<?xml version='1.0' encoding='ISO-8859-1' standalone='yes' ?>
<tagfile>
  <compound kind="file">
    <name>math_spline.h</name>
    <path>/tmp/catkin_workspace/src/jsk_robot/jsk_pr2_robot/pr2_base_trajectory_action/include/pr2_base_trajectory_action/</path>
    <filename>math__spline_8h</filename>
    <class kind="struct">pr2_base_trajectory_action::BaseMotion</class>
    <class kind="struct">pr2_base_trajectory_action::CubicSpline</class>
    <class kind="struct">pr2_base_trajectory_action::Line</class>
    <class kind="struct">pr2_base_trajectory_action::Motion</class>
    <class kind="struct">pr2_base_trajectory_action::QuinticSpline</class>
    <class kind="struct">pr2_base_trajectory_action::Spline</class>
    <namespace>pr2_base_trajectory_action</namespace>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>pows</name>
      <anchorfile>namespacepr2__base__trajectory__action.html</anchorfile>
      <anchor>a754103562dc78de0e04e731b546d3762</anchor>
      <arglist>(int n, double base, double *ret)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>pr2_base_trajectory_action_controller.cpp</name>
    <path>/tmp/catkin_workspace/src/jsk_robot/jsk_pr2_robot/pr2_base_trajectory_action/src/</path>
    <filename>pr2__base__trajectory__action__controller_8cpp</filename>
    <includes id="pr2__base__trajectory__action__controller_8h" name="pr2_base_trajectory_action_controller.h" local="no" imported="no">pr2_base_trajectory_action/pr2_base_trajectory_action_controller.h</includes>
    <namespace>pr2_base_trajectory_action</namespace>
  </compound>
  <compound kind="file">
    <name>pr2_base_trajectory_action_controller.h</name>
    <path>/tmp/catkin_workspace/src/jsk_robot/jsk_pr2_robot/pr2_base_trajectory_action/include/pr2_base_trajectory_action/</path>
    <filename>pr2__base__trajectory__action__controller_8h</filename>
    <includes id="math__spline_8h" name="math_spline.h" local="no" imported="no">pr2_base_trajectory_action/math_spline.h</includes>
    <class kind="struct">pr2_base_trajectory_action::BaseJointState</class>
    <class kind="class">pr2_base_trajectory_action::Controller</class>
    <class kind="struct">pr2_base_trajectory_action::JointState</class>
    <class kind="struct">pr2_base_trajectory_action::Trajectory::Segment</class>
    <class kind="struct">pr2_base_trajectory_action::Trajectory</class>
    <namespace>pr2_base_trajectory_action</namespace>
    <member kind="typedef">
      <type>Server::GoalHandle</type>
      <name>GoalHandle</name>
      <anchorfile>namespacepr2__base__trajectory__action.html</anchorfile>
      <anchor>a25726b0500a615070200abbdd5dd9ba1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>actionlib::ActionServer&lt; control_msgs::FollowJointTrajectoryAction &gt;</type>
      <name>Server</name>
      <anchorfile>namespacepr2__base__trajectory__action.html</anchorfile>
      <anchor>a69d79f53c1129d71978bca3beceaf247</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>findIndex</name>
      <anchorfile>namespacepr2__base__trajectory__action.html</anchorfile>
      <anchor>a23386ecadc6611148f752123215b432e</anchor>
      <arglist>(std::vector&lt; T &gt; vec, T val)</arglist>
    </member>
    <member kind="function">
      <type>boost::shared_ptr&lt; M &gt;</type>
      <name>share_member</name>
      <anchorfile>namespacepr2__base__trajectory__action.html</anchorfile>
      <anchor>adc1dab908d3a35be8e370d3c9b9d154b</anchor>
      <arglist>(boost::shared_ptr&lt; E &gt; e, M &amp;m)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>pr2_base_trajectory_action_controller_node.cpp</name>
    <path>/tmp/catkin_workspace/src/jsk_robot/jsk_pr2_robot/pr2_base_trajectory_action/src/</path>
    <filename>pr2__base__trajectory__action__controller__node_8cpp</filename>
    <includes id="pr2__base__trajectory__action__controller_8h" name="pr2_base_trajectory_action_controller.h" local="no" imported="no">pr2_base_trajectory_action/pr2_base_trajectory_action_controller.h</includes>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>pr2__base__trajectory__action__controller__node_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>spline_test.cpp</name>
