<?xml version='1.0' encoding='UTF-8' standalone='yes' ?>
<tagfile>
  <compound kind="file">
    <name>control_multi_plugin.cpp</name>
    <path>/tmp/ws/src/cob_control/cob_omni_drive_controller/src/</path>
    <filename>control__multi__plugin_8cpp.html</filename>
    <includes id="GeomController_8h" name="GeomController.h" local="yes" imported="no">GeomController.h</includes>
    <includes id="WheelControllerBase_8h" name="WheelControllerBase.h" local="yes" imported="no">WheelControllerBase.h</includes>
    <class kind="class">cob_omni_drive_controller::GeomMultiController</class>
    <class kind="class">cob_omni_drive_controller::WheelMultiController</class>
    <namespace>cob_omni_drive_controller</namespace>
  </compound>
  <compound kind="file">
    <name>control_plugin.cpp</name>
    <path>/tmp/ws/src/cob_control/cob_omni_drive_controller/src/</path>
    <filename>control__plugin_8cpp.html</filename>
    <includes id="GeomController_8h" name="GeomController.h" local="yes" imported="no">GeomController.h</includes>
    <includes id="WheelControllerBase_8h" name="WheelControllerBase.h" local="yes" imported="no">WheelControllerBase.h</includes>
    <class kind="class">cob_omni_drive_controller::WheelController::PosCtrl</class>
    <class kind="class">cob_omni_drive_controller::WheelController</class>
    <namespace>cob_omni_drive_controller</namespace>
  </compound>
  <compound kind="file">
    <name>GeomController.h</name>
    <path>/tmp/ws/src/cob_control/cob_omni_drive_controller/src/</path>
    <filename>GeomController_8h.html</filename>
    <includes id="UndercarriageCtrlGeomROS_8h" name="UndercarriageCtrlGeomROS.h" local="no" imported="no">cob_omni_drive_controller/UndercarriageCtrlGeomROS.h</includes>
    <class kind="class">cob_omni_drive_controller::GeomController</class>
    <class kind="class">cob_omni_drive_controller::GeomControllerBase</class>
    <namespace>cob_omni_drive_controller</namespace>
  </compound>
  <compound kind="file">
    <name>odom_plugin.cpp</name>
    <path>/tmp/ws/src/cob_control/cob_omni_drive_controller/src/</path>
    <filename>odom__plugin_8cpp.html</filename>
    <includes id="UndercarriageCtrlGeom_8h" name="UndercarriageCtrlGeom.h" local="no" imported="no">cob_omni_drive_controller/UndercarriageCtrlGeom.h</includes>
    <includes id="GeomController_8h" name="GeomController.h" local="yes" imported="no">GeomController.h</includes>
    <class kind="class">cob_omni_drive_controller::OdometryController</class>
    <namespace>cob_omni_drive_controller</namespace>
  </compound>
  <compound kind="file">
    <name>param_parser.cpp</name>
    <path>/tmp/ws/src/cob_control/cob_omni_drive_controller/src/</path>
    <filename>param__parser_8cpp.html</filename>
    <includes id="param__parser_8h" name="param_parser.h" local="no" imported="no">cob_omni_drive_controller/param_parser.h</includes>
    <includes id="UndercarriageCtrlGeomROS_8h" name="UndercarriageCtrlGeomROS.h" local="no" imported="no">cob_omni_drive_controller/UndercarriageCtrlGeomROS.h</includes>
    <class kind="class">MergedXmlRpcStruct</class>
    <namespace>cob_omni_drive_controller</namespace>
    <member kind="function">
      <type>bool</type>
      <name>make_wheel_struct</name>
      <anchorfile>param__parser_8cpp.html</anchorfile>
      <anchor>a635eaf0bdfafa842e77325ede4706aa6</anchor>
      <arglist>(XmlRpc::XmlRpcValue &amp;wheel_list)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>parseCtrlParams</name>
      <anchorfile>param__parser_8cpp.html</anchorfile>
      <anchor>a8ec69a523ffb118e7398ee0bb77f368b</anchor>
      <arglist>(CtrlParams &amp;params, XmlRpc::XmlRpcValue &amp;wheel, urdf::Model *model)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>parsePosCtrlParams</name>
      <anchorfile>param__parser_8cpp.html</anchorfile>
      <anchor>a30af5fd37233d7b77108a32c0450ec49</anchor>
      <arglist>(PosCtrlParams &amp;params, XmlRpc::XmlRpcValue &amp;wheel)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>parseWheel</name>
      <anchorfile>param__parser_8cpp.html</anchorfile>
      <anchor>af9f33678093aee64b4c539d33929a576</anchor>
      <arglist>(UndercarriageCtrl::WheelParams &amp;params, XmlRpc::XmlRpcValue &amp;wheel, MergedXmlRpcStruct &amp;merged, urdf::Model *model)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>parseWheel</name>
      <anchorfile>param__parser_8cpp.html</anchorfile>
      <anchor>a6adacd98a764c53e21c88f500ebadb9c</anchor>
      <arglist>(UndercarriageDirectCtrl::WheelParams &amp;params, XmlRpc::XmlRpcValue &amp;wheel, MergedXmlRpcStruct &amp;merged, urdf::Model *model)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>parseWheel</name>
      <anchorfile>param__parser_8cpp.html</anchorfile>
      <anchor>a8c7c217ae455b3830b719393911feef9</anchor>
      <arglist>(UndercarriageGeom::WheelParams &amp;params, XmlRpc::XmlRpcValue &amp;wheel, MergedXmlRpcStruct &amp;merged, urdf::Model *model)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>parseWheel</name>
      <anchorfile>param__parser_8cpp.html</anchorfile>
      <anchor>aaa8b563cd43ca9e85ffb9c080d62f93d</anchor>
      <arglist>(W &amp;params, XmlRpc::XmlRpcValue &amp;wheel, MergedXmlRpcStruct &amp;merged, urdf::Model *model)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>parseWheelGeom</name>
      <anchorfile>param__parser_8cpp.html</anchorfile>
      <anchor>aabc282ee7220c01c5562afda9b050e4a</anchor>
      <arglist>(WheelGeom &amp;geom, XmlRpc::XmlRpcValue &amp;wheel, MergedXmlRpcStruct &amp;merged, urdf::Model *model)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>parseWheelParams</name>
      <anchorfile>namespacecob__omni__drive__controller.html</anchorfile>
      <anchor>ac02aacfab9a9f6d759dc1c7b9b6f278d</anchor>
      <arglist>(std::vector&lt; UndercarriageCtrl::WheelParams &gt; &amp;params, const ros::NodeHandle &amp;nh, bool read_urdf=true)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>parseWheelParams</name>
      <anchorfile>namespacecob__omni__drive__controller.html</anchorfile>
      <anchor>afa9512fa4081991ee4b64455ff983cae</anchor>
      <arglist>(std::vector&lt; UndercarriageDirectCtrl::WheelParams &gt; &amp;params, const ros::NodeHandle &amp;nh, bool read_urdf=true)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>parseWheelParams</name>
      <anchorfile>namespacecob__omni__drive__controller.html</anchorfile>
      <anchor>afeaa0b3a793b233ee17e69485687351d</anchor>
      <arglist>(std::vector&lt; UndercarriageGeom::WheelParams &gt; &amp;params, const ros::NodeHandle &amp;nh, bool read_urdf=true)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>parseWheels</name>
