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      <name>HotMap</name>
      <anchorfile>classvigir__footstep__planning_1_1HotMapHeuristic.html</anchorfile>
      <anchor>a71ae25232e1624962e4b23b1e027578f</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getHeuristicValue</name>
      <anchorfile>classvigir__footstep__planning_1_1HotMapHeuristic.html</anchorfile>
      <anchor>a8abcbcc40246bcaec6821589c587c755</anchor>
      <arglist>(const State &amp;from, const State &amp;to, const State &amp;start, const State &amp;goal) const override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>HotMapHeuristic</name>
      <anchorfile>classvigir__footstep__planning_1_1HotMapHeuristic.html</anchorfile>
      <anchor>ab6c032513cd293127a3843e45c147d0a</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>initialize</name>
      <anchorfile>classvigir__footstep__planning_1_1HotMapHeuristic.html</anchorfile>
      <anchor>a6bfbcb8354b3cfd41875b8c794ce7850</anchor>
      <arglist>(const vigir_generic_params::ParameterSet &amp;params=vigir_generic_params::ParameterSet()) override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>loadParams</name>
      <anchorfile>classvigir__footstep__planning_1_1HotMapHeuristic.html</anchorfile>
      <anchor>a4141154121b358d3f440ce856d5c407e</anchor>
      <arglist>(const vigir_generic_params::ParameterSet &amp;params=vigir_generic_params::ParameterSet()) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>reset</name>
      <anchorfile>classvigir__footstep__planning_1_1HotMapHeuristic.html</anchorfile>
      <anchor>a4634c8209c1f50521cfa9a543a87ac19</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>publishHotMap</name>
      <anchorfile>classvigir__footstep__planning_1_1HotMapHeuristic.html</anchorfile>
      <anchor>a6c222db761e93584d3c997c102fa650f</anchor>
      <arglist>(const ros::TimerEvent &amp;publish_timer) const </arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>angle_bin_size_</name>
      <anchorfile>classvigir__footstep__planning_1_1HotMapHeuristic.html</anchorfile>
      <anchor>aa61a42a0668c570989d4703da088db68</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>cell_size_</name>
      <anchorfile>classvigir__footstep__planning_1_1HotMapHeuristic.html</anchorfile>
      <anchor>a9b4c315510747902330241a92de8e41e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>HotMap</type>
      <name>hot_map_</name>
      <anchorfile>classvigir__footstep__planning_1_1HotMapHeuristic.html</anchorfile>
      <anchor>ad58bfde5e32810be91cd62b7b9f33a60</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>hot_map_pub_</name>
      <anchorfile>classvigir__footstep__planning_1_1HotMapHeuristic.html</anchorfile>
      <anchor>a85b48cb4bec15fc975ad6fb40f660fff</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::shared_mutex</type>
      <name>hot_map_shared_mutex_</name>
      <anchorfile>classvigir__footstep__planning_1_1HotMapHeuristic.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ros::Timer</type>
      <name>publish_timer_</name>
      <anchorfile>classvigir__footstep__planning_1_1HotMapHeuristic.html</anchorfile>
      <anchor>a8de1cb3ba3bee7562aefe4807b704a1d</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>unsigned int</type>
      <name>total_hit_counter_</name>
      <anchorfile>classvigir__footstep__planning_1_1HotMapHeuristic.html</anchorfile>
      <anchor>ae142b1691bee4e85160ffb984567e006</anchor>
      <arglist></arglist>
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  <compound kind="struct">
    <name>vigir_footstep_planning::HotMapHeuristic::StateKey</name>
    <filename>structvigir__footstep__planning_1_1HotMapHeuristic_1_1StateKey.html</filename>
    <member kind="function">
      <type>bool</type>
      <name>operator&lt;</name>
      <anchorfile>structvigir__footstep__planning_1_1HotMapHeuristic_1_1StateKey.html</anchorfile>
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      <arglist>(const StateKey &amp;key) const </arglist>
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    <member kind="function">
      <type></type>
      <name>StateKey</name>
      <anchorfile>structvigir__footstep__planning_1_1HotMapHeuristic_1_1StateKey.html</anchorfile>
      <anchor>a26f5cfbc1f2a79da19f408b62b5e7d54</anchor>
      <arglist>(const State &amp;s, double cell_size, double angle_bin_size)</arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>x</name>
      <anchorfile>structvigir__footstep__planning_1_1HotMapHeuristic_1_1StateKey.html</anchorfile>
      <anchor>a167384b079db5ec80f4c9b5fca0d0fc1</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>int</type>
      <name>y</name>
      <anchorfile>structvigir__footstep__planning_1_1HotMapHeuristic_1_1StateKey.html</anchorfile>
      <anchor>ab864a4b7dec61d34a9a11d5a671ec465</anchor>
      <arglist></arglist>
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    <member kind="variable">
      <type>int</type>
      <name>yaw</name>
      <anchorfile>structvigir__footstep__planning_1_1HotMapHeuristic_1_1StateKey.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>vigir_footstep_planning::MapStepCostEstimator</name>
    <filename>classvigir__footstep__planning_1_1MapStepCostEstimator.html</filename>
    <member kind="function">
      <type>bool</type>
      <name>getCost</name>
      <anchorfile>classvigir__footstep__planning_1_1MapStepCostEstimator.html</anchorfile>
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      <arglist>(const State &amp;left_foot, const State &amp;right_foot, const State &amp;swing_foot, double &amp;cost, double &amp;cost_multiplier, double &amp;risk, double &amp;risk_multiplier) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>loadParams</name>
      <anchorfile>classvigir__footstep__planning_1_1MapStepCostEstimator.html</anchorfile>
      <anchor>aca13fffa1fbbd6ef783d8c17deb5d02e</anchor>
      <arglist>(const vigir_generic_params::ParameterSet &amp;params=vigir_generic_params::ParameterSet()) override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MapStepCostEstimator</name>
      <anchorfile>classvigir__footstep__planning_1_1MapStepCostEstimator.html</anchorfile>
