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      <arglist>(SolverNodePtr n)</arglist>
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    <member kind="function" virtualness="virtual">
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      <arglist>(HeuristicFunction h)</arglist>
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    <member kind="variable" protection="protected">
      <type>HeuristicFunction</type>
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      <anchorfile>classjsk__footstep__planner_1_1AStarSolver.html</anchorfile>
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      <arglist></arglist>
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    <templarg>GraphT</templarg>
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      <arglist></arglist>
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      <arglist>(SolverNodePtr node)</arglist>
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      <arglist>(GraphPtr graph)</arglist>
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      <arglist>(SolverNodePtr n)</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist></arglist>
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    <templarg>GraphT</templarg>
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      <arglist></arglist>
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      <arglist>(SolverNodePtr state)</arglist>
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      <arglist>(GraphPtr graph)</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist></arglist>
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    <templarg>GraphT</templarg>
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      <type>GraphT::Ptr</type>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(SolverNodePtr state)</arglist>
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      <arglist>(GraphPtr graph)</arglist>
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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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    <filename>classjsk__footstep__planner_1_1FootstepAStarSolver.html</filename>
    <templarg>GraphT</templarg>
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      <type>GraphT::Ptr</type>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>boost::function&lt; void(FootstepAStarSolver &amp;, GraphPtr)&gt;</type>
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      <arglist></arglist>
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      <type>boost::shared_ptr&lt; FootstepAStarSolver &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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      <arglist>(StatePtr s)</arglist>
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      <arglist>(SolverNodePtr node)</arglist>
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      <anchor>a9434e58dee9e0227d51773b6afb4370c</anchor>
      <arglist>(pcl::PointCloud&lt; PointT &gt; &amp;output_cloud)</arglist>
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      <type>virtual bool</type>
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      <arglist>(StatePtr s)</arglist>
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      <arglist>(SolverNodePtr n)</arglist>
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      <name>FootstepAStarSolver</name>
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      <anchor>add017a6a06cdd49ef62705efe75b546b</anchor>
      <arglist>(GraphPtr graph, size_t x_num, size_t y_num, size_t theta_num, unsigned int profile_period=1024, double cost_weight=1.0, double heuristic_weight=1.0)</arglist>
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    <member kind="function" virtualness="virtual">
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      <anchor>aff6de6dafba18ae147d9339378951a44</anchor>
      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>(const ros::WallTime &amp;start_time, const ros::WallDuration &amp;timeout)</arglist>
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      <anchor>a251a8d1785940ca75fee48213cc6ef52</anchor>
      <arglist>(pcl::PointCloud&lt; PointT &gt; &amp;output_cloud)</arglist>
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      <arglist>(ProfileFunction f)</arglist>
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      <name>solve</name>
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      <arglist>(const ros::WallDuration &amp;timeout=ros::WallDuration(1000000000.0))</arglist>
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      <type>const double</type>
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      <anchor>a9c7ca5297717ca501034b3a9628ff727</anchor>
      <arglist></arglist>
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      <type>FootstepStateDiscreteCloseList</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepAStarSolver.html</anchorfile>
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      <arglist></arglist>
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      <type>const double</type>
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      <arglist></arglist>
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      <type>bool</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepAStarSolver.html</anchorfile>
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      <arglist></arglist>
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      <type>unsigned int</type>
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      <anchor>ac8f632a64186845b898ceb8184715545</anchor>
      <arglist></arglist>
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      <type>ProfileFunction</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepAStarSolver.html</anchorfile>
      <anchor>a5c558f0bc50c236cdc6a73f0039cb0d0</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>unsigned int</type>
      <name>profile_period_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepAStarSolver.html</anchorfile>
      <anchor>a5d295bee09f0dd1f6c8fd4438c4923d5</anchor>
      <arglist></arglist>
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  <compound kind="class">