      <anchorfile>param__parser_8cpp.html</anchorfile>
      <anchor>aa5880c796901523070847bcb89a2369a</anchor>
      <arglist>(std::vector&lt; W &gt; &amp;wheel_params, const ros::NodeHandle &amp;nh, bool read_urdf)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>read</name>
      <anchorfile>param__parser_8cpp.html</anchorfile>
      <anchor>a7e76b1d1f072af01eee7c60e1db9a952</anchor>
      <arglist>(T &amp;val, const std::string &amp;name, XmlRpc::XmlRpcValue &amp;wheel)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>read_optional</name>
      <anchorfile>param__parser_8cpp.html</anchorfile>
      <anchor>a4c2c9890d370ca195c35293075e4cec3</anchor>
      <arglist>(T &amp;val, const std::string &amp;name, XmlRpc::XmlRpcValue &amp;wheel)</arglist>
    </member>
    <member kind="function">
      <type>T</type>
      <name>read_typed</name>
      <anchorfile>param__parser_8cpp.html</anchorfile>
      <anchor>aacd4a4c18187917bb89c8396ca4c89c0</anchor>
      <arglist>(XmlRpc::XmlRpcValue &amp;val)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>read_typed</name>
      <anchorfile>param__parser_8cpp.html</anchorfile>
      <anchor>a2fe5bb6f5ca0534057b534a905a5267f</anchor>
      <arglist>(XmlRpc::XmlRpcValue &amp;val)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>read_with_default</name>
      <anchorfile>param__parser_8cpp.html</anchorfile>
      <anchor>ade036a359d88bb2e1aafe4e909fa7da6</anchor>
      <arglist>(T &amp;val, const std::string &amp;name, XmlRpc::XmlRpcValue &amp;wheel, const T &amp;def)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>param_parser.h</name>
    <path>/tmp/ws/src/cob_control/cob_omni_drive_controller/include/cob_omni_drive_controller/</path>
    <filename>param__parser_8h.html</filename>
    <member kind="function">
      <type>bool</type>
      <name>parseWheelTransform</name>
      <anchorfile>param__parser_8h.html</anchorfile>
      <anchor>a8b6fa02dbad53e9fb1be5a1bbe7de53a</anchor>
      <arglist>(const std::string &amp;joint_name, const std::string &amp;parent_link_name, tf2::Transform &amp;transform, urdf::Model *model)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>UndercarriageCtrlGeom.cpp</name>
    <path>/tmp/ws/src/cob_control/cob_omni_drive_controller/src/</path>
    <filename>UndercarriageCtrlGeom_8cpp.html</filename>
    <includes id="UndercarriageCtrlGeom_8h" name="UndercarriageCtrlGeom.h" local="no" imported="no">cob_omni_drive_controller/UndercarriageCtrlGeom.h</includes>
    <namespace>MathSup</namespace>
    <member kind="function">
      <type>double</type>
      <name>atan4quad</name>
      <anchorfile>namespaceMathSup.html</anchorfile>
      <anchor>afdbf5cfa154f41ed72f17d4516551d60</anchor>
      <arglist>(double y, double x)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getWeightedDelta</name>
      <anchorfile>UndercarriageCtrlGeom_8cpp.html</anchorfile>
      <anchor>abd2dd1e2b99f10d956c2948d425666ac</anchor>
      <arglist>(double current_position, double old_target, double new_target)</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>limitValue</name>
      <anchorfile>UndercarriageCtrlGeom_8cpp.html</anchorfile>
      <anchor>a3622e37f99ae7ebd2490df53f3c701d5</anchor>
      <arglist>(double value, double limit)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalizePi</name>
      <anchorfile>namespaceMathSup.html</anchorfile>
      <anchor>a38b92acb90f3fa70b91140acddad4ab4</anchor>
      <arglist>(double &amp;val)</arglist>
    </member>
    <member kind="variable">
      <type>const double</type>
      <name>PI</name>
      <anchorfile>namespaceMathSup.html</anchorfile>
      <anchor>a7cf618d446d59c0b71f2324e2d146eea</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>UndercarriageCtrlGeom.h</name>
    <path>/tmp/ws/src/cob_control/cob_omni_drive_controller/include/cob_omni_drive_controller/</path>
    <filename>UndercarriageCtrlGeom_8h.html</filename>
    <class kind="struct">CtrlData</class>
    <class kind="struct">CtrlParams</class>
    <class kind="struct">PlatformState</class>
    <class kind="struct">PosCtrlData</class>
    <class kind="struct">PosCtrlParams</class>
    <class kind="class">UndercarriageCtrl</class>
    <class kind="class">UndercarriageCtrlBase</class>
    <class kind="class">UndercarriageDirectCtrl</class>
    <class kind="class">UndercarriageGeom</class>
    <class kind="class">UndercarriageGeomBase</class>
    <class kind="struct">WheelCommand</class>
    <class kind="struct">WheelCtrlParams</class>
    <class kind="struct">WheelCtrlPosParams</class>
    <class kind="struct">WheelData</class>
    <class kind="struct">WheelGeom</class>
    <class kind="struct">UndercarriageGeom::WheelParams</class>
    <class kind="struct">WheelState</class>
    <member kind="function">
      <type>double</type>
      <name>limitValue</name>
      <anchorfile>UndercarriageCtrlGeom_8h.html</anchorfile>
      <anchor>a3622e37f99ae7ebd2490df53f3c701d5</anchor>
      <arglist>(double value, double limit)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>UndercarriageCtrlGeomROS.h</name>
    <path>/tmp/ws/src/cob_control/cob_omni_drive_controller/include/cob_omni_drive_controller/</path>
    <filename>UndercarriageCtrlGeomROS_8h.html</filename>
    <includes id="UndercarriageCtrlGeom_8h" name="UndercarriageCtrlGeom.h" local="no" imported="no">cob_omni_drive_controller/UndercarriageCtrlGeom.h</includes>
    <namespace>cob_omni_drive_controller</namespace>
    <member kind="function">
      <type>bool</type>
      <name>parseWheelParams</name>
      <anchorfile>namespacecob__omni__drive__controller.html</anchorfile>
      <anchor>ac02aacfab9a9f6d759dc1c7b9b6f278d</anchor>
      <arglist>(std::vector&lt; UndercarriageCtrl::WheelParams &gt; &amp;params, const ros::NodeHandle &amp;nh, bool read_urdf=true)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>parseWheelParams</name>
      <anchorfile>namespacecob__omni__drive__controller.html</anchorfile>
      <anchor>afa9512fa4081991ee4b64455ff983cae</anchor>
      <arglist>(std::vector&lt; UndercarriageDirectCtrl::WheelParams &gt; &amp;params, const ros::NodeHandle &amp;nh, bool read_urdf=true)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>parseWheelParams</name>
      <anchorfile>namespacecob__omni__drive__controller.html</anchorfile>
      <anchor>afeaa0b3a793b233ee17e69485687351d</anchor>
      <arglist>(std::vector&lt; UndercarriageGeom::WheelParams &gt; &amp;params, const ros::NodeHandle &amp;nh, bool read_urdf=true)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>WheelControllerBase.h</name>
    <path>/tmp/ws/src/cob_control/cob_omni_drive_controller/src/</path>
