<?xml version='1.0' encoding='ISO-8859-1' standalone='yes' ?>
<tagfile>
  <compound kind="file">
    <name>bucketedqueue.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-indigo-voronoi_planner/doc_stacks/2015-09-17_12-12-27.444004/voronoi_planner/include/</path>
    <filename>bucketedqueue_8h</filename>
    <includes id="point_8h" name="point.h" local="yes" imported="no">point.h</includes>
    <class kind="class">BucketPrioQueue</class>
    <member kind="define">
      <type>#define</type>
      <name>MAXDIST</name>
      <anchorfile>bucketedqueue_8h.html</anchorfile>
      <anchor>ad20257241c97c3e731b64608dcdc5096</anchor>
      <arglist></arglist>
    </member>
    <member kind="define">
      <type>#define</type>
      <name>RESERVE</name>
      <anchorfile>bucketedqueue_8h.html</anchorfile>
      <anchor>a70520e781fe57f142c5bc15d13f1583e</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>dynamicvoronoi.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-indigo-voronoi_planner/doc_stacks/2015-09-17_12-12-27.444004/voronoi_planner/include/</path>
    <filename>dynamicvoronoi_8h</filename>
    <includes id="bucketedqueue_8h" name="bucketedqueue.h" local="yes" imported="no">bucketedqueue.h</includes>
    <class kind="struct">DynamicVoronoi::dataCell</class>
    <class kind="class">DynamicVoronoi</class>
  </compound>
  <compound kind="file">
    <name>planner_core.cpp</name>
    <path>/home/rosbuild/hudson/workspace/doc-indigo-voronoi_planner/doc_stacks/2015-09-17_12-12-27.444004/voronoi_planner/src/</path>
    <filename>planner__core_8cpp</filename>
    <includes id="planner__core_8h" name="planner_core.h" local="no" imported="no">voronoi_planner/planner_core.h</includes>
    <namespace>voronoi_planner</namespace>
    <member kind="function">
      <type>void</type>
      <name>visualize</name>
      <anchorfile>namespacevoronoi__planner.html</anchorfile>
      <anchor>aa9edf4571e7d3f5652f72ac2259dd002</anchor>
      <arglist>(const char *filename, DynamicVoronoi *voronoi, bool **map, std::vector&lt; std::pair&lt; float, float &gt; &gt; *path)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>planner_core.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-indigo-voronoi_planner/doc_stacks/2015-09-17_12-12-27.444004/voronoi_planner/include/voronoi_planner/</path>
    <filename>planner__core_8h</filename>
    <includes id="dynamicvoronoi_8h" name="dynamicvoronoi.h" local="yes" imported="no">dynamicvoronoi.h</includes>
    <class kind="class">voronoi_planner::VoronoiPlanner</class>
    <namespace>voronoi_planner</namespace>
  </compound>
  <compound kind="file">
    <name>point.h</name>
    <path>/home/rosbuild/hudson/workspace/doc-indigo-voronoi_planner/doc_stacks/2015-09-17_12-12-27.444004/voronoi_planner/include/</path>
    <filename>point_8h</filename>
    <class kind="class">IntPoint</class>
    <member kind="define">
      <type>#define</type>
      <name>INTPOINT</name>
      <anchorfile>point_8h.html</anchorfile>
      <anchor>a029053565997837c89e2448248703492</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>BucketPrioQueue</name>
    <filename>classBucketPrioQueue.html</filename>
    <member kind="function">
      <type></type>
      <name>BucketPrioQueue</name>
      <anchorfile>classBucketPrioQueue.html</anchorfile>
      <anchor>a17c2051e7091233687c4256e37a4be0b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>empty</name>
      <anchorfile>classBucketPrioQueue.html</anchorfile>
      <anchor>ae8474f69d9bd7f4b6f84d6049f80011d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>INTPOINT</type>
      <name>pop</name>
      <anchorfile>classBucketPrioQueue.html</anchorfile>
      <anchor>a95d8b816a7b1b00ddec6d74da8398fc7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>push</name>
      <anchorfile>classBucketPrioQueue.html</anchorfile>
      <anchor>a4ea9cc823a00239c42ae0482682a6a6e</anchor>
      <arglist>(int prio, INTPOINT t)</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static void</type>
      <name>initSqrIndices</name>
      <anchorfile>classBucketPrioQueue.html</anchorfile>
      <anchor>a0d3b8b789d82364a0117f1507dbdf3da</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; std::queue&lt; INTPOINT &gt; &gt;</type>
      <name>buckets</name>
      <anchorfile>classBucketPrioQueue.html</anchorfile>
      <anchor>a948b5b2d89810915c8d4b45b571fd2f3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>count</name>
      <anchorfile>classBucketPrioQueue.html</anchorfile>
      <anchor>abec8e71a4e0bef62e60d81ec1d7f1e42</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>nextBucket</name>
      <anchorfile>classBucketPrioQueue.html</anchorfile>
      <anchor>a5c2ed42469272925308c4e8ca43af3dc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type>static int</type>
      <name>numBuckets</name>
      <anchorfile>classBucketPrioQueue.html</anchorfile>
      <anchor>a0ad1ec2faa00ba4825c431ba0b5cbf6c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type>static std::vector&lt; int &gt;</type>
      <name>sqrIndices</name>
      <anchorfile>classBucketPrioQueue.html</anchorfile>
      <anchor>a50ccbf6c2456f8c8f32cca213b3ceadd</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>DynamicVoronoi</name>
    <filename>classDynamicVoronoi.html</filename>
    <class kind="struct">DynamicVoronoi::dataCell</class>
    <member kind="function">
      <type>void</type>