      <anchor>a82faf17ed220edf8a469f09bf98cf5aa</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>insert</name>
      <anchorfile>classvigir__footstep__planning_1_1MapStepCostEstimator.html</anchorfile>
      <anchor>a87c0343c5b5b25add2913b1c57c6dc87</anchor>
      <arglist>(const std::vector&lt; double &gt; &amp;key, const std::pair&lt; double, double &gt; &amp;entry)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>loadFromFile</name>
      <anchorfile>classvigir__footstep__planning_1_1MapStepCostEstimator.html</anchorfile>
      <anchor>ae8101dbd5758480304eb61c5b2e170b0</anchor>
      <arglist>(const std::string &amp;filename)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>read</name>
      <anchorfile>classvigir__footstep__planning_1_1MapStepCostEstimator.html</anchorfile>
      <anchor>a8a134a875b24d76a39b0572437b7841c</anchor>
      <arglist>(std::ifstream &amp;in, T &amp;value)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>angle_bin_size</name>
      <anchorfile>classvigir__footstep__planning_1_1MapStepCostEstimator.html</anchorfile>
      <anchor>aaa4d1d3366143c26197839ea6835c3ae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>cell_size</name>
      <anchorfile>classvigir__footstep__planning_1_1MapStepCostEstimator.html</anchorfile>
      <anchor>a4ebaea5a8909b1fce0746d2cfcab2358</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::unordered_map&lt; StepCostKey, std::pair&lt; double, double &gt; &gt;</type>
      <name>cost_map</name>
      <anchorfile>classvigir__footstep__planning_1_1MapStepCostEstimator.html</anchorfile>
      <anchor>afa3c36637383c897325b70958477bd86</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>float</type>
      <name>max_x</name>
      <anchorfile>classvigir__footstep__planning_1_1MapStepCostEstimator.html</anchorfile>
      <anchor>a938f2cb5850a886b71e5d42b5186f42f</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>float</type>
      <name>max_y</name>
      <anchorfile>classvigir__footstep__planning_1_1MapStepCostEstimator.html</anchorfile>
      <anchor>a629cd6b71ee9ab67f47cfbd76b38e133</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>float</type>
      <name>max_yaw</name>
      <anchorfile>classvigir__footstep__planning_1_1MapStepCostEstimator.html</anchorfile>
      <anchor>af908496083c3d9abc99a9e53e0f3681b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>float</type>
      <name>min_x</name>
      <anchorfile>classvigir__footstep__planning_1_1MapStepCostEstimator.html</anchorfile>
      <anchor>a324d333d01539a0be36c2ddcb55ef6e1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>float</type>
      <name>min_y</name>
      <anchorfile>classvigir__footstep__planning_1_1MapStepCostEstimator.html</anchorfile>
      <anchor>aea8c3f4176c2b32aa2969ec627670862</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>float</type>
      <name>min_yaw</name>
      <anchorfile>classvigir__footstep__planning_1_1MapStepCostEstimator.html</anchorfile>
      <anchor>a8282b7684dc55e96e4135d83cac3cd99</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>uint32_t</type>
      <name>num_angle_bin</name>
      <anchorfile>classvigir__footstep__planning_1_1MapStepCostEstimator.html</anchorfile>
      <anchor>aa31d2ede75adba4e870ace11bb06b847</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>vigir_footstep_planning::OccupancyGridMapHeuristic</name>
    <filename>classvigir__footstep__planning_1_1OccupancyGridMapHeuristic.html</filename>
    <member kind="function">
      <type>double</type>
      <name>getHeuristicValue</name>
      <anchorfile>classvigir__footstep__planning_1_1OccupancyGridMapHeuristic.html</anchorfile>
      <anchor>aa7b7bcd9e462b4edf280cf628220a5dc</anchor>
      <arglist>(const State &amp;from, const State &amp;to, const State &amp;start, const State &amp;goal) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>initialize</name>
      <anchorfile>classvigir__footstep__planning_1_1OccupancyGridMapHeuristic.html</anchorfile>
      <anchor>a65fb8bb87e245f0b7f09d27562a0720b</anchor>
      <arglist>(const vigir_generic_params::ParameterSet &amp;params=vigir_generic_params::ParameterSet()) override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>loadParams</name>
      <anchorfile>classvigir__footstep__planning_1_1OccupancyGridMapHeuristic.html</anchorfile>
      <anchor>ac9782247988b305abc5addd564b44cc0</anchor>
      <arglist>(const vigir_generic_params::ParameterSet &amp;params=vigir_generic_params::ParameterSet()) override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>OccupancyGridMapHeuristic</name>
      <anchorfile>classvigir__footstep__planning_1_1OccupancyGridMapHeuristic.html</anchorfile>
      <anchor>a612a37e34b1e2cc6586ac11dfdf8c140</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>mapCallback</name>
      <anchorfile>classvigir__footstep__planning_1_1OccupancyGridMapHeuristic.html</anchorfile>
      <anchor>a2041bdcf47a274d6946a2278fbf49ec6</anchor>
      <arglist>(const nav_msgs::OccupancyGridConstPtr &amp;occupancy_grid_map)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>vigir_gridmap_2d::GridMap2D</type>
      <name>distance_map_</name>
      <anchorfile>classvigir__footstep__planning_1_1OccupancyGridMapHeuristic.html</anchorfile>
      <anchor>a85a9fe6a35149acbbe20265584b1a4d9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::shared_mutex</type>
      <name>grid_map_shared_mutex_</name>
      <anchorfile>classvigir__footstep__planning_1_1OccupancyGridMapHeuristic.html</anchorfile>
      <anchor>aa4a803673b41536d4bf04cbc3a700440</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>grid_map_topic_</name>
      <anchorfile>classvigir__footstep__planning_1_1OccupancyGridMapHeuristic.html</anchorfile>
      <anchor>abcd82ef208a1e201da0b5ef27b2a0cb4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Subscriber</type>
      <name>occupancy_grid_map_sub_</name>
      <anchorfile>classvigir__footstep__planning_1_1OccupancyGridMapHeuristic.html</anchorfile>
      <anchor>a786dc5c7d8f4080e44c649f904d45693</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>vigir_footstep_planning::PathCostHeuristic</name>
    <filename>classvigir__footstep__planning_1_1PathCostHeuristic.html</filename>