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    <filename>classjsk__footstep__planner_1_1FootstepGraph.html</filename>
    <base>Graph&lt; FootstepState &gt;</base>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; FootstepGraph &gt;</type>
      <name>Ptr</name>
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      <arglist></arglist>
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    <member kind="function" virtualness="virtual">
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      <name>clearPerceptionDuration</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>ac4ee0a93462685ba0c7077116de23bd0</anchor>
      <arglist>()</arglist>
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    <member kind="function">
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      <name>FootstepGraph</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a8aef03fe8e7521e83dbcfb0833d56379</anchor>
      <arglist>(const Eigen::Vector3f &amp;resolution, const bool use_pointcloud_model=false, const bool lazy_projection=true, const bool local_movement=false)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual TransitionLimit::Ptr</type>
      <name>getGlobalTransitionLimit</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>aae0528e9fcdc2309e502a2145856b5d2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual FootstepState::Ptr</type>
      <name>getGoal</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>af7a9e439811e41615ed0c80f65d9f724</anchor>
      <arglist>(int leg)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ros::WallDuration</type>
      <name>getPerceptionDuration</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>abccecd5ec64f6582875c989568673afe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual TransitionLimit::Ptr</type>
      <name>getTransitionLimit</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a5b02df01ca2b08c9ef52d7f03c2fbfa0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual std::string</type>
      <name>infoString</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>ad3d6cac48e576f551ccbeda649571e44</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>isGoal</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>aa9e6f3381e53f3c023fffb233a7810a7</anchor>
      <arglist>(StatePtr state)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>lazyProjection</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a9050961187da63388c302b1c014b2ba3</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual std::vector&lt; FootstepState::Ptr &gt;</type>
      <name>localMoveFootstepState</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>afbc0826f1841910f0d2492b9b67eae9d</anchor>
      <arglist>(FootstepState::Ptr in)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>localMovement</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>ae1093baf581128444b5c2d488c8dc298</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>maxSuccessorDistance</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>ae01141c0c0942bcb86d40437c86dabcf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>maxSuccessorRotation</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>ac3bb13ddfb0c215534464e19334b191a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual FootstepState::Ptr</type>
      <name>projectFootstep</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>ad929c268c963604feb99b81ee23c7bae</anchor>
      <arglist>(FootstepState::Ptr in)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual FootstepState::Ptr</type>
      <name>projectFootstep</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a5147a53334c79d54a1add0df73bf2152</anchor>
      <arglist>(FootstepState::Ptr in, unsigned int &amp;state)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>projectGoal</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a71e45a22e3f49ce43f7869aebf6fd7f6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>projectStart</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>aed4f180ce3edcb952d3915acede6a144</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setBasicSuccessors</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>abe51857cdf16d185278893eef310892b</anchor>
      <arglist>(std::vector&lt; Eigen::Affine3f &gt; left_to_right_successors)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setGlobalTransitionLimit</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a93fb54437b06447b23c92e5e538699bb</anchor>
      <arglist>(TransitionLimit::Ptr limit)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setGoalState</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>adbff51939ebe55b23e06a305007a9cbf</anchor>
      <arglist>(FootstepState::Ptr left, FootstepState::Ptr right)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setLeftGoalState</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a26ae254402531df9b28147988d998998</anchor>
      <arglist>(FootstepState::Ptr goal)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setLocalThetaMovement</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a1cc83c8cd6bf55afe10670f3ee11e620</anchor>
      <arglist>(double x)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setLocalThetaMovementNum</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a1db8142773e0bd9f576e26a01a3e2289</anchor>
      <arglist>(size_t n)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setLocalXMovement</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>aef3ec1be415ade16e0258a528e3f1dca</anchor>
      <arglist>(double x)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setLocalXMovementNum</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a8f7b140f4e38cf2761500ed5c7382dd4</anchor>
      <arglist>(size_t n)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setLocalYMovement</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a5e1e8ea03ee3193c8b07b203f629be07</anchor>
      <arglist>(double x)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setLocalYMovementNum</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a6055fa3bd86947b158b1cec3fa2f1ea5</anchor>
      <arglist>(size_t n)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setPlaneEstimationMaxIterations</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a2d60d429abb84708ec7a338dc28d7044</anchor>