    <filename>WheelControllerBase_8h.html</filename>
    <includes id="UndercarriageCtrlGeom_8h" name="UndercarriageCtrlGeom.h" local="no" imported="no">cob_omni_drive_controller/UndercarriageCtrlGeom.h</includes>
    <class kind="struct">cob_omni_drive_controller::WheelControllerBase::Target</class>
    <class kind="class">cob_omni_drive_controller::WheelControllerBase</class>
    <namespace>cob_omni_drive_controller</namespace>
  </compound>
  <compound kind="struct">
    <name>CtrlData</name>
    <filename>structCtrlData.html</filename>
    <base>WheelData</base>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>calcControlStep</name>
      <anchorfile>structCtrlData.html</anchorfile>
      <anchor>a0ac38d47b700426cd0780c85d2afacb3</anchor>
      <arglist>(WheelCommand &amp;command, double dCmdRateS, bool reset)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>CtrlData</name>
      <anchorfile>structCtrlData.html</anchorfile>
      <anchor>aabc80a7a406a87211ee0b481bffd3591</anchor>
      <arglist>(const P &amp;params)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>reset</name>
      <anchorfile>structCtrlData.html</anchorfile>
      <anchor>ac378bdb991c04694f5d9c7bf0c57a369</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setTarget</name>
      <anchorfile>structCtrlData.html</anchorfile>
      <anchor>a1ec43b0167d3f189714bebd64debc336</anchor>
      <arglist>(const PlatformState &amp;state)</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>m_dAngGearSteerTargetRad</name>
      <anchorfile>structCtrlData.html</anchorfile>
      <anchor>afa9deb7094d95f0c9a3d29c8ac9668ed</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>m_dVelGearDriveTargetRadS</name>
      <anchorfile>structCtrlData.html</anchorfile>
      <anchor>af8961f37215d47f4641be93cd19f04cb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>CtrlParams</type>
      <name>params_</name>
      <anchorfile>structCtrlData.html</anchorfile>
      <anchor>a49dcd8693bf8e7cee07da5aea6d335f7</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>CtrlParams</name>
    <filename>structCtrlParams.html</filename>
    <member kind="variable">
      <type>double</type>
      <name>dMaxDriveRateRadpS</name>
      <anchorfile>structCtrlParams.html</anchorfile>
      <anchor>a140f33156beaa93164d2451c6793ad5a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>dMaxSteerRateRadpS</name>
      <anchorfile>structCtrlParams.html</anchorfile>
      <anchor>a73987204b4a4bb87da9419a5a89c2442</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>dWheelNeutralPos</name>
      <anchorfile>structCtrlParams.html</anchorfile>
      <anchor>a3693a2776624d6f68bd9a9c9ae0636f3</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>cob_omni_drive_controller::GeomController</name>
    <filename>classcob__omni__drive__controller_1_1GeomController.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <base>GeomControllerBase&lt; Interface::ResourceHandleType, Controller &gt;</base>
    <base>Controller&lt; Interface &gt;</base>
    <member kind="typedef">
      <type>std::vector&lt; typename Controller::WheelParams &gt;</type>
      <name>wheel_params_t</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomController.html</anchorfile>
      <anchor>ac1476a3daab38ab501f9801c54e29e45</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>init</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomController.html</anchorfile>
      <anchor>a641c4404b9737e2596a8d1268d8f8132</anchor>
      <arglist>(Interface *hw, const wheel_params_t &amp;wheel_params)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>init</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomController.html</anchorfile>
      <anchor>aaa1c897741cfdbb9ccaacd729dbb1e9d</anchor>
      <arglist>(Interface *hw, ros::NodeHandle &amp;controller_nh)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>GeomController&lt; hardware_interface::JointStateInterface, UndercarriageGeom &gt;</name>
    <filename>classcob__omni__drive__controller_1_1GeomController.html</filename>
    <base>GeomControllerBase&lt; hardware_interface::JointStateInterface ::ResourceHandleType, UndercarriageGeom &gt;</base>
    <member kind="typedef">
      <type>std::vector&lt; typename UndercarriageGeom ::WheelParams &gt;</type>
      <name>wheel_params_t</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomController.html</anchorfile>
      <anchor>ac1476a3daab38ab501f9801c54e29e45</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>init</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomController.html</anchorfile>
      <anchor>a641c4404b9737e2596a8d1268d8f8132</anchor>
      <arglist>(hardware_interface::JointStateInterface *hw, const wheel_params_t &amp;wheel_params)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>init</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomController.html</anchorfile>
      <anchor>aaa1c897741cfdbb9ccaacd729dbb1e9d</anchor>
      <arglist>(hardware_interface::JointStateInterface *hw, ros::NodeHandle &amp;controller_nh)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>GeomController&lt; hardware_interface::VelocityJointInterface, UndercarriageCtrl &gt;</name>
    <filename>classcob__omni__drive__controller_1_1GeomController.html</filename>
    <base>GeomControllerBase&lt; hardware_interface::VelocityJointInterface ::ResourceHandleType, UndercarriageCtrl &gt;</base>
    <member kind="typedef">
      <type>std::vector&lt; typename UndercarriageCtrl ::WheelParams &gt;</type>
      <name>wheel_params_t</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomController.html</anchorfile>
      <anchor>ac1476a3daab38ab501f9801c54e29e45</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>init</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomController.html</anchorfile>
      <anchor>a641c4404b9737e2596a8d1268d8f8132</anchor>
      <arglist>(hardware_interface::VelocityJointInterface *hw, const wheel_params_t &amp;wheel_params)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>init</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomController.html</anchorfile>
      <anchor>aaa1c897741cfdbb9ccaacd729dbb1e9d</anchor>
      <arglist>(hardware_interface::VelocityJointInterface *hw, ros::NodeHandle &amp;controller_nh)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>cob_omni_drive_controller::GeomControllerBase</name>
    <filename>classcob__omni__drive__controller_1_1GeomControllerBase.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="function">
      <type>void</type>
      <name>updateState</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomControllerBase.html</anchorfile>