    <path>/tmp/catkin_workspace/src/jsk_robot/jsk_pr2_robot/pr2_base_trajectory_action/test/</path>
    <filename>spline__test_8cpp</filename>
    <includes id="pr2__base__trajectory__action__controller_8h" name="pr2_base_trajectory_action_controller.h" local="no" imported="no">pr2_base_trajectory_action/pr2_base_trajectory_action_controller.h</includes>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>spline__test_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>spline__test_8cpp.html</anchorfile>
      <anchor>a20eeac16d2c1560c7a7d4862462f773b</anchor>
      <arglist>(TestSuite, testSpline)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>pr2_base_trajectory_action</name>
    <filename>namespacepr2__base__trajectory__action.html</filename>
    <class kind="struct">pr2_base_trajectory_action::BaseJointState</class>
    <class kind="struct">pr2_base_trajectory_action::BaseMotion</class>
    <class kind="class">pr2_base_trajectory_action::Controller</class>
    <class kind="struct">pr2_base_trajectory_action::CubicSpline</class>
    <class kind="struct">pr2_base_trajectory_action::JointState</class>
    <class kind="struct">pr2_base_trajectory_action::Line</class>
    <class kind="struct">pr2_base_trajectory_action::Motion</class>
    <class kind="struct">pr2_base_trajectory_action::QuinticSpline</class>
    <class kind="struct">pr2_base_trajectory_action::Spline</class>
    <class kind="struct">pr2_base_trajectory_action::Trajectory</class>
    <member kind="typedef">
      <type>Server::GoalHandle</type>
      <name>GoalHandle</name>
      <anchorfile>namespacepr2__base__trajectory__action.html</anchorfile>
      <anchor>a25726b0500a615070200abbdd5dd9ba1</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>actionlib::ActionServer&lt; control_msgs::FollowJointTrajectoryAction &gt;</type>
      <name>Server</name>
      <anchorfile>namespacepr2__base__trajectory__action.html</anchorfile>
      <anchor>a69d79f53c1129d71978bca3beceaf247</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>findIndex</name>
      <anchorfile>namespacepr2__base__trajectory__action.html</anchorfile>
      <anchor>a23386ecadc6611148f752123215b432e</anchor>
      <arglist>(std::vector&lt; T &gt; vec, T val)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>pows</name>
      <anchorfile>namespacepr2__base__trajectory__action.html</anchorfile>
      <anchor>a754103562dc78de0e04e731b546d3762</anchor>
      <arglist>(int n, double base, double *ret)</arglist>
    </member>
    <member kind="function">
      <type>boost::shared_ptr&lt; M &gt;</type>
      <name>share_member</name>
      <anchorfile>namespacepr2__base__trajectory__action.html</anchorfile>
      <anchor>adc1dab908d3a35be8e370d3c9b9d154b</anchor>
      <arglist>(boost::shared_ptr&lt; E &gt; e, M &amp;m)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pr2_base_trajectory_action::BaseJointState</name>
    <filename>structpr2__base__trajectory__action_1_1BaseJointState.html</filename>
    <member kind="function">
      <type>const JointState &amp;</type>
      <name>operator[]</name>
      <anchorfile>structpr2__base__trajectory__action_1_1BaseJointState.html</anchorfile>
      <anchor>a18096f53368b4a53a1dd42771def292c</anchor>
      <arglist>(size_t i) const </arglist>
    </member>
    <member kind="function">
      <type>JointState &amp;</type>
      <name>operator[]</name>
      <anchorfile>structpr2__base__trajectory__action_1_1BaseJointState.html</anchorfile>
      <anchor>a01840377c548c2ea57e04cdc55733f02</anchor>
      <arglist>(size_t i)</arglist>
    </member>
    <member kind="variable">
      <type>ros::Time</type>
      <name>real_latest_time</name>
      <anchorfile>structpr2__base__trajectory__action_1_1BaseJointState.html</anchorfile>
      <anchor>a4b9fcf0ec5d555d528f94b59126ce31a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointState</type>
      <name>x</name>
      <anchorfile>structpr2__base__trajectory__action_1_1BaseJointState.html</anchorfile>
      <anchor>a83fb5fd881b80f5f481c9835934cb8a6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointState</type>
      <name>y</name>
