind="function">
      <type>double</type>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
      <anchor>a7f0a8eaf0e715f682480ef447a63cd67</anchor>
      <arglist>(const geometry_msgs::Point &amp;world_point)</arglist>
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    <member kind="function">
      <type></type>
      <name>GlobalPlanner</name>
      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
      <anchor>a69b66f59b51665f826a51587afa720ff</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>GlobalPlanner</name>
      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
      <anchor>aaeb34983765b053861cbef08e9614bb5</anchor>
      <arglist>(std::string name, costmap_2d::Costmap2D *costmap, std::string frame_id)</arglist>
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      <type>void</type>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
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      <arglist>(std::string name, costmap_2d::Costmap2DROS *costmap_ros)</arglist>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
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      <arglist>(std::string name, costmap_2d::Costmap2D *costmap, std::string frame_id)</arglist>
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    <member kind="function">
      <type>bool</type>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
      <anchor>abb7f40f6a851f88e6b7668a38571712a</anchor>
      <arglist>(const geometry_msgs::PoseStamped &amp;start, const geometry_msgs::PoseStamped &amp;goal, std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;plan)</arglist>
    </member>
    <member kind="function">
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
      <anchor>a4f6bfa5acf58670c01a5b8c684a2f20c</anchor>
      <arglist>(const geometry_msgs::PoseStamped &amp;start, const geometry_msgs::PoseStamped &amp;goal, double tolerance, std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;plan)</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>makePlanService</name>
      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
      <anchor>a760dc206a99babddfacded0558d35208</anchor>
      <arglist>(nav_msgs::GetPlan::Request &amp;req, nav_msgs::GetPlan::Response &amp;resp)</arglist>
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    <member kind="function">
      <type>void</type>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
      <anchor>a9844153b2bea9032522a2ed528be963f</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;path)</arglist>
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    <member kind="function">
      <type>bool</type>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
      <anchor>a7c50827ebb21a48825d55bda56dd38ac</anchor>
      <arglist>(const geometry_msgs::Point &amp;world_point)</arglist>
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      <type>bool</type>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
      <anchor>a27405d9450075e6dcc7fc73bd56fb6dc</anchor>
      <arglist>(const geometry_msgs::Point &amp;world_point, double tolerance)</arglist>
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    <member kind="function">
      <type></type>
      <name>~GlobalPlanner</name>
      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
      <anchor>aa49ab75794afdbec6aa7c6c3902de4c0</anchor>
      <arglist>()</arglist>
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      <type>bool</type>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
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      <arglist></arglist>
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      <type>costmap_2d::Costmap2D *</type>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
      <anchor>a790fb19fb46e1a1edc15f98b1075e849</anchor>
      <arglist></arglist>
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      <type>std::string</type>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
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      <arglist></arglist>
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      <type>bool</type>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
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      <arglist></arglist>
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      <type>ros::Publisher</type>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
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      <arglist></arglist>
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      <type>bool</type>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
      <anchor>ad12942059f3c8ebfac283d1af22b8b10</anchor>
      <arglist>(const tf::Stamped&lt; tf::Pose &gt; &amp;global_pose, unsigned int mx, unsigned int my)</arglist>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
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      <arglist>(double mx, double my, double &amp;wx, double &amp;wy)</arglist>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
      <anchor>a166082482ed5973406af72a52f7cab20</anchor>
      <arglist>(unsigned char *costarr, int nx, int ny, unsigned char value)</arglist>
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    <member kind="function" protection="private">
      <type>void</type>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
      <anchor>a91c22ec25e6e8232ef2d73e6738f3857</anchor>
      <arglist>(float *potential)</arglist>
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      <type>void</type>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
      <anchor>a466844ce6660d09e06c1dc1f87c03d30</anchor>
      <arglist>(global_planner::GlobalPlannerConfig &amp;config, uint32_t level)</arglist>
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      <type>bool</type>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
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      <arglist>(double wx, double wy, double &amp;mx, double &amp;my)</arglist>
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      <type>float</type>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
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      <arglist></arglist>
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      <type>unsigned char *</type>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
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      <arglist></arglist>
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      <type>double</type>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
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      <arglist></arglist>
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      <type>dynamic_reconfigure::Server&lt; global_planner::GlobalPlannerConfig &gt; *</type>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>ros::ServiceServer</type>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
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      <arglist></arglist>
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      <type>boost::mutex</type>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
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      <arglist></arglist>
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      <type>bool</type>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
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      <arglist></arglist>