      <name>clearCell</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>aa93b79d97c4e8347c812b6f9bbca20da</anchor>
      <arglist>(int x, int y)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>DynamicVoronoi</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a46ff0dd6d07c044901f1865fe37fef05</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>exchangeObstacles</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a3c9c1236339ff3a879c6d306dbf81c50</anchor>
      <arglist>(std::vector&lt; INTPOINT &gt; newObstacles)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>getDistance</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a31a96e01c16437c54050acaaf1a05886</anchor>
      <arglist>(int x, int y)</arglist>
    </member>
    <member kind="function">
      <type>unsigned int</type>
      <name>getSizeX</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a9f01317267c47bf9945555e4539df992</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>unsigned int</type>
      <name>getSizeY</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a010e13ce8903b52a910fd3d22c16f4bc</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>initializeEmpty</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a0f853b1d5f0920ad6853ccf9fc1ee9f6</anchor>
      <arglist>(int _sizeX, int _sizeY, bool initGridMap=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>initializeMap</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>ae4650e19a4754f476508dafb08ff8fed</anchor>
      <arglist>(int _sizeX, int _sizeY, bool **_gridMap)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isOccupied</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a11a52dda18a91f59e610b1e2acdc499f</anchor>
      <arglist>(int x, int y)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>isVoronoi</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a2f2447c59f8057179388df92d1ee8509</anchor>
      <arglist>(int x, int y)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>occupyCell</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>aecb1202c10fb0d67c0363490971f0a53</anchor>
      <arglist>(int x, int y)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>prune</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a152affee9cd562ae29f85768c6b6f2e3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>update</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a1597506b8c427486884c2b2ec3492cdd</anchor>
      <arglist>(bool updateRealDist=true)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>visualize</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a8da1edbbb4f8ce37a67852e8be20d13c</anchor>
      <arglist>(const char *filename=&quot;result.ppm&quot;)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~DynamicVoronoi</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a8f7a2e09d5343352c59b7994e59f1673</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="enumeration">
      <name>markerMatchResult</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a5eeeada2afdcaa3c6b94238eb36c79df</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>pruned</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a5eeeada2afdcaa3c6b94238eb36c79dfa9a5cdcaee104411b0c5f3b17051be8a3</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>keep</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a5eeeada2afdcaa3c6b94238eb36c79dfa011f356598f9eb1141c5923add4a673c</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>retry</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a5eeeada2afdcaa3c6b94238eb36c79dfa77d42fc37e8e1cc6d76ecced168113c6</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumeration">
      <name>ObstDataState</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>af513fdfdece7c0f996cdd80804b19d42</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>invalidObstData</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>af513fdfdece7c0f996cdd80804b19d42a1351554ed173d01736005946c7ae44d9</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumeration">
      <name>QueueingState</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a8ba93cfe614f333cb934adf6621f598d</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>fwNotQueued</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a8ba93cfe614f333cb934adf6621f598da2cbfc2a13943c8d3e85a24519d9db9a6</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>fwQueued</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a8ba93cfe614f333cb934adf6621f598da7024c5ce1f1c028406496acfe9308b38</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>fwProcessed</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a8ba93cfe614f333cb934adf6621f598da629cdc1ec8b48ea37d05dec57a48a2a6</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>bwQueued</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a8ba93cfe614f333cb934adf6621f598da0102ae212683f5902d2d771f2f6e41ab</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>bwProcessed</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a8ba93cfe614f333cb934adf6621f598da52b3f6a58d15710b06457b3add9bebd9</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumeration">