      <anchor>a8ea36186d476d6c68ccdfae02d21f0e2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>setup</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomControllerBase.html</anchorfile>
      <anchor>afac2459f78a78c46eb2c3eaa352179ce</anchor>
      <arglist>(const std::vector&lt; typename Controller::WheelParams &gt; &amp;wheel_params)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; HandleType &gt;</type>
      <name>drive_joints_</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomControllerBase.html</anchorfile>
      <anchor>a916d2d177e2c77dda0ec0cc536403d36</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::scoped_ptr&lt; Controller &gt;</type>
      <name>geom_</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomControllerBase.html</anchorfile>
      <anchor>a5c489a39a58da2c16f573354165be6ec</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; HandleType &gt;</type>
      <name>steer_joints_</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomControllerBase.html</anchorfile>
      <anchor>af509d34fe33cef9d3624fda1674b3163</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; WheelState &gt;</type>
      <name>wheel_states_</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomControllerBase.html</anchorfile>
      <anchor>aafc06013ba5a1f5afb43a4705864bcb1</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>GeomControllerBase&lt; hardware_interface::JointHandle, UndercarriageDirectCtrl &gt;</name>
    <filename>classcob__omni__drive__controller_1_1GeomControllerBase.html</filename>
    <member kind="function">
      <type>void</type>
      <name>updateState</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomControllerBase.html</anchorfile>
      <anchor>a8ea36186d476d6c68ccdfae02d21f0e2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>setup</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomControllerBase.html</anchorfile>
      <anchor>afac2459f78a78c46eb2c3eaa352179ce</anchor>
      <arglist>(const std::vector&lt; typename UndercarriageDirectCtrl ::WheelParams &gt; &amp;wheel_params)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; hardware_interface::JointHandle &gt;</type>
      <name>drive_joints_</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomControllerBase.html</anchorfile>
      <anchor>a916d2d177e2c77dda0ec0cc536403d36</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::scoped_ptr&lt; UndercarriageDirectCtrl &gt;</type>
      <name>geom_</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomControllerBase.html</anchorfile>
      <anchor>a5c489a39a58da2c16f573354165be6ec</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; hardware_interface::JointHandle &gt;</type>
      <name>steer_joints_</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomControllerBase.html</anchorfile>
      <anchor>af509d34fe33cef9d3624fda1674b3163</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; WheelState &gt;</type>
      <name>wheel_states_</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomControllerBase.html</anchorfile>
      <anchor>aafc06013ba5a1f5afb43a4705864bcb1</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>GeomControllerBase&lt; hardware_interface::JointStateInterface ::ResourceHandleType, UndercarriageGeom &gt;</name>
    <filename>classcob__omni__drive__controller_1_1GeomControllerBase.html</filename>
    <member kind="function">
      <type>void</type>
      <name>updateState</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomControllerBase.html</anchorfile>
      <anchor>a8ea36186d476d6c68ccdfae02d21f0e2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>setup</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomControllerBase.html</anchorfile>
      <anchor>afac2459f78a78c46eb2c3eaa352179ce</anchor>
      <arglist>(const std::vector&lt; typename UndercarriageGeom ::WheelParams &gt; &amp;wheel_params)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; hardware_interface::JointStateInterface ::ResourceHandleType &gt;</type>
      <name>drive_joints_</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomControllerBase.html</anchorfile>
      <anchor>a916d2d177e2c77dda0ec0cc536403d36</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::scoped_ptr&lt; UndercarriageGeom &gt;</type>
      <name>geom_</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomControllerBase.html</anchorfile>
      <anchor>a5c489a39a58da2c16f573354165be6ec</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; hardware_interface::JointStateInterface ::ResourceHandleType &gt;</type>
      <name>steer_joints_</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomControllerBase.html</anchorfile>
      <anchor>af509d34fe33cef9d3624fda1674b3163</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; WheelState &gt;</type>
      <name>wheel_states_</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomControllerBase.html</anchorfile>
      <anchor>aafc06013ba5a1f5afb43a4705864bcb1</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>GeomControllerBase&lt; hardware_interface::VelocityJointInterface ::ResourceHandleType, UndercarriageCtrl &gt;</name>
    <filename>classcob__omni__drive__controller_1_1GeomControllerBase.html</filename>
    <member kind="function">
      <type>void</type>
      <name>updateState</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomControllerBase.html</anchorfile>
      <anchor>a8ea36186d476d6c68ccdfae02d21f0e2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>setup</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomControllerBase.html</anchorfile>
      <anchor>afac2459f78a78c46eb2c3eaa352179ce</anchor>
      <arglist>(const std::vector&lt; typename UndercarriageCtrl ::WheelParams &gt; &amp;wheel_params)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; hardware_interface::VelocityJointInterface ::ResourceHandleType &gt;</type>
      <name>drive_joints_</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomControllerBase.html</anchorfile>
      <anchor>a916d2d177e2c77dda0ec0cc536403d36</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::scoped_ptr&lt; UndercarriageCtrl &gt;</type>
      <name>geom_</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomControllerBase.html</anchorfile>
      <anchor>a5c489a39a58da2c16f573354165be6ec</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; hardware_interface::VelocityJointInterface ::ResourceHandleType &gt;</type>
      <name>steer_joints_</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomControllerBase.html</anchorfile>
      <anchor>af509d34fe33cef9d3624fda1674b3163</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; WheelState &gt;</type>
