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    <filename>namespacejsk__footstep__controller.html</filename>
    <class kind="class">jsk_footstep_controller::Footcoords</class>
    <class kind="class">jsk_footstep_controller::TimeStampedVector</class>
    <class kind="class">jsk_footstep_controller::ValueStamped</class>
  </compound>
  <compound kind="class">
    <name>jsk_footstep_controller::Footcoords</name>
    <filename>classjsk__footstep__controller_1_1Footcoords.html</filename>
    <member kind="typedef">
      <type>message_filters::sync_policies::ExactTime&lt; nav_msgs::Odometry, sensor_msgs::Imu &gt;</type>
      <name>OdomImuSyncPolicy</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>aa8b99ef4fa4a86571f0cb5fdd38bf722</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumeration">
      <name>OdomStatus</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>aa58e9872d531c057fc3ca36da3c42a72</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>UNINITIALIZED</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>aa58e9872d531c057fc3ca36da3c42a72a5c19be51720d109308c3f462d3dc2df3</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>INITIALIZING</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>aa58e9872d531c057fc3ca36da3c42a72a455e3b0171c8f1dd7db4fa9f753cb1bb</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LLEG_SUPPORT</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>aa58e9872d531c057fc3ca36da3c42a72ab224270c2d8fe1a5628804db8879b7da</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>RLEG_SUPPORT</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>aa58e9872d531c057fc3ca36da3c42a72a1989160b149b30dfaf554f13afc3bd3e</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumeration">
      <name>SupportLegStatus</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>ab1f571a982f91408484d6b7ba078e9ce</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>LLEG_GROUND</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>ab1f571a982f91408484d6b7ba078e9cea47704e9bb69fc2da7eb7b554fd33455b</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>RLEG_GROUND</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>ab1f571a982f91408484d6b7ba078e9cea49c8e77f72f66b4a614965f045814d58</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>AIR</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>ab1f571a982f91408484d6b7ba078e9cea04a9ff9268128c8ded0c87f975dff4c9</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>BOTH_GROUND</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>ab1f571a982f91408484d6b7ba078e9cea9d00a60077b73cea6b849a919df38f49</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>message_filters::sync_policies::ExactTime&lt; geometry_msgs::WrenchStamped, geometry_msgs::WrenchStamped, sensor_msgs::JointState, geometry_msgs::PointStamped &gt;</type>
      <name>SyncPolicy</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a7acd8a2b93382d39dded91b2f580213e</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Footcoords</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>ab2d9218239018a2c6631e072b3647038</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~Footcoords</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a09d499a73ec6874362f52cca4469b500</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>allValueLargerThan</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>aad7ec6e1fd477dc1915c506da713a389</anchor>
      <arglist>(TimeStampedVector&lt; ValueStamped::Ptr &gt; &amp;values, double threshold)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>allValueSmallerThan</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>ae938a3d47fca9e69ae59d717be94ba7d</anchor>
      <arglist>(TimeStampedVector&lt; ValueStamped::Ptr &gt; &amp;values, double threshold)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual double</type>
      <name>applyLowPassFilter</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>aed130169303734dd7899560da696145e</anchor>
      <arglist>(double current_val, double prev_val) const </arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>computeMidCoords</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a21ecaa77fa6e815070d7c007c7ff5e91</anchor>
      <arglist>(const ros::Time &amp;stamp)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>computeMidCoordsFromSingleLeg</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a8e0c8cd6f08b91776f15a40fbbbd7693</anchor>
      <arglist>(const ros::Time &amp;stamp, bool use_left_leg)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>computeVelicity</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>ae6b0458dcfa46919b0dcb69a22296ed8</anchor>
      <arglist>(double dt, std::map&lt; std::string, double &gt; &amp;joint_angles, KDL::Chain &amp;chain, geometry_msgs::Twist &amp;output)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>estimateOdometry</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a8daa14574ae438a9348b48cfb3578292</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>estimateOdometryMainSupportLeg</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a9e76c93e58e1672d4dd089ba99b066d6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>estimateOdometryNaive</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a04e61dce9472e0e0623bf435662d33f1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>estimateOdometryZMPSupportLeg</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>aafa7f5f9feb1b7c81397dc154ff9ba45</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>estimateVelocity</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>affd415be39c25cffaaca5252848f483a</anchor>
      <arglist>(const ros::Time &amp;stamp, std::map&lt; std::string, double &gt; &amp;joint_angles)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>filter</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a36d54bf650b7ea160b47b386cb1837d4</anchor>
      <arglist>(const jsk_footstep_controller::SynchronizedForces::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>floorCoeffsCallback</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a36da4e473ea37955733618a2b4b4f57d</anchor>
      <arglist>(const pcl_msgs::ModelCoefficients &amp;coeffs)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>getRollPitch</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a74ab5d5c7c12682b1bd8a9d12c8f89c4</anchor>
      <arglist>(const Eigen::Affine3d &amp;pose, float &amp;roll, float &amp;pitch)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual float</type>
      <name>getYaw</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>ae8e5fc519c648e553aaa5c8ad7e623ef</anchor>
      <arglist>(const Eigen::Affine3d &amp;pose)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>odomImuCallback</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a223d61a0e229d4b567ebaf20ca15a44d</anchor>
      <arglist>(const nav_msgs::Odometry::ConstPtr &amp;odom_msg, const sensor_msgs::Imu::ConstPtr &amp;imu_msg)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>odomInitTriggerCallback</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a9efd14704926cf1a7e4b2411c049d096</anchor>