    <member kind="function">
      <type>bool</type>
      <name>calculateDistances</name>
      <anchorfile>classvigir__footstep__planning_1_1PathCostHeuristic.html</anchorfile>
      <anchor>aa7aad5ab126be662bbb20f79c898f786</anchor>
      <arglist>(const State &amp;from, const State &amp;to)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getHeuristicValue</name>
      <anchorfile>classvigir__footstep__planning_1_1PathCostHeuristic.html</anchorfile>
      <anchor>abf98ada5142c573b59f4ba56ce43d87c</anchor>
      <arglist>(const State &amp;from, const State &amp;to, const State &amp;start, const State &amp;goal) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>loadParams</name>
      <anchorfile>classvigir__footstep__planning_1_1PathCostHeuristic.html</anchorfile>
      <anchor>a3ebac0738f6004c23dc44295bd6c6b79</anchor>
      <arglist>(const vigir_generic_params::ParameterSet &amp;params=vigir_generic_params::ParameterSet()) override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PathCostHeuristic</name>
      <anchorfile>classvigir__footstep__planning_1_1PathCostHeuristic.html</anchorfile>
      <anchor>ad606ad3d959269cb416deecaf2d5de00</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>updateMap</name>
      <anchorfile>classvigir__footstep__planning_1_1PathCostHeuristic.html</anchorfile>
      <anchor>a3de4613176ae93f1fd49965aa8811fda</anchor>
      <arglist>(vigir_gridmap_2d::GridMap2DPtr map)</arglist>
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    <member kind="function">
      <type></type>
      <name>~PathCostHeuristic</name>
      <anchorfile>classvigir__footstep__planning_1_1PathCostHeuristic.html</anchorfile>
      <anchor>a8285106241f8440e48a04f314c07fff9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>resetGrid</name>
      <anchorfile>classvigir__footstep__planning_1_1PathCostHeuristic.html</anchorfile>
      <anchor>acf92622abda8af69c11bed7c64beab6a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>ivAngleBinSize</name>
      <anchorfile>classvigir__footstep__planning_1_1PathCostHeuristic.html</anchorfile>
      <anchor>a771ff92a1feab1415e3741efbb959ae8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>ivCellSize</name>
      <anchorfile>classvigir__footstep__planning_1_1PathCostHeuristic.html</anchorfile>
      <anchor>ac0f3a39b9e974e2264bddf699c425c5f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>ivDiffAngleCost</name>
      <anchorfile>classvigir__footstep__planning_1_1PathCostHeuristic.html</anchorfile>
      <anchor>a7a609389849c4fe058fce81e2e6aa589</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>int</type>
      <name>ivGoalX</name>
      <anchorfile>classvigir__footstep__planning_1_1PathCostHeuristic.html</anchorfile>
      <anchor>a19b4ccdd4b77cca60936ce81eaa52ec9</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>int</type>
      <name>ivGoalY</name>
      <anchorfile>classvigir__footstep__planning_1_1PathCostHeuristic.html</anchorfile>
      <anchor>af898fbbd8278eb834d91dacf18125237</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::shared_ptr&lt; SBPL2DGridSearch &gt;</type>
      <name>ivGridSearchPtr</name>
      <anchorfile>classvigir__footstep__planning_1_1PathCostHeuristic.html</anchorfile>
      <anchor>a563e881744f461f93d8c26a94c7b3137</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
      <name>ivInflationRadius</name>
      <anchorfile>classvigir__footstep__planning_1_1PathCostHeuristic.html</anchorfile>
      <anchor>acffecb77879a1e940c606de2467fda96</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>vigir_gridmap_2d::GridMap2DPtr</type>
      <name>ivMapPtr</name>
      <anchorfile>classvigir__footstep__planning_1_1PathCostHeuristic.html</anchorfile>
      <anchor>aa64c297dd8a3af5d931da93219ea9904</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>ivMaxStepWidth</name>
      <anchorfile>classvigir__footstep__planning_1_1PathCostHeuristic.html</anchorfile>
      <anchor>a7d746d80c46cabd265dc21e43d8408fe</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>int</type>
      <name>ivNumAngleBins</name>
      <anchorfile>classvigir__footstep__planning_1_1PathCostHeuristic.html</anchorfile>
      <anchor>a5b540b6f9b603a9d4b40ebc7aefa2fe7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>unsigned char **</type>
      <name>ivpGrid</name>
      <anchorfile>classvigir__footstep__planning_1_1PathCostHeuristic.html</anchorfile>
      <anchor>afbe3f8c14a24f4ac6b73270c02b5a329</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>ivStepCost</name>
      <anchorfile>classvigir__footstep__planning_1_1PathCostHeuristic.html</anchorfile>
      <anchor>abdf05da0c1d35454873a318bfb42874b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected" static="yes">
      <type>static const int</type>
      <name>cvObstacleThreshold</name>
      <anchorfile>classvigir__footstep__planning_1_1PathCostHeuristic.html</anchorfile>
      <anchor>a913b99a7132651dd01c37ae51f6a620e</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>vigir_footstep_planning::ReachabilityPolygon</name>
    <filename>classvigir__footstep__planning_1_1ReachabilityPolygon.html</filename>
    <member kind="function">
      <type>bool</type>
      <name>isReachable</name>
      <anchorfile>classvigir__footstep__planning_1_1ReachabilityPolygon.html</anchorfile>
      <anchor>a335e719122a3c6089d229a8540ae6e18</anchor>
      <arglist>(const State &amp;current, const State &amp;next) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>loadParams</name>
      <anchorfile>classvigir__footstep__planning_1_1ReachabilityPolygon.html</anchorfile>
      <anchor>a1bf4f6879cef8557d83287ca5eb76c51</anchor>
      <arglist>(const ParameterSet &amp;params=vigir_generic_params::ParameterSet()) override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ReachabilityPolygon</name>
      <anchorfile>classvigir__footstep__planning_1_1ReachabilityPolygon.html</anchorfile>
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      <arglist>()</arglist>
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    <member kind="function">
      <type></type>
      <name>~ReachabilityPolygon</name>