      <anchorfile>structpr2__base__trajectory__action_1_1BaseJointState.html</anchorfile>
      <anchor>ac2bd44d05576290a4f98d62ae003110c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>JointState</type>
      <name>yaw</name>
      <anchorfile>structpr2__base__trajectory__action_1_1BaseJointState.html</anchorfile>
      <anchor>ab1791e8982b044a1638063298bbe21c6</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pr2_base_trajectory_action::BaseMotion</name>
    <filename>structpr2__base__trajectory__action_1_1BaseMotion.html</filename>
    <member kind="function">
      <type>bool</type>
      <name>hasAcceleration</name>
      <anchorfile>structpr2__base__trajectory__action_1_1BaseMotion.html</anchorfile>
      <anchor>a3c496dffe6c5326a2a2e32add132a809</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>hasVelocity</name>
      <anchorfile>structpr2__base__trajectory__action_1_1BaseMotion.html</anchorfile>
      <anchor>aea627e07adcaf2d5cd2ba66f2e1a4475</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type>const Motion &amp;</type>
      <name>operator[]</name>
      <anchorfile>structpr2__base__trajectory__action_1_1BaseMotion.html</anchorfile>
      <anchor>abb9967cf2adb30df4a732debb2176807</anchor>
      <arglist>(size_t i) const </arglist>
    </member>
    <member kind="function">
      <type>Motion &amp;</type>
      <name>operator[]</name>
      <anchorfile>structpr2__base__trajectory__action_1_1BaseMotion.html</anchorfile>
      <anchor>a5e250d79e0ac076dba00cf30d71d4b30</anchor>
      <arglist>(size_t i)</arglist>
    </member>
    <member kind="variable">
      <type>Motion</type>
      <name>x</name>
      <anchorfile>structpr2__base__trajectory__action_1_1BaseMotion.html</anchorfile>
      <anchor>abc630775ec33b014935bc663a26670ca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Motion</type>
      <name>y</name>
      <anchorfile>structpr2__base__trajectory__action_1_1BaseMotion.html</anchorfile>
      <anchor>ac39def14efdc8fba80cbd91d0f074601</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Motion</type>
      <name>yaw</name>
      <anchorfile>structpr2__base__trajectory__action_1_1BaseMotion.html</anchorfile>
      <anchor>ae4421ec6092df7ec248cbb736091c92a</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpr2__base__trajectory__action_1_1BaseMotion.html</anchorfile>
      <anchor>a575b8dfb4c576150093e4b081e0b46d7</anchor>
      <arglist>(std::ostream &amp;os, const BaseMotion &amp;m)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>pr2_base_trajectory_action::Controller</name>
    <filename>classpr2__base__trajectory__action_1_1Controller.html</filename>
    <member kind="function">
      <type>void</type>
      <name>cancelCallback</name>
      <anchorfile>classpr2__base__trajectory__action_1_1Controller.html</anchorfile>
      <anchor>a3e43481dea97201e0a4b8e5b94ac9162</anchor>
      <arglist>(GoalHandle gh)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Controller</name>
      <anchorfile>classpr2__base__trajectory__action_1_1Controller.html</anchorfile>
      <anchor>a47da63b014d972df388f156724e12aa6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>goalCallback</name>
      <anchorfile>classpr2__base__trajectory__action_1_1Controller.html</anchorfile>
      <anchor>a30615fe70fc8829af67b1bec4cd92d11</anchor>
      <arglist>(GoalHandle gh)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>odomCallback</name>
      <anchorfile>classpr2__base__trajectory__action_1_1Controller.html</anchorfile>
      <anchor>a13194fe2865942004b8e0a35cd7528c4</anchor>
      <arglist>(const nav_msgs::Odometry::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>update</name>
      <anchorfile>classpr2__base__trajectory__action_1_1Controller.html</anchorfile>
      <anchor>a749eefad73f148a36c25333f9d309a7d</anchor>
      <arglist>(const ros::TimerEvent &amp;event)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~Controller</name>
      <anchorfile>classpr2__base__trajectory__action_1_1Controller.html</anchorfile>
      <anchor>a8617099392ee9932ab8dba97dee9be48</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>clearTrajectory</name>
      <anchorfile>classpr2__base__trajectory__action_1_1Controller.html</anchorfile>