      <name>State</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a3906828511b745f0e87e25586581cffa</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>voronoiKeep</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a3906828511b745f0e87e25586581cffaa2be77c2deb228d62120642cc6d80c1a1</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>freeQueued</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a3906828511b745f0e87e25586581cffaafd7ff34fa9ab10f571793cc63be3aa7b</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>voronoiRetry</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a3906828511b745f0e87e25586581cffaa703d9b3d8aaac4e82e3efb08908cd1a2</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>voronoiPrune</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a3906828511b745f0e87e25586581cffaa7bdaae5c7e791deedf7312a0a7a7cbee</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>free</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a3906828511b745f0e87e25586581cffaa8d2cf11063d05752018b886fbbd8050f</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>occupied</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a3906828511b745f0e87e25586581cffaa741f29eb8a177a4628a129428c3e9851</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>checkVoro</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>ad806063cde998821aa549bfaee8a829d</anchor>
      <arglist>(int x, int y, int nx, int ny, dataCell &amp;c, dataCell &amp;nc)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>commitAndColorize</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>ab5a8ebf12a256310e43c3f91b5f84e14</anchor>
      <arglist>(bool updateRealDist=true)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>isOccupied</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>afc877b1ff972ed55b0268410d559720a</anchor>
      <arglist>(int &amp;x, int &amp;y, dataCell &amp;c)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>markerMatchResult</type>
      <name>markerMatch</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a1e064dee9e3a7b0b7f3c40d7ce6bdf7d</anchor>
      <arglist>(int x, int y)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>recheckVoro</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a60168ba7c6fc0cfcb8e6e06d09da82d1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>removeObstacle</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a5b02541f71e8d355fccc642dfbab37d2</anchor>
      <arglist>(int x, int y)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>reviveVoroNeighbors</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a095be0a50023d7c144c863b804b47b67</anchor>
      <arglist>(int &amp;x, int &amp;y)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>setObstacle</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>aa9719e4ba2c9f766fba77c76fddeb548</anchor>
      <arglist>(int x, int y)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; INTPOINT &gt;</type>
      <name>addList</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a4cde88457dcb19fc25ba91f74a442ce8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>dataCell **</type>
      <name>data</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>aacce629977ba0faf52b96967823bbdf6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>doubleThreshold</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>abd3251bf8df2751c477e1e538fc37adb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool **</type>
      <name>gridMap</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a6fcb0620fd8bdf418448d15f2e4eeaca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; INTPOINT &gt;</type>
      <name>lastObstacles</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a7edda415490d74aa1156bfb660d9e596</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>BucketPrioQueue</type>
      <name>open</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>abf3f6e1cc14aba00c8e5119489c19ef7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>padding</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a2476ccc3102f424e204ea989c7072766</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::queue&lt; INTPOINT &gt;</type>
      <name>pruneQueue</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a6c60666a5ad3c71d4a2e1c8aa03c9e55</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; INTPOINT &gt;</type>
      <name>removeList</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a64b24ea5892f0855741c9d0f4c654619</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>sizeX</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a510bf45d553020b13522764dd117354b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>sizeY</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>a016b0037e560b23bd0d7b9e502df81d3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>sqrt2</name>
      <anchorfile>classDynamicVoronoi.html</anchorfile>
      <anchor>ade3571dfc1a6191e97052eeb2fc29a5c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>DynamicVoronoi::dataCell</name>
    <filename>structDynamicVoronoi_1_1dataCell.html</filename>
    <member kind="variable">
      <type>float</type>
      <name>dist</name>
      <anchorfile>structDynamicVoronoi_1_1dataCell.html</anchorfile>
      <anchor>af7743e154332072d004a5b0e6c9dab2e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>needsRaise</name>
      <anchorfile>structDynamicVoronoi_1_1dataCell.html</anchorfile>
      <anchor>a90702ca695500a341f5152ad5d25a455</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>obstX</name>
      <anchorfile>structDynamicVoronoi_1_1dataCell.html</anchorfile>
      <anchor>a09ea24e9adf21eda9fc57be1b3e293e8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>obstY</name>