      <anchorfile>classvigir__footstep__planning_1_1ReachabilityPolygon.html</anchorfile>
      <anchor>a3165b678ad14d2df5770ccd7db6b7f0f</anchor>
      <arglist>()</arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
      <name>angle_bin_size</name>
      <anchorfile>classvigir__footstep__planning_1_1ReachabilityPolygon.html</anchorfile>
      <anchor>a3a466c26949443e78266032c4c12da2b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>cell_size</name>
      <anchorfile>classvigir__footstep__planning_1_1ReachabilityPolygon.html</anchorfile>
      <anchor>aaef171fbdf4aef4c71ff78b6ed8f9b40</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool *</type>
      <name>ivpStepRange</name>
      <anchorfile>classvigir__footstep__planning_1_1ReachabilityPolygon.html</anchorfile>
      <anchor>ad4a0ffb4bac4748a1b26d43df3807839</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>max_step_range_inv_x</name>
      <anchorfile>classvigir__footstep__planning_1_1ReachabilityPolygon.html</anchorfile>
      <anchor>a6f2b48c6d3a06820f2823183be5de20d</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
      <name>max_step_range_inv_y</name>
      <anchorfile>classvigir__footstep__planning_1_1ReachabilityPolygon.html</anchorfile>
      <anchor>a668842fd8fa42464cc130b38775bc256</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
      <name>max_step_range_inv_yaw</name>
      <anchorfile>classvigir__footstep__planning_1_1ReachabilityPolygon.html</anchorfile>
      <anchor>aa0535e48e3a2376622e1e0f48eca8976</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
      <name>max_step_range_width_sq</name>
      <anchorfile>classvigir__footstep__planning_1_1ReachabilityPolygon.html</anchorfile>
      <anchor>a230f5f1e6540354ff47dffb9f851ca87</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
      <name>max_step_range_x</name>
      <anchorfile>classvigir__footstep__planning_1_1ReachabilityPolygon.html</anchorfile>
      <anchor>a74ae0e291b4877e2906e220541f36b79</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
      <name>max_step_range_y</name>
      <anchorfile>classvigir__footstep__planning_1_1ReachabilityPolygon.html</anchorfile>
      <anchor>a16f8bfee48a9f2913eb7923ff153986f</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
      <name>max_step_range_yaw</name>
      <anchorfile>classvigir__footstep__planning_1_1ReachabilityPolygon.html</anchorfile>
      <anchor>add32e80a4592ff22d8aa5b30fe379bc6</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>size_t</type>
      <name>step_range_size</name>
      <anchorfile>classvigir__footstep__planning_1_1ReachabilityPolygon.html</anchorfile>
      <anchor>a65513b3c9f6555c6b1897093756560cc</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>size_t</type>
      <name>step_range_size_x</name>
      <anchorfile>classvigir__footstep__planning_1_1ReachabilityPolygon.html</anchorfile>
      <anchor>ab9143d3ef426cf3bae73382c40d94026</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>size_t</type>
      <name>step_range_size_y</name>
      <anchorfile>classvigir__footstep__planning_1_1ReachabilityPolygon.html</anchorfile>
      <anchor>a1203ea8777da227dc969d62c8d4ecbfe</anchor>
      <arglist></arglist>
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  </compound>
  <compound kind="class">
    <name>vigir_footstep_planning::ReachabilityStateGenerator</name>
    <filename>classvigir__footstep__planning_1_1ReachabilityStateGenerator.html</filename>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; const ReachabilityStateGenerator &gt;</type>
      <name>ConstPtr</name>
      <anchorfile>classvigir__footstep__planning_1_1ReachabilityStateGenerator.html</anchorfile>
      <anchor>a20b16720477a1ee781ac833d6baa1186</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>boost::shared_ptr&lt; ReachabilityStateGenerator &gt;</type>
      <name>Ptr</name>
      <anchorfile>classvigir__footstep__planning_1_1ReachabilityStateGenerator.html</anchorfile>
      <anchor>ad335c802956bf12db443ee924470feb0</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>std::list&lt; PlanningState::Ptr &gt;</type>
      <name>generatePredecessor</name>
      <anchorfile>classvigir__footstep__planning_1_1ReachabilityStateGenerator.html</anchorfile>
      <anchor>aed2a24e273b3eddf3a4e09d92ddbe78a</anchor>
      <arglist>(const PlanningState &amp;state) const override</arglist>
    </member>
    <member kind="function">
      <type>std::list&lt; PlanningState::Ptr &gt;</type>
      <name>generateSuccessor</name>
      <anchorfile>classvigir__footstep__planning_1_1ReachabilityStateGenerator.html</anchorfile>
      <anchor>a2df0fd31d2c895bffa22de485babd0ee</anchor>
      <arglist>(const PlanningState &amp;state) const override</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>loadParams</name>
      <anchorfile>classvigir__footstep__planning_1_1ReachabilityStateGenerator.html</anchorfile>
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      <arglist>(const vigir_generic_params::ParameterSet &amp;params=vigir_generic_params::ParameterSet()) override</arglist>
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    <member kind="function">
      <type></type>
      <name>ReachabilityStateGenerator</name>
      <anchorfile>classvigir__footstep__planning_1_1ReachabilityStateGenerator.html</anchorfile>
      <anchor>a02178db286a7d20c674d25371ed2a60e</anchor>
      <arglist>()</arglist>
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    <member kind="variable" protection="protected">
      <type>threading::ThreadingManager&lt; threading::ExpandStateJob &gt;::Ptr</type>
      <name>expand_states_manager</name>
      <anchorfile>classvigir__footstep__planning_1_1ReachabilityStateGenerator.html</anchorfile>
      <anchor>aeeba7cf589aaa745dec771c6b45d4e71</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::vector&lt; Footstep &gt;</type>
      <name>ivContFootstepSet</name>
      <anchorfile>classvigir__footstep__planning_1_1ReachabilityStateGenerator.html</anchorfile>
      <anchor>a2763d6bc6278525a6b6a65a265034292</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>vigir_footstep_planning::StepCostHeuristic</name>