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      <type>OrientationFilter *</type>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
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      <arglist></arglist>
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      <type>PotentialCalculator *</type>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
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      <arglist></arglist>
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      <type>Traceback *</type>
      <name>path_maker_</name>
      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
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      <arglist></arglist>
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      <type>Expander *</type>
      <name>planner_</name>
      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>float *</type>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>ros::Publisher</type>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
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      <arglist></arglist>
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      <type>bool</type>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
      <anchor>aa487da002de486bb50e3959a36f591be</anchor>
      <arglist></arglist>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
      <anchor>afb12fc492007c12d84147ed07f792c7e</anchor>
      <arglist></arglist>
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      <type>unsigned int</type>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>std::string</type>
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      <anchorfile>classglobal__planner_1_1GlobalPlanner.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>global_planner::GradientPath</name>
    <filename>classglobal__planner_1_1GradientPath.html</filename>
    <base>global_planner::Traceback</base>
    <member kind="function">
      <type>bool</type>
      <name>getPath</name>
      <anchorfile>classglobal__planner_1_1GradientPath.html</anchorfile>
      <anchor>a740775a18f446f585017e7051850a8bf</anchor>
      <arglist>(float *potential, double start_x, double start_y, double end_x, double end_y, std::vector&lt; std::pair&lt; float, float &gt; &gt; &amp;path)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>GradientPath</name>
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      <arglist>(PotentialCalculator *p_calc)</arglist>
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      <arglist>(int xs, int ys)</arglist>
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      <arglist>()</arglist>
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      <anchorfile>classglobal__planner_1_1GradientPath.html</anchorfile>
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      <arglist>(int stc, float dx, float dy)</arglist>
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      <anchorfile>classglobal__planner_1_1GradientPath.html</anchorfile>
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      <arglist>(float *potential, int n)</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 Index &amp;a, const Index &amp;b) const </arglist>
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      <arglist>(float *potential, double start_x, double start_y, double end_x, double end_y, std::vector&lt; std::pair&lt; float, float &gt; &gt; &amp;path)</arglist>
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      <arglist>(int a, float b)</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;path, int start_index, int end_index)</arglist>
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      <arglist>()</arglist>
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      <anchorfile>classglobal__planner_1_1OrientationFilter.html</anchorfile>
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      <arglist>(std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;path, int index)</arglist>
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      <anchorfile>classglobal__planner_1_1OrientationFilter.html</anchorfile>
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      <arglist>(const geometry_msgs::PoseStamped &amp;start, std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;path)</arglist>
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      <anchorfile>classglobal__planner_1_1OrientationFilter.html</anchorfile>
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      <arglist>(OrientationMode new_mode)</arglist>
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      <anchorfile>classglobal__planner_1_1OrientationFilter.html</anchorfile>
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      <arglist>(int new_mode)</arglist>
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      <arglist></arglist>
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      <type>bool</type>
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      <arglist>(navfn::MakeNavPlan::Request &amp;req, navfn::MakeNavPlan::Response &amp;resp)</arglist>
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      <arglist>(string name, Costmap2DROS *cmap)</arglist>
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      <arglist>(const rm::PoseStamped::ConstPtr &amp;goal)</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" virtualness="virtual">
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      <arglist>(float *potential, unsigned char cost, int n, float prev_potential=-1)</arglist>
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      <arglist>(int nx, int ny)</arglist>
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      <arglist>(int nx, int ny)</arglist>
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      <anchorfile>classglobal__planner_1_1PotentialCalculator.html</anchorfile>
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      <arglist>(int x, int y)</arglist>
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      <anchorfile>classglobal__planner_1_1PotentialCalculator.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>float</type>
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      <anchorfile>classglobal__planner_1_1QuadraticCalculator.html</anchorfile>
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      <arglist>(float *potential, unsigned char cost, int n, float prev_potential)</arglist>
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      <name>QuadraticCalculator</name>
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      <arglist>(int nx, int ny)</arglist>
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    <member kind="function">
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      <arglist>(int x, int y)</arglist>
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      <arglist>(float *potential, double start_x, double start_y, double end_x, double end_y, std::vector&lt; std::pair&lt; float, float &gt; &gt; &amp;path)=0</arglist>
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      <arglist>(unsigned char lethal_cost)</arglist>
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      <arglist>(int xs, int ys)</arglist>
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      <arglist>(PotentialCalculator *p_calc)</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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