      <anchorfile>structDynamicVoronoi_1_1dataCell.html</anchorfile>
      <anchor>add9439b03a642930f9959f63f1eecfd1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>char</type>
      <name>queueing</name>
      <anchorfile>structDynamicVoronoi_1_1dataCell.html</anchorfile>
      <anchor>a44f1a76ffb87dd3f9598b1ef80b3e3f7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>sqdist</name>
      <anchorfile>structDynamicVoronoi_1_1dataCell.html</anchorfile>
      <anchor>a64e2e963a213cce4bcfdcd9be1e5282a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>char</type>
      <name>voronoi</name>
      <anchorfile>structDynamicVoronoi_1_1dataCell.html</anchorfile>
      <anchor>a4753f29aa4f05f4fb19e4fae327273d8</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>IntPoint</name>
    <filename>classIntPoint.html</filename>
    <member kind="function">
      <type></type>
      <name>IntPoint</name>
      <anchorfile>classIntPoint.html</anchorfile>
      <anchor>a687767994d13048d0557dd11ae3a06a2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>IntPoint</name>
      <anchorfile>classIntPoint.html</anchorfile>
      <anchor>a1e5aab0d2d51b66f451591d75c7a4ca0</anchor>
      <arglist>(int _x, int _y)</arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>x</name>
      <anchorfile>classIntPoint.html</anchorfile>
      <anchor>a658044eee6c6ff29775f20b465656170</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>y</name>
      <anchorfile>classIntPoint.html</anchorfile>
      <anchor>ad195b0d9550fef304fe9bb59ae9d436b</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>PlannerCore</name>
    <filename>classPlannerCore.html</filename>
  </compound>
  <compound kind="namespace">
    <name>voronoi_planner</name>
    <filename>namespacevoronoi__planner.html</filename>
    <class kind="class">voronoi_planner::VoronoiPlanner</class>
    <member kind="function">
      <type>void</type>
      <name>visualize</name>
      <anchorfile>namespacevoronoi__planner.html</anchorfile>
      <anchor>aa9edf4571e7d3f5652f72ac2259dd002</anchor>
      <arglist>(const char *filename, DynamicVoronoi *voronoi, bool **map, std::vector&lt; std::pair&lt; float, float &gt; &gt; *path)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>voronoi_planner::VoronoiPlanner</name>
    <filename>classvoronoi__planner_1_1VoronoiPlanner.html</filename>
    <base>nav_core::BaseGlobalPlanner</base>
    <member kind="function">
      <type>bool</type>
      <name>findPath</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>ada08d7c64a0c7a3fb221aba230d8481b</anchor>
      <arglist>(std::vector&lt; std::pair&lt; float, float &gt; &gt; *path, int init_x, int init_y, int goal_x, int goal_y, DynamicVoronoi *voronoi, bool check_is_voronoi_cell, bool stop_at_voronoi)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>initialize</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>a9fa7316642609011f0ceb77bee385095</anchor>
      <arglist>(std::string name, costmap_2d::Costmap2DROS *costmap_ros)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>initialize</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>a40f01442ae30ead2c346bafb4867c574</anchor>
      <arglist>(std::string name, costmap_2d::Costmap2D *costmap, std::string frame_id)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>makePlan</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>ac83936246509623429be3ee05bfdb56b</anchor>
      <arglist>(const geometry_msgs::PoseStamped &amp;start, const geometry_msgs::PoseStamped &amp;goal, std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;plan)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>makePlan</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>a3f4bdd2533303fe187f0663e1de8ea22</anchor>
      <arglist>(const geometry_msgs::PoseStamped &amp;start, const geometry_msgs::PoseStamped &amp;goal, double tolerance, std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;plan)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>makePlanService</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>a6bd1e9dad6fc4427210a5b4cc0fdc762</anchor>
      <arglist>(nav_msgs::GetPlan::Request &amp;req, nav_msgs::GetPlan::Response &amp;resp)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>publishPlan</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>a9f343fc052529a36090ad94c4a3556f1</anchor>
      <arglist>(const std::vector&lt; geometry_msgs::PoseStamped &gt; &amp;path)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>publishVoronoiGrid</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>a39ea6a9dcff229e9d2f066bf8d69d433</anchor>
      <arglist>(DynamicVoronoi *voronoi)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>smoothPath</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>aec1377f67323b37b8b5816daf31f466a</anchor>
      <arglist>(std::vector&lt; std::pair&lt; float, float &gt; &gt; *path)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>VoronoiPlanner</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>ab39763230105179f2e928ce9001d4899</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>VoronoiPlanner</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>a352c96186d55af142b6d296b85a5ec57</anchor>