      <name>wheel_states_</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomControllerBase.html</anchorfile>
      <anchor>aafc06013ba5a1f5afb43a4705864bcb1</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>GeomControllerBase&lt; Interface::ResourceHandleType, Controller &gt;</name>
    <filename>classcob__omni__drive__controller_1_1GeomControllerBase.html</filename>
    <member kind="function">
      <type>void</type>
      <name>updateState</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomControllerBase.html</anchorfile>
      <anchor>a8ea36186d476d6c68ccdfae02d21f0e2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>setup</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomControllerBase.html</anchorfile>
      <anchor>afac2459f78a78c46eb2c3eaa352179ce</anchor>
      <arglist>(const std::vector&lt; typename Controller::WheelParams &gt; &amp;wheel_params)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; Interface::ResourceHandleType &gt;</type>
      <name>drive_joints_</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomControllerBase.html</anchorfile>
      <anchor>a916d2d177e2c77dda0ec0cc536403d36</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::scoped_ptr&lt; Controller &gt;</type>
      <name>geom_</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomControllerBase.html</anchorfile>
      <anchor>a5c489a39a58da2c16f573354165be6ec</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; Interface::ResourceHandleType &gt;</type>
      <name>steer_joints_</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomControllerBase.html</anchorfile>
      <anchor>af509d34fe33cef9d3624fda1674b3163</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; WheelState &gt;</type>
      <name>wheel_states_</name>
      <anchorfile>classcob__omni__drive__controller_1_1GeomControllerBase.html</anchorfile>
      <anchor>aafc06013ba5a1f5afb43a4705864bcb1</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>cob_omni_drive_controller::GeomMultiController</name>
    <filename>classcob__omni__drive__controller_1_1GeomMultiController.html</filename>
    <base>GeomControllerBase&lt; hardware_interface::JointHandle, UndercarriageDirectCtrl &gt;</base>
    <base>MultiInterfaceController&lt; hardware_interface::VelocityJointInterface, hardware_interface::PositionJointInterface &gt;</base>
  </compound>
  <compound kind="class">
    <name>MergedXmlRpcStruct</name>
    <filename>classMergedXmlRpcStruct.html</filename>
    <base>XmlRpc::XmlRpcValue</base>
    <member kind="function">
      <type></type>
      <name>MergedXmlRpcStruct</name>
      <anchorfile>classMergedXmlRpcStruct.html</anchorfile>
      <anchor>a1781e9ec563cfa57e446b95b02388cdb</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MergedXmlRpcStruct</name>
      <anchorfile>classMergedXmlRpcStruct.html</anchorfile>
      <anchor>a911f03c83e4833f8b574b2bf86769c2f</anchor>
      <arglist>(const XmlRpc::XmlRpcValue &amp;a, const MergedXmlRpcStruct &amp;b, bool recursive=true)</arglist>
    </member>
    <member kind="function" protection="private">
      <type></type>
      <name>MergedXmlRpcStruct</name>
      <anchorfile>classMergedXmlRpcStruct.html</anchorfile>
      <anchor>aaf985e2aad141136ae7cf57e6d0c9558</anchor>
      <arglist>(const XmlRpc::XmlRpcValue &amp;a)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>cob_omni_drive_controller::OdometryController</name>
    <filename>classcob__omni__drive__controller_1_1OdometryController.html</filename>
    <base>GeomController&lt; hardware_interface::JointStateInterface, UndercarriageGeom &gt;</base>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>init</name>
      <anchorfile>classcob__omni__drive__controller_1_1OdometryController.html</anchorfile>
      <anchor>ae8b284fd0ef80de99fced209aa9823b9</anchor>
      <arglist>(hardware_interface::JointStateInterface *hw, ros::NodeHandle &amp;root_nh, ros::NodeHandle &amp;controller_nh)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>OdometryController</name>
      <anchorfile>classcob__omni__drive__controller_1_1OdometryController.html</anchorfile>
      <anchor>a7e53f1fd5891a5c081bdf8b3654738e2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>srv_reset</name>
      <anchorfile>classcob__omni__drive__controller_1_1OdometryController.html</anchorfile>
      <anchor>aa563e5fa44835ab00a82e8040ef65033</anchor>
      <arglist>(std_srvs::Trigger::Request &amp;req, std_srvs::Trigger::Response &amp;res)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>starting</name>
      <anchorfile>classcob__omni__drive__controller_1_1OdometryController.html</anchorfile>
      <anchor>a8b2069b500ee411280889340411775f5</anchor>
      <arglist>(const ros::Time &amp;time)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>stopping</name>
      <anchorfile>classcob__omni__drive__controller_1_1OdometryController.html</anchorfile>
      <anchor>abd6033dc3b62371668547e48f0e8a1dc</anchor>
      <arglist>(const ros::Time &amp;time)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>update</name>
      <anchorfile>classcob__omni__drive__controller_1_1OdometryController.html</anchorfile>
      <anchor>a5f5ba0ca14e11a68ba9dab4c79d24158</anchor>
      <arglist>(const ros::Time &amp;time, const ros::Duration &amp;period)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>publish</name>
      <anchorfile>classcob__omni__drive__controller_1_1OdometryController.html</anchorfile>
      <anchor>aa09c5572ef68c4c18e9733709a63fc64</anchor>
      <arglist>(const ros::TimerEvent &amp;event)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>child_frame_id_</name>
      <anchorfile>classcob__omni__drive__controller_1_1OdometryController.html</anchorfile>
      <anchor>a8f5ca8ea3683d3bbe359e63522cf9409</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::string</type>
      <name>frame_id_</name>
      <anchorfile>classcob__omni__drive__controller_1_1OdometryController.html</anchorfile>
      <anchor>abe77a2311b94ca34210a50a73ff71c6d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>invert_odom_tf_</name>
      <anchorfile>classcob__omni__drive__controller_1_1OdometryController.html</anchorfile>
      <anchor>af4a2fa79efb6cf1a0ce8d0782e87a421</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>boost::mutex</type>
      <name>mutex_</name>
      <anchorfile>classcob__omni__drive__controller_1_1OdometryController.html</anchorfile>
      <anchor>a118454f32327d33fd926a93f0b8009ec</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>nav_msgs::Odometry</type>
      <name>odom_</name>