      <arglist>(int n)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setPlaneEstimationMinInliers</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a06eb5ef40aba163699f946221efbd3cd</anchor>
      <arglist>(int n)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setPlaneEstimationOutlierThreshold</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a230e0cab8e63f4240b95366278ccb98c</anchor>
      <arglist>(double d)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setPointCloudModel</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a6a8bed52996d270313456ee5dc07f295</anchor>
      <arglist>(pcl::PointCloud&lt; pcl::PointNormal &gt;::Ptr model)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setPositionGoalThreshold</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a862e8d410928b64f1b1de0e59d4119c5</anchor>
      <arglist>(double x)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setProgressPublisher</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a552ccc88df22f5486422627b1ff997e3</anchor>
      <arglist>(ros::NodeHandle &amp;nh, std::string topic)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setRightGoalState</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>ae2b5a34ec488c30f0b64d54d05e95ca0</anchor>
      <arglist>(FootstepState::Ptr goal)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setRotationGoalThreshold</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a438814c2e9fea84400266fc3875958e3</anchor>
      <arglist>(double x)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setSupportCheckVertexNeighborThreshold</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a52eda9a0bc32ea2cbcadc301f1c4ef9d</anchor>
      <arglist>(double d)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setSupportCheckXSampling</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a9ae719f8e44aba58c5c8a4b1ba04284b</anchor>
      <arglist>(int n)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setSupportCheckYSampling</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>aa2235968d31d14d098fe56484192b840</anchor>
      <arglist>(int n)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setTransitionLimit</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a0f7cfa59d48b33ef3bf99544980d5ab4</anchor>
      <arglist>(TransitionLimit::Ptr limit)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual std::vector&lt; StatePtr &gt;</type>
      <name>successors</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a68ccc925c3e01ecada0025196f3842a5</anchor>
      <arglist>(StatePtr target_state)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>usePointCloudModel</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>aecb76fc4564c1d0740c3ae4d5abe0bd3</anchor>
      <arglist>() const </arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TransitionLimit::Ptr</type>
      <name>global_transition_limit_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>adeeec8fe20b77204446d3d38f3e36e2d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ANNGrid::Ptr</type>
      <name>grid_search_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>acefd0cf59f3c2d282ce5037392c16676</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>const bool</type>
      <name>lazy_projection_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a2eebe01581199b356e4c71cbb1cbbb03</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>FootstepState::Ptr</type>
      <name>left_goal_state_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>aac18673741d09fca60cba6b4b5163d7c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>local_move_theta_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a485a4e914a62f5b05008bf77120fbd9e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>size_t</type>
      <name>local_move_theta_num_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a3c842c733c68b99324a16c51bffc0fc3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>local_move_x_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>ad97f545ff52a665e620231bb2049ea33</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>size_t</type>
      <name>local_move_x_num_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>ab996de04758fd11afb7bc60caf506be9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>local_move_y_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a14dc8546511ff78297b159008dbc36cc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>size_t</type>
      <name>local_move_y_num_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a76a7427939e9b4150ca438edd072400e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>const bool</type>
      <name>local_movement_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a39bc391897c0e8678971e635a7ab311c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>max_successor_distance_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a6ac82bb66575e43cde8ee1899b9bec2b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>max_successor_rotation_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>aded8a5da00082ac6bc8ae22c3cf2a7e9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::WallDuration</type>
      <name>perception_duration_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a824e331c1788663a8f756c97900a2a1c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>plane_estimation_max_iterations_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a7c19f967cf9526929c70d0eb5cee0d3e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>plane_estimation_min_inliers_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a241956d8986be6c44aa7e2c8620449ed</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>plane_estimation_outlier_threshold_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a86cf22278373a528631c534d55f04c58</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>pcl::PointCloud&lt; pcl::PointNormal &gt;::Ptr</type>
      <name>pointcloud_model_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a03c7927a2022c78058358e1788b37e5b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>pcl::PointCloud&lt; pcl::PointNormal &gt;::Ptr</type>