    <filename>classvigir__footstep__planning_1_1StepCostHeuristic.html</filename>
    <member kind="function">
      <type>double</type>
      <name>getHeuristicValue</name>
      <anchorfile>classvigir__footstep__planning_1_1StepCostHeuristic.html</anchorfile>
      <anchor>a457702caebc8ca58a768389022a9bea6</anchor>
      <arglist>(const State &amp;from, const State &amp;to, const State &amp;start, const State &amp;goal) const override</arglist>
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    <member kind="function">
      <type>bool</type>
      <name>loadParams</name>
      <anchorfile>classvigir__footstep__planning_1_1StepCostHeuristic.html</anchorfile>
      <anchor>af62c1b07047571bc50d042544ecb805e</anchor>
      <arglist>(const vigir_generic_params::ParameterSet &amp;params=vigir_generic_params::ParameterSet()) override</arglist>
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    <member kind="function">
      <type></type>
      <name>StepCostHeuristic</name>
      <anchorfile>classvigir__footstep__planning_1_1StepCostHeuristic.html</anchorfile>
      <anchor>a0cc0d4789a3624397a3adbfadf04e721</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>diff_angle_cost_</name>
      <anchorfile>classvigir__footstep__planning_1_1StepCostHeuristic.html</anchorfile>
      <anchor>a19150586adac4d5be844a888c2448522</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
      <name>max_step_dist_x_inv_</name>
      <anchorfile>classvigir__footstep__planning_1_1StepCostHeuristic.html</anchorfile>
      <anchor>acdca2f44dcec4fc13f23b1bce88aff09</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>max_step_dist_y_inv_</name>
      <anchorfile>classvigir__footstep__planning_1_1StepCostHeuristic.html</anchorfile>
      <anchor>a89d5d06ee8f6c1a459aad60d20b60cc8</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
      <name>step_cost_</name>
      <anchorfile>classvigir__footstep__planning_1_1StepCostHeuristic.html</anchorfile>
      <anchor>a4a0f377d65b3c18d0f661a283eda8579</anchor>
      <arglist></arglist>
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  </compound>
  <compound kind="class">
    <name>vigir_footstep_planning::StepCostKey</name>
    <filename>classvigir__footstep__planning_1_1StepCostKey.html</filename>
    <member kind="function">
      <type>void</type>
      <name>getState</name>
      <anchorfile>classvigir__footstep__planning_1_1StepCostKey.html</anchorfile>
      <anchor>a59c6b646f2e253b8eef6e0f5e550d5bc</anchor>
      <arglist>(std::vector&lt; double &gt; &amp;state) const </arglist>
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    <member kind="function">
      <type>bool</type>
      <name>operator&lt;</name>
      <anchorfile>classvigir__footstep__planning_1_1StepCostKey.html</anchorfile>
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      <arglist>(const StepCostKey &amp;other) const </arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classvigir__footstep__planning_1_1StepCostKey.html</anchorfile>
      <anchor>a61fa0e978334939f22a23b46970863ab</anchor>
      <arglist>(const StepCostKey &amp;other) const </arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setState</name>
      <anchorfile>classvigir__footstep__planning_1_1StepCostKey.html</anchorfile>
      <anchor>aba00a8090e528dc7321e70e5b58c9677</anchor>
      <arglist>(const std::vector&lt; double &gt; &amp;state)</arglist>
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    <member kind="function">
      <type></type>
      <name>StepCostKey</name>
      <anchorfile>classvigir__footstep__planning_1_1StepCostKey.html</anchorfile>
      <anchor>a27625892d96a82d2f3640f17a487887f</anchor>
      <arglist>(const std::vector&lt; double &gt; &amp;state, double cell_size, double angle_bin_size)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>StepCostKey</name>
      <anchorfile>classvigir__footstep__planning_1_1StepCostKey.html</anchorfile>
      <anchor>afbdc64e1cf0c2a9972e2abbb46662a2f</anchor>
      <arglist>(const State &amp;left_foot, const State &amp;right_foot, const State &amp;swing_foot, double cell_size, double angle_bin_size)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>StepCostKey</name>
      <anchorfile>classvigir__footstep__planning_1_1StepCostKey.html</anchorfile>
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      <arglist>(const StepCostKey &amp;other)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>int</type>
      <name>cont_2_disc</name>
      <anchorfile>classvigir__footstep__planning_1_1StepCostKey.html</anchorfile>
      <anchor>a9f28ae77625ed0a5a94fe36a72bd5c06</anchor>
      <arglist>(double value, double cell_size) const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>double</type>
      <name>disc_2_cont</name>
      <anchorfile>classvigir__footstep__planning_1_1StepCostKey.html</anchorfile>
      <anchor>a9d52ec612a5c0380fc1e013bdea6e5a6</anchor>
      <arglist>(int value, double cell_size) const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>mirrorPoseOnXPlane</name>
      <anchorfile>classvigir__footstep__planning_1_1StepCostKey.html</anchorfile>
      <anchor>afd99f74e81d3b27aca8b32b15c4f090c</anchor>
      <arglist>(tf::Pose &amp;mirror, const tf::Pose &amp;orig) const </arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>transformStates</name>
      <anchorfile>classvigir__footstep__planning_1_1StepCostKey.html</anchorfile>
      <anchor>aecab29bb194141a82973de59971896c0</anchor>
      <arglist>(const State &amp;left_foot, const State &amp;right_foot, const State &amp;swing_foot, std::vector&lt; double &gt; &amp;state) const </arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>const double</type>
      <name>angle_bin_size</name>
      <anchorfile>classvigir__footstep__planning_1_1StepCostKey.html</anchorfile>
      <anchor>a9453af2e63ea5e6f5db90e2bb3f28a9a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>const double</type>
      <name>cell_size</name>
      <anchorfile>classvigir__footstep__planning_1_1StepCostKey.html</anchorfile>
      <anchor>afe6af0540e63c37bf079db9e0890671a</anchor>
      <arglist></arglist>
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  </compound>