      <anchor>af4a68c1496f39859aa79f59d5ed5bb8a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>setFeedback</name>
      <anchorfile>classpr2__base__trajectory__action_1_1Controller.html</anchorfile>
      <anchor>a840b5d1e728543a332317ba0c4133fd6</anchor>
      <arglist>(const ros::Time &amp;time, const BaseMotion &amp;desired, const BaseMotion &amp;error)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>setTrajectory</name>
      <anchorfile>classpr2__base__trajectory__action_1_1Controller.html</anchorfile>
      <anchor>a4a6aa797ca086aeca68760a9f87efb0c</anchor>
      <arglist>(const trajectory_msgs::JointTrajectory::ConstPtr &amp;msg, boost::shared_ptr&lt; GoalHandle &gt; &amp;gh)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>boost::shared_ptr&lt; GoalHandle &gt;</type>
      <name>active_goal_</name>
      <anchorfile>classpr2__base__trajectory__action_1_1Controller.html</anchorfile>
      <anchor>a07d6d2da1a45988de22d2c0b4772298a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Trajectory::Ptr</type>
      <name>active_traj_</name>
      <anchorfile>classpr2__base__trajectory__action_1_1Controller.html</anchorfile>
      <anchor>a67b03bbba9182e2a29a349f09d82af5e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>boost::shared_ptr&lt; Server &gt;</type>
      <name>as_</name>
      <anchorfile>classpr2__base__trajectory__action_1_1Controller.html</anchorfile>
      <anchor>a4d0cbb322c351654f1edf6123df8c14c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>geometry_msgs::Twist::Ptr</type>
      <name>cmd_vel_msg_</name>
      <anchorfile>classpr2__base__trajectory__action_1_1Controller.html</anchorfile>
      <anchor>a595558afcf69d262fc02cd559d3a8deb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Publisher</type>
      <name>cmd_vel_pub_</name>
      <anchorfile>classpr2__base__trajectory__action_1_1Controller.html</anchorfile>
      <anchor>ad9b65187e5a5304259adee61f1bee277</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>control_msgs::FollowJointTrajectoryFeedback::Ptr</type>
      <name>feedback_msg_</name>
      <anchorfile>classpr2__base__trajectory__action_1_1Controller.html</anchorfile>
      <anchor>a26cfa10f6db54b724b1f0045acf37c7c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>frequency_</name>
      <anchorfile>classpr2__base__trajectory__action_1_1Controller.html</anchorfile>
      <anchor>a13447b015fff953faf3739d980449c9e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>goal_threshold_</name>
      <anchorfile>classpr2__base__trajectory__action_1_1Controller.html</anchorfile>
      <anchor>a588aa57eb482ab238d15b4211c6c4104</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>goal_time_constraint_</name>
      <anchorfile>classpr2__base__trajectory__action_1_1Controller.html</anchorfile>
      <anchor>a0dcb5ed475a4806e4e83c570f2821b38</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>BaseJointState</type>
      <name>joints_</name>
      <anchorfile>classpr2__base__trajectory__action_1_1Controller.html</anchorfile>
      <anchor>ad3d7747db55f6ab9d813bba487d45a8e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>boost::mutex</type>
      <name>mutex_</name>
      <anchorfile>classpr2__base__trajectory__action_1_1Controller.html</anchorfile>
      <anchor>a33247f09eb06b4d8f773a1706480b46f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::NodeHandle</type>
      <name>nh_</name>
      <anchorfile>classpr2__base__trajectory__action_1_1Controller.html</anchorfile>
      <anchor>ab9ff7224495f69d2869bd72f7b7c9afd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Subscriber</type>
      <name>odom_sub_</name>
      <anchorfile>classpr2__base__trajectory__action_1_1Controller.html</anchorfile>
      <anchor>a72a54c10ce3f99c438399f1c40251db8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::NodeHandle</type>
      <name>pnh_</name>
      <anchorfile>classpr2__base__trajectory__action_1_1Controller.html</anchorfile>
      <anchor>af07b0b4d937b5c9dfb013a3de394f7b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Time</type>
      <name>real_latest_time_</name>
      <anchorfile>classpr2__base__trajectory__action_1_1Controller.html</anchorfile>