      <name>pointcloud_model_2d_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>aebbd44a9b24f09f60bf2a234f65a9b6d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>pos_goal_thr_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a7e8967066b08d46a0ccd201f2cda5b50</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>pub_progress_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a9846d06722ffd493aaaf8053b3dbf518</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>publish_progress_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>ac40fb58de94ee2394fcea9e94f67445d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>const Eigen::Vector3f</type>
      <name>resolution_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>ae08d30523edd6d92d8d423770af6c681</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>FootstepState::Ptr</type>
      <name>right_goal_state_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a0b6125c17b5d21c2b28ef82b94e6749b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>rot_goal_thr_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a150d0bf38fa6300710893d35649e81db</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; Eigen::Affine3f &gt;</type>
      <name>successors_from_left_to_right_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a2e013fba004a417d218cfac298b1cbcc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; Eigen::Affine3f &gt;</type>
      <name>successors_from_right_to_left_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a0967ae4f62245e70cf3d70d631aba14b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>support_check_vertex_neighbor_threshold_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a6773ed75144bafe8e1ed4935a9a02310</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>support_check_x_sampling_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a92aac105d3d9f2d261c5d1e130ebdd56</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>support_check_y_sampling_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a3db16c7c6715ea47a0ae5622d5f72f69</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>TransitionLimit::Ptr</type>
      <name>transition_limit_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a35b10a537bf32e95e6a5589ea3c5e25b</anchor>
      <arglist></arglist>
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      <type>pcl::KdTreeFLANN&lt; pcl::PointNormal &gt;::Ptr</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a24917c80262ec3e4a06966983a886ad4</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>pcl::search::Octree&lt; pcl::PointNormal &gt;::Ptr</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a1e4d2888ad80493859c60dec2a3017ce</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>const bool</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a5f3b6e751cb952ec2732e528bf617c05</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>FootstepState::Ptr</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
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      <arglist></arglist>
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  </compound>
  <compound kind="class">
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    <member kind="typedef">
      <type>FootstepPlannerConfig</type>
      <name>Config</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>afae678c47f14202b2d811bf1730bbc5a</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>boost::shared_ptr&lt; FootstepPlanner &gt;</type>
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      <arglist></arglist>
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    <member kind="function">
      <type></type>
      <name>FootstepPlanner</name>
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      <anchor>af9649ca15baf702b53b3d1e468e4e3fd</anchor>
      <arglist>(ros::NodeHandle &amp;nh)</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
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      <anchor>a8c30e3e12caa294c8e75bc5be487c8bd</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>ad04b849970c1f2b291f5b441b516ef15</anchor>
      <arglist>(Config &amp;config, uint32_t level)</arglist>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a30152a07deaa40f9ad90041e99735ae8</anchor>
      <arglist>(const jsk_footstep_msgs::PlanFootstepsGoal::ConstPtr &amp;goal)</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a718b3825a699acab0551a4ed36d2d457</anchor>
      <arglist>(const sensor_msgs::PointCloud2::ConstPtr &amp;msg)</arglist>
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      <anchor>a7e06f908b88f5de7395bb9741087f8dc</anchor>
      <arglist>(FootstepAStarSolver&lt; FootstepGraph &gt; &amp;solver, FootstepGraph::Ptr graph)</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a0bdf26f786667ec17b96e15391392236</anchor>
      <arglist>(const Eigen::Affine3f &amp;center_pose, const Eigen::Affine3f &amp;left_pose_trans, const Eigen::Affine3f &amp;right_pose_trans, geometry_msgs::Pose &amp;pose)</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
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      <anchor>a1ccf89dd99f7b5560de24fb5f38d0f7b</anchor>
      <arglist>(jsk_interactive_marker::SnapFootPrint::Request &amp;req, jsk_interactive_marker::SnapFootPrint::Response &amp;res)</arglist>
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      <type>virtual bool</type>
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      <anchor>adde41a0406be576c5cc1b45f6e92c90f</anchor>
      <arglist>(jsk_interactive_marker::SnapFootPrint::Request &amp;req, jsk_interactive_marker::SnapFootPrint::Response &amp;res)</arglist>
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      <anchor>a394fa4233d538c5ad0a7b55217b41b03</anchor>
      <arglist>(const pcl::PointCloud&lt; pcl::PointNormal &gt; &amp;cloud, ros::Publisher &amp;pub, const std_msgs::Header &amp;header)</arglist>
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      <anchor>a2eb6944f1b77819fec0a3937abebf3ab</anchor>
      <arglist>(ros::Publisher &amp;pub, const std::string &amp;text, PlanningStatus status)</arglist>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
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      <arglist>(ros::NodeHandle &amp;nh)</arglist>
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      <type>virtual double</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a317a95829b3cd456da270c4c81a36c01</anchor>