      <anchorfile>classcob__omni__drive__controller_1_1OdometryController.html</anchorfile>
      <anchor>a6d63e830fdc8f57d4001345065f3e045</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>geometry_msgs::TransformStamped</type>
      <name>odom_tf_</name>
      <anchorfile>classcob__omni__drive__controller_1_1OdometryController.html</anchorfile>
      <anchor>a4a06829279329b224a9916c5f19060e1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>boost::scoped_ptr&lt; OdometryTracker &gt;</type>
      <name>odom_tracker_</name>
      <anchorfile>classcob__omni__drive__controller_1_1OdometryController.html</anchorfile>
      <anchor>a478f027e25cd0c147ccd0ad2fa810e0d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>PlatformState</type>
      <name>platform_state_</name>
      <anchorfile>classcob__omni__drive__controller_1_1OdometryController.html</anchorfile>
      <anchor>a1d10cca36576145ac81e44168d24302b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Timer</type>
      <name>publish_timer_</name>
      <anchorfile>classcob__omni__drive__controller_1_1OdometryController.html</anchorfile>
      <anchor>a04c04cfa89aed63abf0c9309c80991d9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>reset_</name>
      <anchorfile>classcob__omni__drive__controller_1_1OdometryController.html</anchorfile>
      <anchor>a6630c4bfa76a6cef9e3681b2f82e9554</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::ServiceServer</type>
      <name>service_reset_</name>
      <anchorfile>classcob__omni__drive__controller_1_1OdometryController.html</anchorfile>
      <anchor>a8ea371ef51ecc3566a53f4a41c7de7d2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Time</type>
      <name>stop_time_</name>
      <anchorfile>classcob__omni__drive__controller_1_1OdometryController.html</anchorfile>
      <anchor>a8e44da029d6dc3a5e61c39793154bf04</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>boost::scoped_ptr&lt; tf::TransformBroadcaster &gt;</type>
      <name>tf_broadcast_odometry_</name>
      <anchorfile>classcob__omni__drive__controller_1_1OdometryController.html</anchorfile>
      <anchor>ae8911a699b59744edf675099d1210478</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ros::Publisher</type>
      <name>topic_pub_odometry_</name>
      <anchorfile>classcob__omni__drive__controller_1_1OdometryController.html</anchorfile>
      <anchor>a53f75e03b352e4cf088ae362a846d5b4</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>PlatformState</name>
    <filename>structPlatformState.html</filename>
    <member kind="function">
      <type>const double</type>
      <name>getVelX</name>
      <anchorfile>structPlatformState.html</anchorfile>
      <anchor>a6a16985e5c936819639674564a7fd76f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const double</type>
      <name>getVelY</name>
      <anchorfile>structPlatformState.html</anchorfile>
      <anchor>aa798a0bd11d3838f7aeb5ea5ae998033</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PlatformState</name>
      <anchorfile>structPlatformState.html</anchorfile>
      <anchor>a37711b6b3b9557ef3dc66d6100e12de4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setVelX</name>
      <anchorfile>structPlatformState.html</anchorfile>
      <anchor>a265ee5b4cb6c3de0875b73caf3245c23</anchor>
      <arglist>(const double val)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setVelY</name>
      <anchorfile>structPlatformState.html</anchorfile>
      <anchor>a7cc694fb3a88a51e4900d1095230c66f</anchor>
      <arglist>(const double val)</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>dRotRobRadS</name>
      <anchorfile>structPlatformState.html</anchorfile>
      <anchor>a12aa8bc00dda26151bb57b95402fbc0e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>dVelLatMMS</name>
      <anchorfile>structPlatformState.html</anchorfile>
      <anchor>a34c0b56415b915bba1f680430c09db64</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>dVelLongMMS</name>
      <anchorfile>structPlatformState.html</anchorfile>
      <anchor>a832970075958ed9bf20a59fa922ae0c6</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>cob_omni_drive_controller::WheelController::PosCtrl</name>
    <filename>classcob__omni__drive__controller_1_1WheelController_1_1PosCtrl.html</filename>
    <member kind="function">
      <type>void</type>
      <name>init</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelController_1_1PosCtrl.html</anchorfile>
      <anchor>a82eb7269ffdb0510e51bfbb5810758a2</anchor>
      <arglist>(const wheel_params_t &amp;params, const ros::NodeHandle &amp;nh)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PosCtrl</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelController_1_1PosCtrl.html</anchorfile>
      <anchor>a5feb2cfbc2ed80e67ee3d82885419820</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>try_configure</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelController_1_1PosCtrl.html</anchorfile>
      <anchor>ab1ca24bd501908bf57b6d0c998f8cc50</anchor>
      <arglist>(UndercarriageCtrl &amp;ctrl)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>setForAll</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelController_1_1PosCtrl.html</anchorfile>
      <anchor>a7befff3ebdd4ce801349a6225782c91d</anchor>
      <arglist>(SteerCtrlConfig &amp;config, uint32_t)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>setForOne</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelController_1_1PosCtrl.html</anchorfile>
      <anchor>aba8905141da370c6f8d70dcdbe6ef6a9</anchor>
      <arglist>(size_t i, SteerCtrlConfig &amp;config, uint32_t)</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static void</type>
      <name>copy</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelController_1_1PosCtrl.html</anchorfile>
      <anchor>a13e7fdb0cf38291d1ab64abbbb9f7636</anchor>
      <arglist>(PosCtrlParams &amp;params, const SteerCtrlConfig &amp;config)</arglist>
    </member>
    <member kind="function" protection="private" static="yes">
      <type>static void</type>
      <name>copy</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelController_1_1PosCtrl.html</anchorfile>
      <anchor>a62fe08c06f4bc9ccaf3a3d3263205889</anchor>
      <arglist>(SteerCtrlConfig &amp;config, const PosCtrlParams &amp;params)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>boost::recursive_mutex</type>
      <name>mutex</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelController_1_1PosCtrl.html</anchorfile>
      <anchor>abe9c0d054299c8404f81e74acd364bba</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; PosCtrlParams &gt;</type>