  <compound kind="class">
    <name>vigir_footstep_planning::StepDynamicsPostProcess</name>
    <filename>classvigir__footstep__planning_1_1StepDynamicsPostProcess.html</filename>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; const StepDynamicsPostProcess &gt;</type>
      <name>ConstPtr</name>
      <anchorfile>classvigir__footstep__planning_1_1StepDynamicsPostProcess.html</anchorfile>
      <anchor>aeede6a60b80b7efb7e64e9360da330b0</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; StepDynamicsPostProcess &gt;</type>
      <name>Ptr</name>
      <anchorfile>classvigir__footstep__planning_1_1StepDynamicsPostProcess.html</anchorfile>
      <anchor>a75c6be9d0ba1aa1bc0402e97c39c5afc</anchor>
      <arglist></arglist>
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    <member kind="function">
      <type>bool</type>
      <name>loadParams</name>
      <anchorfile>classvigir__footstep__planning_1_1StepDynamicsPostProcess.html</anchorfile>
      <anchor>ab612902136365a59ff1df9748f5eb48b</anchor>
      <arglist>(const vigir_generic_params::ParameterSet &amp;params=vigir_generic_params::ParameterSet()) override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>postProcessStepBackward</name>
      <anchorfile>classvigir__footstep__planning_1_1StepDynamicsPostProcess.html</anchorfile>
      <anchor>a7031ffaf7a0bc453485148f41fa8295d</anchor>
      <arglist>(const State &amp;left_foot, const State &amp;right_foot, State &amp;swing_foot) const override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>postProcessStepForward</name>
      <anchorfile>classvigir__footstep__planning_1_1StepDynamicsPostProcess.html</anchorfile>
      <anchor>a4b2bea661573873b9def56294ef17d9a</anchor>
      <arglist>(const State &amp;left_foot, const State &amp;right_foot, State &amp;swing_foot) const override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>StepDynamicsPostProcess</name>
      <anchorfile>classvigir__footstep__planning_1_1StepDynamicsPostProcess.html</anchorfile>
      <anchor>a7ef140294a6ccdc01bcbdce98907bb1c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>determineDynamics</name>
      <anchorfile>classvigir__footstep__planning_1_1StepDynamicsPostProcess.html</anchorfile>
      <anchor>a6312833b58cacc7f2148796cf4cb904b</anchor>
      <arglist>(const State &amp;swing_foot_before, const State &amp;stand_foot, State &amp;swing_foot_after) const </arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>determineStepAttributes</name>
      <anchorfile>classvigir__footstep__planning_1_1StepDynamicsPostProcess.html</anchorfile>
      <anchor>a29af04f2f250585fec6f3310a20704fb</anchor>
      <arglist>(const State &amp;swing_foot_before, const State &amp;stand_foot, State &amp;swing_foot_after) const </arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>determineTimings</name>
      <anchorfile>classvigir__footstep__planning_1_1StepDynamicsPostProcess.html</anchorfile>
      <anchor>a5898b40211b1c368ffb073fae85bbba1</anchor>
      <arglist>(const State &amp;swing_foot_before, const State &amp;stand_foot, State &amp;swing_foot_after) const </arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>determineTravelDistance</name>
      <anchorfile>classvigir__footstep__planning_1_1StepDynamicsPostProcess.html</anchorfile>
      <anchor>a7d662af36dbe42bf7f80a52ae61c18d0</anchor>
      <arglist>(const State &amp;swing_foot_before, const State &amp;stand_foot, State &amp;swing_foot_after) const </arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>default_step_duration</name>
      <anchorfile>classvigir__footstep__planning_1_1StepDynamicsPostProcess.html</anchorfile>
      <anchor>aa82cd16e5241fdaf8ae649dec3f9ead1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>default_sway_duration</name>
      <anchorfile>classvigir__footstep__planning_1_1StepDynamicsPostProcess.html</anchorfile>
      <anchor>a6c48f8b2f0f9bf8cb6a7a49aa30988be</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>default_swing_height</name>
      <anchorfile>classvigir__footstep__planning_1_1StepDynamicsPostProcess.html</anchorfile>
      <anchor>a8624842828839666c1f58e6678c99a22</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>vigir_footstep_planning::TerrainModel</name>
    <filename>classvigir__footstep__planning_1_1TerrainModel.html</filename>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; TerrainModel &gt;</type>
      <name>ConstPtr</name>
      <anchorfile>classvigir__footstep__planning_1_1TerrainModel.html</anchorfile>
      <anchor>a9a7151c946d9af0994ff4098096f8568</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; TerrainModel &gt;</type>
      <name>Ptr</name>
      <anchorfile>classvigir__footstep__planning_1_1TerrainModel.html</anchorfile>
      <anchor>a56d20099ea2e86dedb499054986cdd6d</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getFootContactSupport</name>
      <anchorfile>classvigir__footstep__planning_1_1TerrainModel.html</anchorfile>
      <anchor>aba5c6798c00815ec33900e0affe3af71</anchor>
      <arglist>(const geometry_msgs::Pose &amp;p, double &amp;support, pcl::PointCloud&lt; pcl::PointXYZI &gt;::Ptr checked_positions=pcl::PointCloud&lt; pcl::PointXYZI &gt;::Ptr()) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getFootContactSupport</name>
      <anchorfile>classvigir__footstep__planning_1_1TerrainModel.html</anchorfile>
      <anchor>a44418a4940769bb3b2a8e4df10b7b2af</anchor>
      <arglist>(const tf::Pose &amp;p, double &amp;support, pcl::PointCloud&lt; pcl::PointXYZI &gt;::Ptr checked_positions=pcl::PointCloud&lt; pcl::PointXYZI &gt;::Ptr()) const </arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getHeight</name>
      <anchorfile>classvigir__footstep__planning_1_1TerrainModel.html</anchorfile>
      <anchor>a9a47d437b8dbcb5c1f06d7cc37ca6d09</anchor>
      <arglist>(double x, double y, double &amp;height) const override</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>getPointWithNormal</name>
      <anchorfile>classvigir__footstep__planning_1_1TerrainModel.html</anchorfile>
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      <anchorfile>classvigir__footstep__planning_1_1TerrainModel.html</anchorfile>