      <arglist>(SolverNode&lt; FootstepState, FootstepGraph &gt;::Ptr node, FootstepGraph::Ptr graph)</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual double</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>af620a61010186332cd70766a3ac389e2</anchor>
      <arglist>(SolverNode&lt; FootstepState, FootstepGraph &gt;::Ptr node, FootstepGraph::Ptr graph)</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual double</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a187e21a79ad4e818ed48c130e4aed889</anchor>
      <arglist>(SolverNode&lt; FootstepState, FootstepGraph &gt;::Ptr node, FootstepGraph::Ptr graph)</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual double</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>affdca20800b73c61aae327a54826398e</anchor>
      <arglist>(SolverNode&lt; FootstepState, FootstepGraph &gt;::Ptr node, FootstepGraph::Ptr graph)</arglist>
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      <type>actionlib::SimpleActionServer&lt; jsk_footstep_msgs::PlanFootstepsAction &gt;</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>ac6e490d868c1191ef91305ec8b994777</anchor>
      <arglist></arglist>
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      <type>int</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>ab7bb1093a98555dbdceb75ff09f0ad99</anchor>
      <arglist></arglist>
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      <type>int</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a627bc67a5d1a87d84e0e805b9c13a7a9</anchor>
      <arglist></arglist>
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      <type>double</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a693b87cb5590d1cb4cad854ed7e9baed</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>aca50297c9d8b4c9d8285af3ac05ced49</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a4c3ca51127320dbf2e1e41d8e95925e7</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
      <name>global_transition_limit_pitch_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>adaaad408135a33425845165b768d229a</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>aefaf928974a9e52a020487cf26e088c7</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a60f84bca0b18ef92d3175541c7f7dd83</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a835d103c74b9683a85c459a7f2d7df5e</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>FootstepGraph::Ptr</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a1cd31d52debc1a2734817b2a0508fa36</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>heuristic_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>ad315e445654f6483e8a9147a550a3da5</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
      <name>heuristic_first_rotation_weight_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a22d1ff882efda59959fd652b1b553630</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a4d57fed035a4307c04226e054038a915</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>ab3690f250d28cafe2d3f411efa0de3b1</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std_msgs::Header</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>aac4dd7bc667c1bf7c28a962928d31cc9</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a810fe5e8486a57df16b4a1fdf181e179</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>int</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a4ddc1d7efe3c03e1e35a4e83544b67a3</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>ab603b6bebdd058a64d49c6375a168c46</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>int</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>abadd7948a2bd4065ae1bb48aa6015232</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>ae2ee6fb8eea1890f52b73742bb02abc6</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>int</type>
      <name>local_move_y_num_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>ae917b911f5cfad6147bc5f9de1abb25e</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>boost::mutex</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a5824e04ccb312c85227c7d5ba4cd5a2a</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>int</type>
      <name>plane_estimation_max_iterations_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a535d99773a861b72011bcb93b1f25cc9</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>int</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a5abe984dcd9e15519546c99318b6798f</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>pcl::PointCloud&lt; pcl::PointNormal &gt;::Ptr</type>
      <name>pointcloud_model_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>ac85e3a8753613e263f8c1fbf09ee84db</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>int</type>
      <name>profile_period_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a0d5107ec82e9a7d76bb433dfc3552d82</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>bool</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>aadb14cc27d3e6fc07e07ffe13160f9c8</anchor>
      <arglist></arglist>
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      <type>bool</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
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      <arglist></arglist>
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      <type>ros::Publisher</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>acbe78c63b2b6ae27a2dc01ea34e65943</anchor>
      <arglist></arglist>
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      <type>ros::Publisher</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>aeaea5d20e9133218e7a07d58d28e4c0e</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
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      <arglist></arglist>
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      <type>double</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
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      <arglist></arglist>
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      <type>double</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>jsk_footstep_msgs::PlanFootstepsResult</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