      <anchor>a3bd06fdf89a3c7cf15f22b1c5fa3a7c2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>stopped_velocity_tolerance_</name>
      <anchorfile>classpr2__base__trajectory__action_1_1Controller.html</anchorfile>
      <anchor>a47c097962fea77edc2ef1590d2de443f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Timer</type>
      <name>update_timer_</name>
      <anchorfile>classpr2__base__trajectory__action_1_1Controller.html</anchorfile>
      <anchor>accfa229105dcd71b1a5a6ad5a9b87a01</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>use_pid</name>
      <anchorfile>classpr2__base__trajectory__action_1_1Controller.html</anchorfile>
      <anchor>a7de3e86a81f8b5bb056f505a02d91418</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pr2_base_trajectory_action::CubicSpline</name>
    <filename>structpr2__base__trajectory__action_1_1CubicSpline.html</filename>
    <base>pr2_base_trajectory_action::Spline</base>
    <member kind="function">
      <type></type>
      <name>CubicSpline</name>
      <anchorfile>structpr2__base__trajectory__action_1_1CubicSpline.html</anchorfile>
      <anchor>a67ce4d4d4bcb48f390ca47ade9c58c6f</anchor>
      <arglist>(const Motion &amp;start, const Motion &amp;end, const double &amp;duration)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pr2_base_trajectory_action::JointState</name>
    <filename>structpr2__base__trajectory__action_1_1JointState.html</filename>
    <member kind="variable">
      <type>double</type>
      <name>commanded_effort</name>
      <anchorfile>structpr2__base__trajectory__action_1_1JointState.html</anchorfile>
      <anchor>af16487b66b44efb008affc6a558c5b7f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>commanded_velocity</name>
      <anchorfile>structpr2__base__trajectory__action_1_1JointState.html</anchorfile>
      <anchor>add811a079e9635f8a35c628a51b869c7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>max_velocity</name>
      <anchorfile>structpr2__base__trajectory__action_1_1JointState.html</anchorfile>
      <anchor>af714948c3e43e584badf473e3ffbbc69</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::string</type>
      <name>name</name>
      <anchorfile>structpr2__base__trajectory__action_1_1JointState.html</anchorfile>
      <anchor>a0376be5d4f5f9f2618731fd09eaaa7b9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>position</name>
      <anchorfile>structpr2__base__trajectory__action_1_1JointState.html</anchorfile>
      <anchor>a1d310a5223ad5697c418702c021f1dda</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>velocity</name>
      <anchorfile>structpr2__base__trajectory__action_1_1JointState.html</anchorfile>
      <anchor>a36d81036b09e7feb2b01f28e67d18275</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pr2_base_trajectory_action::Line</name>
    <filename>structpr2__base__trajectory__action_1_1Line.html</filename>
    <base>pr2_base_trajectory_action::Spline</base>
    <member kind="function">
      <type></type>
      <name>Line</name>
      <anchorfile>structpr2__base__trajectory__action_1_1Line.html</anchorfile>
      <anchor>a275f70a4dcf1834c0f1589ca3607ae2a</anchor>
      <arglist>(const Motion &amp;start, const Motion &amp;end, const double &amp;duration)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pr2_base_trajectory_action::Motion</name>
    <filename>structpr2__base__trajectory__action_1_1Motion.html</filename>
    <member kind="function">
      <type></type>
      <name>Motion</name>
      <anchorfile>structpr2__base__trajectory__action_1_1Motion.html</anchorfile>
      <anchor>a7d314369c506bd8a5fff368ac1bf37b0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Motion</name>
      <anchorfile>structpr2__base__trajectory__action_1_1Motion.html</anchorfile>
      <anchor>a7a38e8a403d5c679429ef03fe6331942</anchor>
      <arglist>(double position)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Motion</name>
      <anchorfile>structpr2__base__trajectory__action_1_1Motion.html</anchorfile>
      <anchor>abc2e5651c72204a27ed92ed29550e24a</anchor>
      <arglist>(double position, double velocity)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Motion</name>