      <arglist>(const std_msgs::Empty &amp;trigger)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>periodicTimerCallback</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>ac550abf677d3ce53aad6a2cd48673134</anchor>
      <arglist>(const ros::TimerEvent &amp;event)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>publishContactState</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>aee1fecd82e9c6ab84f28824e79f15ed5</anchor>
      <arglist>(const ros::Time &amp;stamp)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>publishState</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a743611f7902327e72dda6ce3c343c4dd</anchor>
      <arglist>(const std::string &amp;state)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>publishTF</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a196624902cf2a62cc8edfcba30f5d5db</anchor>
      <arglist>(const ros::Time &amp;stamp)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>resolveForceTf</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>ab6c07ba9f4b3d7c6e84397a2477a3d2c</anchor>
      <arglist>(const geometry_msgs::WrenchStamped &amp;lfoot, const geometry_msgs::WrenchStamped &amp;rfoot, tf::Vector3 &amp;lfoot_force, tf::Vector3 &amp;rfoot_force)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>synchronizeForces</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>ae54e16e0150077bb4d5cf864f4e4fa47</anchor>
      <arglist>(const geometry_msgs::WrenchStamped::ConstPtr &amp;lfoot, const geometry_msgs::WrenchStamped::ConstPtr &amp;rfoot, const sensor_msgs::JointState::ConstPtr &amp;joint_states, const geometry_msgs::PointStamped::ConstPtr &amp;zmp)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>updateChain</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a1b7588bef65bc9988ba19bf544a9149b</anchor>
      <arglist>(std::map&lt; std::string, double &gt; &amp;joint_angles, KDL::Chain &amp;chain, tf::Pose &amp;output_pose)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>updateGroundTF</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>aca363933308b812319c9116d25509254</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>updateLegDiagnostics</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a01633f57804347b208466da3c38f160e</anchor>
      <arglist>(diagnostic_updater::DiagnosticStatusWrapper &amp;stat)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>updateRobotModel</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>ae54e60d9c519258e98badd14eaf3e28e</anchor>
      <arglist>(std::map&lt; std::string, double &gt; &amp;joint_angles)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>waitForEndEffectorTransformation</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>af46084075368e07d933e94ee0fad7b55</anchor>
      <arglist>(const ros::Time &amp;stamp)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>waitForSensorFrameTransformation</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>ad5f319e8fed85d6901b0d7a57bd5ab63</anchor>
      <arglist>(const ros::Time &amp;lstamp, const ros::Time &amp;rstamp, const std::string &amp;lsensor_frame, const std::string &amp;rsensor_frame)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>alpha_</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a5a58259cf17fe8c93f052c718a4898dd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>before_on_the_air_</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>ac03080f209d7bfe207781f020c215e0c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>body_on_odom_frame_</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a410857fe96e1d12f399c640b2052c146</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::shared_ptr&lt; diagnostic_updater::Updater &gt;</type>
      <name>diagnostic_updater_</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>ab8166d78e5ea613c58c5bfd9b2ec79d9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>tf::Pose</type>
      <name>estimated_odom_pose_</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a40c3d50971dbf98826a7ab2035712442</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; float &gt;</type>
      <name>floor_coeffs_</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a6515bf5e64369dc7b48ab375ce782e0c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Subscriber</type>
      <name>floor_coeffs_sub_</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a93e73ce9fbe07b51da663652b2c90d36</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>force_thr_</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a514c8223dc29406726ba8602463bae47</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>tf::Transform</type>
      <name>ground_transform_</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a361044370ffd04af1acdec551a383c98</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>message_filters::Subscriber&lt; sensor_msgs::Imu &gt;</type>
      <name>imu_sub_</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a755daca0bb14aa53b047ecfc76a7b517</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>invert_odom_init_</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>aedcb3f610f5591ad95d2beb11f0abff4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Time</type>
      <name>last_time_</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a0980e79b140f07c39c4a3962af899ea8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>KDL::Chain</type>
      <name>lfoot_chain_</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a44dcb4208563e9285237925fc4bb9ac9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>lfoot_frame_id_</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>aa81b13181aae78c7971ec7ca6291fe0d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>tf::Pose</type>
      <name>lfoot_pose_</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a8da91bd7944b1af0d7822f7a1d69a2ad</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>lfoot_sensor_frame_</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>af8331202be5c87b6e9841d0123536732</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>tf::Pose</type>
      <name>lfoot_to_origin_pose_</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a93bfb252db64da889179fa784d59974c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>tf::Transform</type>
      <name>locked_midcoords_to_odom_on_ground_</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>aa68de7527bd16505a0d320ee098134ed</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>tf::Transform</type>
      <name>midcoords_</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>ad8dd063e7aae53c8c7cd17bd381eba33</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>midcoords_frame_id_</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a11f906b96c53a74eefd11e6f9595b185</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::mutex</type>
      <name>mutex_</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a9aca0e497ac482783e8857e7251cc103</anchor>
      <arglist></arglist>
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