      <name>pos_ctrl_params</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelController_1_1PosCtrl.html</anchorfile>
      <anchor>a6418745bbbec05424349d39f0c2fd137</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>boost::scoped_ptr&lt; dynamic_reconfigure::Server&lt; SteerCtrlConfig &gt; &gt;</type>
      <name>reconfigure_server_</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelController_1_1PosCtrl.html</anchorfile>
      <anchor>add029f5fba1420532d51bdaf75c3cc44</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; boost::shared_ptr&lt; dynamic_reconfigure::Server&lt; SteerCtrlConfig &gt; &gt; &gt;</type>
      <name>reconfigure_server_axes_</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelController_1_1PosCtrl.html</anchorfile>
      <anchor>a36731ee68e495f69799f590b0abe20e6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>updated</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelController_1_1PosCtrl.html</anchorfile>
      <anchor>a6a82f683bc914d583d14b1fdf164d150</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>PosCtrlData</name>
    <filename>structPosCtrlData.html</filename>
    <base>CtrlData</base>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>calcControlStep</name>
      <anchorfile>structPosCtrlData.html</anchorfile>
      <anchor>a8ec3a72c5d30f72d34529709bc0da159</anchor>
      <arglist>(WheelCommand &amp;command, double dCmdRateS, bool reset)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PosCtrlData</name>
      <anchorfile>structPosCtrlData.html</anchorfile>
      <anchor>a1bae1d1bc843665d835e6dea39d40c13</anchor>
      <arglist>(const WheelCtrlPosParams &amp;params)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>reset</name>
      <anchorfile>structPosCtrlData.html</anchorfile>
      <anchor>ae448f832bdd730fb9f9439b1cffd820f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>m_dCtrlVelCmdInt</name>
      <anchorfile>structPosCtrlData.html</anchorfile>
      <anchor>a61c77f7ba6e2caf708b5ff3d2b6de654</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>PosCtrlParams</type>
      <name>pos_params_</name>
      <anchorfile>structPosCtrlData.html</anchorfile>
      <anchor>ad575f6fa59dd6d3c1b9f8866ac69009e</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>PosCtrlParams</name>
    <filename>structPosCtrlParams.html</filename>
    <member kind="variable">
      <type>double</type>
      <name>dDamp</name>
      <anchorfile>structPosCtrlParams.html</anchorfile>
      <anchor>aa52b7449bdadd8b84dd4220211efb7b5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>dDDPhiMax</name>
      <anchorfile>structPosCtrlParams.html</anchorfile>
      <anchor>a30a932762fc86038ca029c4bfda2bf79</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>dDPhiMax</name>
      <anchorfile>structPosCtrlParams.html</anchorfile>
      <anchor>a8c0ed663322703cb2036e89642a63808</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>dSpring</name>
      <anchorfile>structPosCtrlParams.html</anchorfile>
      <anchor>a250e181d9523cf04b859fcdf275a4313</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>dVirtM</name>
      <anchorfile>structPosCtrlParams.html</anchorfile>
      <anchor>a12a4e818ad7a2846a79844e23aad49d3</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>cob_omni_drive_controller::WheelControllerBase::Target</name>
    <filename>structcob__omni__drive__controller_1_1WheelControllerBase_1_1Target.html</filename>
    <member kind="variable">
      <type>ros::Time</type>
      <name>stamp</name>
      <anchorfile>structcob__omni__drive__controller_1_1WheelControllerBase_1_1Target.html</anchorfile>
      <anchor>ab02ab1b10b7af0c52addbc8082b0a078</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>PlatformState</type>
      <name>state</name>
      <anchorfile>structcob__omni__drive__controller_1_1WheelControllerBase_1_1Target.html</anchorfile>
      <anchor>a5513aaf2b68083c6e2636b298b7865ca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>updated</name>
      <anchorfile>structcob__omni__drive__controller_1_1WheelControllerBase_1_1Target.html</anchorfile>
      <anchor>a1b1e58a5e25e62feb500ad2433fb667b</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>UndercarriageCtrl</name>
    <filename>classUndercarriageCtrl.html</filename>
    <base>UndercarriageCtrlBase&lt; PosCtrlData &gt;</base>
    <member kind="typedef">
      <type>WheelCtrlPosParams</type>
      <name>WheelParams</name>
      <anchorfile>classUndercarriageCtrl.html</anchorfile>
      <anchor>a486f220a775b7c41d07d9ddb61f30bd3</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>configure</name>
      <anchorfile>classUndercarriageCtrl.html</anchorfile>
      <anchor>acef550f3e643a2737819ebdcf91add25</anchor>
      <arglist>(const std::vector&lt; PosCtrlParams &gt; &amp;pos_ctrl)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>UndercarriageCtrl</name>
      <anchorfile>classUndercarriageCtrl.html</anchorfile>
      <anchor>a23c191d1911a89080c75874305234fbe</anchor>
      <arglist>(const std::vector&lt; WheelParams &gt; &amp;params)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>UndercarriageCtrlBase</name>
    <filename>classUndercarriageCtrlBase.html</filename>
    <templarg></templarg>
    <base>UndercarriageGeomBase</base>
    <member kind="function">
      <type>void</type>
      <name>calcControlStep</name>
      <anchorfile>classUndercarriageCtrlBase.html</anchorfile>
      <anchor>a92aee610f916cf553615ada0477e5841</anchor>
      <arglist>(std::vector&lt; WheelCommand &gt; &amp;commands, double dCmdRateS, bool reset)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>calcDirect</name>
      <anchorfile>classUndercarriageCtrlBase.html</anchorfile>
      <anchor>ad1a16b8ffc6ce250338ceed8fb6fa4cd</anchor>
      <arglist>(PlatformState &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>reset</name>
      <anchorfile>classUndercarriageCtrlBase.html</anchorfile>
      <anchor>a280efe9684ca3d395c0eedce939f719e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setTarget</name>
      <anchorfile>classUndercarriageCtrlBase.html</anchorfile>
      <anchor>ab110ff4466feb6457be1220b422b8b94</anchor>
      <arglist>(const PlatformState &amp;state)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>UndercarriageCtrlBase</name>
      <anchorfile>classUndercarriageCtrlBase.html</anchorfile>
      <anchor>a9436a2d71458bdc41ad5cdefe9dc404b</anchor>
      <arglist>(const std::vector&lt; T2 &gt; &amp;params)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>updateWheelStates</name>
      <anchorfile>classUndercarriageCtrlBase.html</anchorfile>
      <anchor>a7de86a59f11eecceda7a8141da69672e</anchor>