      <anchorfile>structpr2__base__trajectory__action_1_1Motion.html</anchorfile>
      <anchor>a5093fb43a2a71d2b59c628aa351ce580</anchor>
      <arglist>(double position, double velocity, double acceleration)</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>acceleration</name>
      <anchorfile>structpr2__base__trajectory__action_1_1Motion.html</anchorfile>
      <anchor>ab2a639958c7b4965cf0fc7dd39b183fc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>position</name>
      <anchorfile>structpr2__base__trajectory__action_1_1Motion.html</anchorfile>
      <anchor>a72c631aeb0a28c8560539aeb545b855c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>velocity</name>
      <anchorfile>structpr2__base__trajectory__action_1_1Motion.html</anchorfile>
      <anchor>a74a98b59b33c102eb092061bbd90c51f</anchor>
      <arglist></arglist>
    </member>
    <member kind="friend">
      <type>friend std::ostream &amp;</type>
      <name>operator&lt;&lt;</name>
      <anchorfile>structpr2__base__trajectory__action_1_1Motion.html</anchorfile>
      <anchor>aed6523bb7810feaaea991b8ad23f9fd3</anchor>
      <arglist>(std::ostream &amp;os, const Motion &amp;m)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pr2_base_trajectory_action::QuinticSpline</name>
    <filename>structpr2__base__trajectory__action_1_1QuinticSpline.html</filename>
    <base>pr2_base_trajectory_action::Spline</base>
    <member kind="function">
      <type></type>
      <name>QuinticSpline</name>
      <anchorfile>structpr2__base__trajectory__action_1_1QuinticSpline.html</anchorfile>
      <anchor>a1339d7a6003ec7c1ea34a606768647b9</anchor>
      <arglist>(const Motion &amp;start, const Motion &amp;end, const double &amp;duration)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pr2_base_trajectory_action::Spline</name>
    <filename>structpr2__base__trajectory__action_1_1Spline.html</filename>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>sample</name>
      <anchorfile>structpr2__base__trajectory__action_1_1Spline.html</anchorfile>
      <anchor>a972bc96cf3e8b02e87a9375d63533533</anchor>
      <arglist>(const double &amp;time, Motion &amp;motion) const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>sampleWithTimeBounds</name>
      <anchorfile>structpr2__base__trajectory__action_1_1Spline.html</anchorfile>
      <anchor>a4d6989b16e83dec4a51801138be73489</anchor>
      <arglist>(const double &amp;duration, const double &amp;time, Motion &amp;motion) const </arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Spline</name>
      <anchorfile>structpr2__base__trajectory__action_1_1Spline.html</anchorfile>
      <anchor>af79103fc4279ab7e66c7737bc51abf47</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~Spline</name>
      <anchorfile>structpr2__base__trajectory__action_1_1Spline.html</anchorfile>
      <anchor>a5a6bc64a782ba73ec8de60d948fbbd38</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; double &gt;</type>
      <name>coefficients</name>
      <anchorfile>structpr2__base__trajectory__action_1_1Spline.html</anchorfile>
      <anchor>a1f7e518022ae163126b9b3d1bbd84236</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pr2_base_trajectory_action::Trajectory</name>
    <filename>structpr2__base__trajectory__action_1_1Trajectory.html</filename>
    <class kind="struct">pr2_base_trajectory_action::Trajectory::Segment</class>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; ::pr2_base_trajectory_action::Trajectory const  &gt;</type>
      <name>ConstPtr</name>
      <anchorfile>structpr2__base__trajectory__action_1_1Trajectory.html</anchorfile>
      <anchor>ae9f530c0b657fddbfee4375c069bb7a5</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; ::pr2_base_trajectory_action::Trajectory &gt;</type>
      <name>Ptr</name>
      <anchorfile>structpr2__base__trajectory__action_1_1Trajectory.html</anchorfile>
      <anchor>a34d0c5b48cf366bdb2067a878a58545a</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>endTime</name>
      <anchorfile>structpr2__base__trajectory__action_1_1Trajectory.html</anchorfile>
      <anchor>ac61efc824cb9f268f43551d7d1cf9a03</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>goalAtTime</name>