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      <arglist>() const override</arglist>
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      <anchorfile>classvigir__footstep__planning_1_1TerrainModel.html</anchorfile>
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      <arglist>(const vigir_generic_params::ParameterSet &amp;params=vigir_generic_params::ParameterSet()) override</arglist>
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      <anchorfile>classvigir__footstep__planning_1_1TerrainModel.html</anchorfile>
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      <arglist>() const override</arglist>
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      <anchorfile>classvigir__footstep__planning_1_1TerrainModel.html</anchorfile>
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      <arglist>(const vigir_generic_params::ParameterSet &amp;params=vigir_generic_params::ParameterSet()) override</arglist>
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      <arglist>()</arglist>
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      <anchorfile>classvigir__footstep__planning_1_1TerrainModel.html</anchorfile>
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      <arglist>(const vigir_terrain_classifier::TerrainModelMsg::ConstPtr &amp;terrain_model)</arglist>
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      <name>TerrainModel</name>
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      <arglist>(const std::string &amp;name=&quot;terrain_model&quot;)</arglist>
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    <member kind="function">
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      <name>update3DData</name>
      <anchorfile>classvigir__footstep__planning_1_1TerrainModel.html</anchorfile>
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      <arglist>(geometry_msgs::Pose &amp;p) const override</arglist>
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      <arglist>(State &amp;s) const override</arglist>
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    <member kind="function" protection="protected">
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      <anchorfile>classvigir__footstep__planning_1_1TerrainModel.html</anchorfile>
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      <arglist>(const tf::Pose &amp;p, double &amp;support, unsigned int sampling_steps_x, unsigned int sampling_steps_y, pcl::PointCloud&lt; pcl::PointXYZI &gt;::Ptr checked_positions=pcl::PointCloud&lt; pcl::PointXYZI &gt;::Ptr()) const </arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <anchorfile>classvigir__footstep__planning_1_1TerrainModel.html</anchorfile>
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      <arglist></arglist>
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      <type>unsigned int</type>
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      <anchorfile>classvigir__footstep__planning_1_1TerrainModel.html</anchorfile>
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      <arglist></arglist>
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      <type>unsigned int</type>
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      <anchorfile>classvigir__footstep__planning_1_1TerrainModel.html</anchorfile>
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      <arglist></arglist>
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      <type>unsigned int</type>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>unsigned int</type>
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      <arglist></arglist>
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      <anchorfile>classvigir__footstep__planning_1_1TerrainModel.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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    <member kind="function">
      <type>double</type>
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      <arglist>(const State &amp;from, const State &amp;to, const State &amp;start, const State &amp;goal) const override</arglist>
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      <arglist>(const vigir_generic_params::ParameterSet &amp;params=vigir_generic_params::ParameterSet()) override</arglist>
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    <member kind="function">
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      <name>TravelTimeHeuristic</name>
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      <arglist>()</arglist>
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      <type>double</type>
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      <anchorfile>classvigir__footstep__planning_1_1TravelTimeHeuristic.html</anchorfile>
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      <arglist></arglist>
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      <type>double</type>
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      <anchorfile>classvigir__footstep__planning_1_1TravelTimeHeuristic.html</anchorfile>
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      <arglist></arglist>
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      <type>double</type>
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      <anchorfile>classvigir__footstep__planning_1_1TravelTimeHeuristic.html</anchorfile>
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      <arglist></arglist>
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      <type>double</type>
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      <anchorfile>classvigir__footstep__planning_1_1TravelTimeHeuristic.html</anchorfile>
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      <arglist></arglist>
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      <type>double</type>
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      <arglist></arglist>
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      <type>double</type>
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      <anchorfile>classvigir__footstep__planning_1_1TravelTimeHeuristic.html</anchorfile>