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      <arglist></arglist>
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      <type>bool</type>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>boost::shared_ptr&lt; dynamic_reconfigure::Server&lt; Config &gt; &gt;</type>
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      <anchor>a3d2ca3a81a11c877affe572c7381a2f7</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ros::ServiceServer</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ros::ServiceServer</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ros::Subscriber</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::vector&lt; Eigen::Affine3f &gt;</type>
      <name>successors_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a11933a2eaf384a5ec78e7f23540c1788</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>support_check_vertex_neighbor_threshold_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>ab1b3f6153f5344b88d8bc8e55087d102</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>int</type>
      <name>support_check_x_sampling_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>ae14110edf228eb17fdf36439dfe50e94</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>int</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>ac9152e96bccc66faafb2a77e4848b220</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
      <name>transition_limit_pitch_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>ae747bfd3d25fbab7d3be10b678d3e9f3</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
      <name>transition_limit_roll_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a56e4982a7ba126cda7ebe92fe90cea79</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
      <name>transition_limit_x_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a600f62ece050bdc6b79a9fd120934a91</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
      <name>transition_limit_y_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a5369a57f3f22189002953d25126e723a</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
      <name>transition_limit_yaw_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>ad72bdddfe75dff1a64312253d8b6116c</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
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      <arglist></arglist>
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      <type>bool</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
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      <arglist></arglist>
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      <type>bool</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a436b007f607252bd39701a0741d7444c</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>bool</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>bool</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a1b08aa278a9a08825415fb71593e1dab</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>bool</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>jsk_footstep_planner::FootstepState</name>
    <filename>classjsk__footstep__planner_1_1FootstepState.html</filename>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; FootstepState &gt;</type>
      <name>Ptr</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>aa57c82b6f8d056cd863023f2a1bc2dad</anchor>
      <arglist></arglist>
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    <member kind="function">
      <type>pcl::PointIndices::Ptr</type>
      <name>cropPointCloud</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>aace4918c6801006e36d71961fbab0640</anchor>
      <arglist>(pcl::PointCloud&lt; pcl::PointNormal &gt;::Ptr cloud, pcl::search::Octree&lt; pcl::PointNormal &gt; &amp;tree)</arglist>
    </member>
    <member kind="function">
      <type>pcl::PointIndices::Ptr</type>
      <name>cropPointCloud</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a96560600322e25f70f19e55851b14f86</anchor>
      <arglist>(pcl::PointCloud&lt; pcl::PointNormal &gt;::Ptr cloud, ANNGrid::Ptr grid_search)</arglist>
    </member>
    <member kind="function">
      <type>pcl::PointIndices::Ptr</type>
      <name>cropPointCloudExact</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a0d968eb9e553880683ad26f449890735</anchor>
      <arglist>(pcl::PointCloud&lt; pcl::PointNormal &gt;::Ptr cloud, pcl::PointIndices::Ptr near_indices)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>cross2d</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>ac8db369378ed1c5d349ce4ab04273c8d</anchor>
      <arglist>(const Eigen::Vector2f &amp;a, const Eigen::Vector2f &amp;b) const </arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>crossCheck</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a9280d53e1c294d79b687e32e346c7c19</anchor>
      <arglist>(FootstepState::Ptr other)</arglist>
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    <member kind="function">
      <type></type>
      <name>FootstepState</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>ab0e4c23f98c94b3c0e246bf9ccd85151</anchor>
      <arglist>(int leg, const Eigen::Affine3f &amp;pose, const Eigen::Vector3f &amp;dimensions, const Eigen::Vector3f &amp;resolution)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>FootstepState</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a090730e607d3e1fbca3ae147d19ecc79</anchor>
      <arglist>(int leg, const Eigen::Affine3f &amp;pose, const Eigen::Vector3f &amp;dimensions, const Eigen::Vector3f &amp;resolution, int index_x, int index_y, int index_yaw)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Eigen::Vector3f</type>
      <name>getDimensions</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a9f8de00ecc0d1cdd46cbf3b7a3c59d0a</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getLeg</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a5fd585d274b8e4b6c877c9a5f79538c8</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual Eigen::Affine3f</type>
      <name>getPose</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>ad9da0ecef5bce104fa0d16a280827afb</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual Eigen::Vector3f</type>