      <anchorfile>structpr2__base__trajectory__action_1_1Trajectory.html</anchorfile>
      <anchor>a05e035738a63d16aa73911581dc14b42</anchor>
      <arglist>(const double &amp;time, boost::shared_ptr&lt; GoalHandle &gt; &amp;gh)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>motionAtTime</name>
      <anchorfile>structpr2__base__trajectory__action_1_1Trajectory.html</anchorfile>
      <anchor>a178c5761920d0d903b82b88a32e85e9b</anchor>
      <arglist>(const double &amp;time, BaseMotion &amp;base)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>nextSegment</name>
      <anchorfile>structpr2__base__trajectory__action_1_1Trajectory.html</anchorfile>
      <anchor>aaa843cec635aeadd5025430d0212f708</anchor>
      <arglist>(const double &amp;time, Segment &amp;seg)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>size</name>
      <anchorfile>structpr2__base__trajectory__action_1_1Trajectory.html</anchorfile>
      <anchor>a24b2e88f716cc52a40fe3e38db3aeaaa</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Trajectory</name>
      <anchorfile>structpr2__base__trajectory__action_1_1Trajectory.html</anchorfile>
      <anchor>a0f25f414b335fd377aec6cbc8e5b6545</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Trajectory</name>
      <anchorfile>structpr2__base__trajectory__action_1_1Trajectory.html</anchorfile>
      <anchor>a201cf8c139784f6b394e465c160c72fb</anchor>
      <arglist>(int size)</arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; Segment &gt;</type>
      <name>segments</name>
      <anchorfile>structpr2__base__trajectory__action_1_1Trajectory.html</anchorfile>
      <anchor>add7909df889441c6f00412d46a5ce4d0</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>pr2_base_trajectory_action::Trajectory::Segment</name>
    <filename>structpr2__base__trajectory__action_1_1Trajectory_1_1Segment.html</filename>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; ::pr2_base_trajectory_action::Trajectory::Segment &gt;</type>
      <name>Ptr</name>
      <anchorfile>structpr2__base__trajectory__action_1_1Trajectory_1_1Segment.html</anchorfile>
      <anchor>a88bc75e0348e6624dd3231b665a6707c</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>sample</name>
      <anchorfile>structpr2__base__trajectory__action_1_1Trajectory_1_1Segment.html</anchorfile>
      <anchor>a3329a56829ff77b887bec82d31d174d1</anchor>
      <arglist>(const double &amp;time, BaseMotion &amp;base)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Segment</name>
      <anchorfile>structpr2__base__trajectory__action_1_1Trajectory_1_1Segment.html</anchorfile>
      <anchor>a335a2cf2d7761f5538c01ce83b1427a3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Segment</name>
      <anchorfile>structpr2__base__trajectory__action_1_1Trajectory_1_1Segment.html</anchorfile>
      <anchor>a8abeebcb5df91f800787a7194bb6041f</anchor>
      <arglist>(const double &amp;start_time, const double &amp;duration, const boost::shared_ptr&lt; GoalHandle &gt; &amp;gh, const Spline &amp;spline_x, const Spline &amp;spline_y, const Spline &amp;spline_yaw)</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>duration</name>
      <anchorfile>structpr2__base__trajectory__action_1_1Trajectory_1_1Segment.html</anchorfile>
      <anchor>a927e114312c1220a343078463863d5ee</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>boost::shared_ptr&lt; GoalHandle &gt;</type>
      <name>gh</name>
      <anchorfile>structpr2__base__trajectory__action_1_1Trajectory_1_1Segment.html</anchorfile>
      <anchor>abf26f5c1f629c50167a1584a98474d28</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Spline</type>
      <name>splines</name>
      <anchorfile>structpr2__base__trajectory__action_1_1Trajectory_1_1Segment.html</anchorfile>
      <anchor>ace5831bc04972896bf77ba584dfa1bf5</anchor>
      <arglist>[3]</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>start_time</name>
      <anchorfile>structpr2__base__trajectory__action_1_1Trajectory_1_1Segment.html</anchorfile>
      <anchor>a0456ad39463208e902499536c3da4626</anchor>
      <arglist></arglist>
    </member>
  </compound>
</tagfile>