      <anchor>a6e196ad571c4c3271f6127409c1b390d</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchorfile>classvigir__footstep__planning_1_1TravelTimeHeuristic.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
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    <member kind="function">
      <type>bool</type>
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      <anchorfile>classvigir__footstep__planning_1_1TravelTimeStepCostEstimator.html</anchorfile>
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      <arglist>(const State &amp;left_foot, const State &amp;right_foot, const State &amp;swing_foot, double &amp;cost, double &amp;cost_multiplier, double &amp;risk, double &amp;risk_multiplier) const override</arglist>
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      <anchorfile>classvigir__footstep__planning_1_1TravelTimeStepCostEstimator.html</anchorfile>
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      <arglist>(const vigir_generic_params::ParameterSet &amp;params=vigir_generic_params::ParameterSet()) override</arglist>
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    <member kind="function">
      <type></type>
      <name>TravelTimeStepCostEstimator</name>
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      <arglist>()</arglist>
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      <type>double</type>
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      <arglist></arglist>
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      <type>double</type>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchor>ac92b32c2f258b1e34657825477052421</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchorfile>classvigir__footstep__planning_1_1TravelTimeStepCostEstimator.html</anchorfile>
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      <arglist></arglist>
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      <type>double</type>
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      <arglist></arglist>
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  <compound kind="class">
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    <base>vigir_footstep_planning::GridMapModel</base>
    <member kind="function">
      <type>bool</type>
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      <arglist>(const vigir_generic_params::ParameterSet &amp;params=vigir_generic_params::ParameterSet()) override</arglist>
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      <arglist>(const State &amp;s) const override</arglist>
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      <anchorfile>classvigir__footstep__planning_1_1UpperBodyGridMapModel.html</anchorfile>
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      <arglist>(const State &amp;next, const State &amp;current) const override</arglist>
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    <member kind="function">
      <type></type>
      <name>UpperBodyGridMapModel</name>
      <anchorfile>classvigir__footstep__planning_1_1UpperBodyGridMapModel.html</anchorfile>
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      <arglist>(const std::string &amp;name=&quot;upper_body_grid_map_model&quot;)</arglist>
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    <member kind="variable" protection="protected">
      <type>geometry_msgs::Vector3</type>
      <name>upper_body_origin_shift</name>
      <anchorfile>classvigir__footstep__planning_1_1UpperBodyGridMapModel.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>geometry_msgs::Vector3</type>
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      <arglist></arglist>
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    <class kind="struct">vigir_footstep_planning::threading::ExpandStateJob</class>
  </compound>
  <compound kind="struct">
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    <member kind="typedef">
      <type>boost::shared_ptr&lt; const ExpandStateJob &gt;</type>
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      <arglist>(const Footstep &amp;footstep_, const PlanningState &amp;state_)</arglist>
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      <anchorfile>structvigir__footstep__planning_1_1threading_1_1ExpandStateJob.html</anchorfile>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <anchorfile>structvigir__footstep__planning_1_1threading_1_1ExpandStateJob.html</anchorfile>
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      <arglist></arglist>
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      <anchorfile>structvigir__footstep__planning_1_1threading_1_1ExpandStateJob.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="private">
      <type>const Footstep &amp;</type>
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      <anchorfile>structvigir__footstep__planning_1_1threading_1_1ExpandStateJob.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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  <compound kind="namespace">
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    <class kind="class">vigir_gridmap_2d::GridMap2D</class>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; GridMap2D &gt;</type>
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      <arglist></arglist>
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  <compound kind="class">
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    <member kind="function">
      <type>const cv::Mat &amp;</type>
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      <anchorfile>classvigir__gridmap__2d_1_1GridMap2D.html</anchorfile>
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      <arglist>() const </arglist>
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    <member kind="function">
      <type>uchar</type>
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      <arglist>(double wx, double wy) const </arglist>
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    <member kind="function">
      <type>uchar</type>
      <name>binaryMapAtCell</name>
      <anchorfile>classvigir__gridmap__2d_1_1GridMap2D.html</anchorfile>
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      <arglist>(unsigned int mx, unsigned int my) const </arglist>
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