      <name>getResolution</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>ad045ec972cce65287d4a2720b47f95c4</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>indexT</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>ad76430cb2f07e90f7ab5f426b6e87be1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>indexX</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a1e5de8d3f7a4d78f243e6ced111c38f7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>indexY</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a0ba9128ee5ee3ac18f3e937ee669a326</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual FootstepSupportState</type>
      <name>isSupportedByPointCloud</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a554d135eabb9b171c24a008723fe1e0d</anchor>
      <arglist>(const Eigen::Affine3f &amp;pose, pcl::PointCloud&lt; pcl::PointNormal &gt;::Ptr cloud, pcl::KdTreeFLANN&lt; pcl::PointNormal &gt; &amp;tree, pcl::PointIndices::Ptr inliers, const int foot_x_sampling_num, const int foot_y_sampling_num, const double vertex_threshold)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual FootstepSupportState</type>
      <name>isSupportedByPointCloudWithoutCropping</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>abb68aa6f00714ebd986a4c912720be13</anchor>
      <arglist>(const Eigen::Affine3f &amp;pose, pcl::PointCloud&lt; pcl::PointNormal &gt;::Ptr cloud, pcl::KdTreeFLANN&lt; pcl::PointNormal &gt; &amp;tree, pcl::PointIndices::Ptr inliers, const int foot_x_sampling_num, const int foot_y_sampling_num, const double vertex_threshold)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>ac438b6ca742ee3d788453de7aae777ef</anchor>
      <arglist>(FootstepState &amp;other)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual FootstepState::Ptr</type>
      <name>projectToCloud</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a1e96c3b7c619aae69c19b9658877c2e0</anchor>
      <arglist>(pcl::KdTreeFLANN&lt; pcl::PointNormal &gt; &amp;tree, pcl::PointCloud&lt; pcl::PointNormal &gt;::Ptr cloud, ANNGrid::Ptr grid_search, pcl::search::Octree&lt; pcl::PointNormal &gt; &amp;tree_2d, pcl::PointCloud&lt; pcl::PointNormal &gt;::Ptr cloud_2d, const Eigen::Vector3f &amp;z, unsigned int &amp;error_state, double outlier_threshold, int max_iterations, int min_inliers, int foot_x_sampling_num=3, int foot_y_sampling_num=3, double vertex_threshold=0.02, const bool skip_cropping=true)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setPose</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a2f91e2144f01fdbdc5538d8017d2c75b</anchor>
      <arglist>(const Eigen::Affine3f &amp;pose)</arglist>
    </member>
    <member kind="function">
      <type>PointT</type>
      <name>toPoint</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>abcedf844d4e8ccfcf7ae299c9ac28c07</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual jsk_footstep_msgs::Footstep::Ptr</type>
      <name>toROSMsg</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a9659eca98ce31fdebd3310d514094b14</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>vertices</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>af3470db3abf80d2b9228bae436be425e</anchor>
      <arglist>(Eigen::Vector3f &amp;a, Eigen::Vector3f &amp;b, Eigen::Vector3f &amp;c, Eigen::Vector3f &amp;d)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static FootstepState::Ptr</type>
      <name>fromROSMsg</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a75dd44e6f1de5b21c75eb1b13aa1cd91</anchor>
      <arglist>(const jsk_footstep_msgs::Footstep &amp;f, const Eigen::Vector3f &amp;size, const Eigen::Vector3f &amp;resolution)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>const Eigen::Vector3f</type>
      <name>dimensions_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a2126cb55272aa7773508225b47fe65f0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>index_x_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a269e44ec57f5025cb045eceddcd9dc69</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>index_y_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a4c384e589f9843265883292da0909cac</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>index_yaw_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>ac6451440c388740b27e82dd3c068e2e3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>const int</type>
      <name>leg_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>aba992b187362692eed43e268e603762a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Eigen::Affine3f</type>
      <name>pose_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a1c6d4cddb55fb496cac4f61c6b8942d0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>const Eigen::Vector3f</type>
      <name>resolution_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a91fec5ac496c32e27233fb895e904949</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>jsk_footstep_planner::FootstepStateDiscreteCloseList</name>
    <filename>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseList.html</filename>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; FootstepStateDiscreteCloseList &gt;</type>
      <name>Ptr</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseList.html</anchorfile>
      <anchor>a842196a963fecdf3b8dfa68630d0f3cb</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::tuple&lt; int, int, int &gt;</type>
      <name>VolumeKey</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseList.html</anchorfile>
      <anchor>a3f2c6d94fe7550ce6e412ddf0b9dcc4f</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>find</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseList.html</anchorfile>
      <anchor>a81d954567a7545bf3309c86a40be94f6</anchor>
      <arglist>(FootstepState::Ptr state)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>FootstepStateDiscreteCloseList</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseList.html</anchorfile>
      <anchor>a8570a7a9a8fc5c7b93bdd33f79c3b11b</anchor>
      <arglist>(const size_t local_x_num, const size_t local_y_num, const size_t local_theta_num)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>keyDivide</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseList.html</anchorfile>
      <anchor>aedc8de90bde977100a427bc4b717a03f</anchor>
      <arglist>(int x, int y)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>push_back</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseList.html</anchorfile>