      <arglist>(std::string name, costmap_2d::Costmap2D *costmap, std::string frame_id)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~VoronoiPlanner</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>ae3ad0347c041997628243b998a4444b7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>costmap_2d::Costmap2D *</type>
      <name>costmap_</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>afcd3cdb12519aa16bdc283e5aa5e551c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>frame_id_</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>a075bc72b16d21b200a3b98c09811b9dd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>initialized_</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>a6c07fdabdf4b8b493bad96a65813a30c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>plan_pub_</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>ab3af5f6b97fd886710dd8262c3d60d05</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>publish_voronoi_grid_</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>ab61bfc99f2c073b08872a0b768a96133</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>smooth_path_</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>aab1e904419104e7c864089d09306c44b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>voronoi_grid_pub_</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>a8449f74fdff430e341b0302ff0b621fc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>float</type>
      <name>weight_data_</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>a97d8c323796d0c443714f6019e96ed46</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>float</type>
      <name>weight_smooth_</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>a80fdcc107568049ec96a1954ed6b61af</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>clearRobotCell</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>ada4e9a4eed4b0a011b249d7cac3e5d41</anchor>
      <arglist>(const tf::Stamped&lt; tf::Pose &gt; &amp;global_pose, unsigned int mx, unsigned int my)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>costmapUpdateCallback</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>af941f0b8bbbc0229b2dde0e62b4b9633</anchor>
      <arglist>(const map_msgs::OccupancyGridUpdate::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>mapToWorld</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>a618c00fcdf19c99a8be4737f067434ab</anchor>
      <arglist>(double mx, double my, double &amp;wx, double &amp;wy)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>outlineMap</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>ab1b1514c2381276e3b2236a2a5edb8ad</anchor>
      <arglist>(unsigned char *costarr, int nx, int ny, unsigned char value)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>reconfigureCB</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>a9f63f9cca814665432d767f02c45ff1a</anchor>
      <arglist>(voronoi_planner::VoronoiPlannerConfig &amp;config, uint32_t level)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>worldToMap</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>a0d3948016bbd1359949f6b3b865f0ef6</anchor>
      <arglist>(double wx, double wy, double &amp;mx, double &amp;my)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>unsigned char *</type>
      <name>cost_array_</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>a7a0d66618e4ebba367a6ff0ae2876961</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>default_tolerance_</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>a2e6dc258e5ff6fd2524b77e1d25b9ab5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>dynamic_reconfigure::Server&lt; voronoi_planner::VoronoiPlannerConfig &gt; *</type>
      <name>dsrv_</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>a4eae51f27ee0872414749c4690e1e343</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>end_x_</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>a2f0436930ffe11e04882f4d8f1ab46bc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>end_y_</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>ae572fb6f1f5420adaf03b2f04a6fdf9d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::ServiceServer</type>
      <name>make_plan_srv_</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>a775969d30a9d6f97fe54e3a32987a1ca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>boost::mutex</type>
      <name>mutex_</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>a2c757a831fa338da866142afe2da347b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>planner_window_x_</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>a29843bc3f68d46b96fe2d1a3c40ee9a4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>planner_window_y_</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>a3f46cdf81b8edfed79a2cfb3c702bc27</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>start_x_</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>ac2ce8a07cafc0efb9b8ad5ed778a8bd0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>start_y_</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>a3a1878890785d127df3ebdd0dc5f6173</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>tf_prefix_</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>a1e1b5eb407eaa77390af688e5310d4ed</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>DynamicVoronoi</type>
      <name>voronoi_</name>
      <anchorfile>classvoronoi__planner_1_1VoronoiPlanner.html</anchorfile>
      <anchor>a629d5750dc07a76d9fea474094477a93</anchor>
      <arglist></arglist>
    </member>
  </compound>
</tagfile>