      <anchor>a4adbd20794e8559e7eb1dba12159f751</anchor>
      <arglist>(FootstepState::Ptr state)</arglist>
    </member>
    <member kind="function">
      <type>size_t</type>
      <name>size</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseList.html</anchorfile>
      <anchor>a824642654d20101d35203b6b934cc553</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>toPointCloud</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseList.html</anchorfile>
      <anchor>a487211bf3d1e506b81abfd4c332caa91</anchor>
      <arglist>(pcl::PointCloud&lt; PointT &gt; &amp;output)</arglist>
    </member>
    <member kind="function">
      <type>VolumeKey</type>
      <name>volumeKey</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseList.html</anchorfile>
      <anchor>a794162e0bdcc9d8555612eace027f2d0</anchor>
      <arglist>(int xi, int yi, int ti)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>const size_t</type>
      <name>local_theta_num_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseList.html</anchorfile>
      <anchor>adb679b17fac2592f4ce654c13f1b1e17</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::map&lt; VolumeKey, FootstepStateDiscreteCloseListLocal::Ptr &gt;</type>
      <name>local_volumes_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseList.html</anchorfile>
      <anchor>a343104c93d5c5086770d35b851f3c3de</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>const size_t</type>
      <name>local_x_num_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseList.html</anchorfile>
      <anchor>abdd54b765ec483493e4389e61bdb000e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>const size_t</type>
      <name>local_y_num_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseList.html</anchorfile>
      <anchor>a660c239ba77e39cbad3144b2de0ae898</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>jsk_footstep_planner::FootstepStateDiscreteCloseListLocal</name>
    <filename>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseListLocal.html</filename>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; FootstepStateDiscreteCloseListLocal &gt;</type>
      <name>Ptr</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseListLocal.html</anchorfile>
      <anchor>aa51a1a876f3ca75abe89a0e143aceeed</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>add</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseListLocal.html</anchorfile>
      <anchor>a56bf87a48c05843e833983057d9a88f3</anchor>
      <arglist>(FootstepState::Ptr state)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>FootstepStateDiscreteCloseListLocal</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseListLocal.html</anchorfile>
      <anchor>a82064c216bdebd954b348d4ecee701d6</anchor>
      <arglist>(int x_offset, int y_offset, int theta_offset, size_t x_num, size_t y_num, size_t theta_num)</arglist>
    </member>
    <member kind="function">
      <type>FootstepState::Ptr</type>
      <name>get</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseListLocal.html</anchorfile>
      <anchor>a4b25891068ea14ba76bd43f9e322d675</anchor>
      <arglist>(int x, int y, int theta)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>insertToPointCloud</name>
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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>(StatePtr state)=0</arglist>
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      <arglist>()</arglist>
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      <arglist>(StatePtr from, StatePtr to, double prev_cost)</arglist>
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      <arglist>(StatePtr goal)</arglist>
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      <arglist>(StatePtr start)</arglist>
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      <arglist>(StatePtr target_state)=0</arglist>
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      <anchorfile>classjsk__footstep__planner_1_1Graph.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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      <arglist></arglist>
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      <arglist>(Line2D &amp;other)</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="typedef">
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      <arglist>()</arglist>
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      <arglist>(pcl::PointCloud&lt; PointT &gt; &amp;output, double hole_rate)</arglist>
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      <arglist>(pcl::PointCloud&lt; PointT &gt; &amp;output, double hole_rate)</arglist>
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      <arglist>(pcl::PointCloud&lt; PointT &gt; &amp;output, double hole_rate)</arglist>
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      <arglist>(pcl::PointCloud&lt; PointT &gt; &amp;output, double hole_rate)</arglist>
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    <member kind="typedef">
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      <arglist></arglist>
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      <arglist>(StatePtr state)</arglist>
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      <arglist>(StatePtr from, StatePtr to, double prev_cost)</arglist>
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      <arglist>()</arglist>
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      <arglist>(StatePtr target_state)</arglist>
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    <member kind="typedef">
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      <arglist></arglist>
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      <arglist>(SimpleNeighboredNode::Ptr node)</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>(SimpleNeighboredNode &amp;other)</arglist>
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      <arglist>(const std::string &amp;name)</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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    <templarg></templarg>
    <member kind="typedef">
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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