      <arglist>(const std::vector&lt; WheelState &gt; &amp;states)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; boost::shared_ptr&lt; T &gt; &gt;</type>
      <name>wheels_</name>
      <anchorfile>classUndercarriageCtrlBase.html</anchorfile>
      <anchor>a0e1b5a9f2eb9204387c8985177b8e9dd</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>UndercarriageCtrlBase&lt; CtrlData &gt;</name>
    <filename>classUndercarriageCtrlBase.html</filename>
    <base>UndercarriageGeomBase</base>
    <member kind="function">
      <type>void</type>
      <name>calcControlStep</name>
      <anchorfile>classUndercarriageCtrlBase.html</anchorfile>
      <anchor>a92aee610f916cf553615ada0477e5841</anchor>
      <arglist>(std::vector&lt; WheelCommand &gt; &amp;commands, double dCmdRateS, bool reset)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>calcDirect</name>
      <anchorfile>classUndercarriageCtrlBase.html</anchorfile>
      <anchor>ad1a16b8ffc6ce250338ceed8fb6fa4cd</anchor>
      <arglist>(PlatformState &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>reset</name>
      <anchorfile>classUndercarriageCtrlBase.html</anchorfile>
      <anchor>a280efe9684ca3d395c0eedce939f719e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setTarget</name>
      <anchorfile>classUndercarriageCtrlBase.html</anchorfile>
      <anchor>ab110ff4466feb6457be1220b422b8b94</anchor>
      <arglist>(const PlatformState &amp;state)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>UndercarriageCtrlBase</name>
      <anchorfile>classUndercarriageCtrlBase.html</anchorfile>
      <anchor>a9436a2d71458bdc41ad5cdefe9dc404b</anchor>
      <arglist>(const std::vector&lt; T2 &gt; &amp;params)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>updateWheelStates</name>
      <anchorfile>classUndercarriageCtrlBase.html</anchorfile>
      <anchor>a7de86a59f11eecceda7a8141da69672e</anchor>
      <arglist>(const std::vector&lt; WheelState &gt; &amp;states)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; boost::shared_ptr&lt; CtrlData &gt; &gt;</type>
      <name>wheels_</name>
      <anchorfile>classUndercarriageCtrlBase.html</anchorfile>
      <anchor>a0e1b5a9f2eb9204387c8985177b8e9dd</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>UndercarriageCtrlBase&lt; PosCtrlData &gt;</name>
    <filename>classUndercarriageCtrlBase.html</filename>
    <base>UndercarriageGeomBase</base>
    <member kind="function">
      <type>void</type>
      <name>calcControlStep</name>
      <anchorfile>classUndercarriageCtrlBase.html</anchorfile>
      <anchor>a92aee610f916cf553615ada0477e5841</anchor>
      <arglist>(std::vector&lt; WheelCommand &gt; &amp;commands, double dCmdRateS, bool reset)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>calcDirect</name>
      <anchorfile>classUndercarriageCtrlBase.html</anchorfile>
      <anchor>ad1a16b8ffc6ce250338ceed8fb6fa4cd</anchor>
      <arglist>(PlatformState &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>reset</name>
      <anchorfile>classUndercarriageCtrlBase.html</anchorfile>
      <anchor>a280efe9684ca3d395c0eedce939f719e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setTarget</name>
      <anchorfile>classUndercarriageCtrlBase.html</anchorfile>
      <anchor>ab110ff4466feb6457be1220b422b8b94</anchor>
      <arglist>(const PlatformState &amp;state)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>UndercarriageCtrlBase</name>
      <anchorfile>classUndercarriageCtrlBase.html</anchorfile>
      <anchor>a9436a2d71458bdc41ad5cdefe9dc404b</anchor>
      <arglist>(const std::vector&lt; T2 &gt; &amp;params)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>updateWheelStates</name>
      <anchorfile>classUndercarriageCtrlBase.html</anchorfile>
      <anchor>a7de86a59f11eecceda7a8141da69672e</anchor>
      <arglist>(const std::vector&lt; WheelState &gt; &amp;states)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; boost::shared_ptr&lt; PosCtrlData &gt; &gt;</type>
      <name>wheels_</name>
      <anchorfile>classUndercarriageCtrlBase.html</anchorfile>
      <anchor>a0e1b5a9f2eb9204387c8985177b8e9dd</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>UndercarriageDirectCtrl</name>
    <filename>classUndercarriageDirectCtrl.html</filename>
    <base>UndercarriageCtrlBase&lt; CtrlData &gt;</base>
    <member kind="typedef">
      <type>WheelCtrlParams</type>
      <name>WheelParams</name>
      <anchorfile>classUndercarriageDirectCtrl.html</anchorfile>
      <anchor>a82f902b3b96c8d52b5219df6b46c9da9</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>UndercarriageDirectCtrl</name>
      <anchorfile>classUndercarriageDirectCtrl.html</anchorfile>
      <anchor>ae91919c54185e7ee8c007ba79a64e6d2</anchor>
      <arglist>(const std::vector&lt; WheelParams &gt; &amp;params)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>UndercarriageGeom</name>
    <filename>classUndercarriageGeom.html</filename>
    <base>UndercarriageGeomBase</base>
    <class kind="struct">UndercarriageGeom::WheelParams</class>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>calcDirect</name>
      <anchorfile>classUndercarriageGeom.html</anchorfile>
      <anchor>ac8d9be652ad2a7751187a224343cb263</anchor>
      <arglist>(PlatformState &amp;state) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>UndercarriageGeom</name>
      <anchorfile>classUndercarriageGeom.html</anchorfile>
      <anchor>a36684ade912200ef6392f148029e5bf7</anchor>
      <arglist>(const std::vector&lt; WheelParams &gt; &amp;params)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>updateWheelStates</name>
      <anchorfile>classUndercarriageGeom.html</anchorfile>
      <anchor>abb17b87a11f825e0f13c9857b135bade</anchor>
      <arglist>(const std::vector&lt; WheelState &gt; &amp;states)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; boost::shared_ptr&lt; WheelData &gt; &gt;</type>
      <name>wheels_</name>
      <anchorfile>classUndercarriageGeom.html</anchorfile>
      <anchor>a47cf2e5ed48b25433f808996a2711742</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>UndercarriageGeomBase</name>
    <filename>classUndercarriageGeomBase.html</filename>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>calcDirect</name>
      <anchorfile>classUndercarriageGeomBase.html</anchorfile>
      <anchor>a053c64ee48c41fe2abdf75e2c2b15c46</anchor>
      <arglist>(PlatformState &amp;state) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>updateWheelStates</name>
      <anchorfile>classUndercarriageGeomBase.html</anchorfile>
      <anchor>a5a2413e5c04d2ba9bf2b17e116992b81</anchor>
      <arglist>(const std::vector&lt; WheelState &gt; &amp;states)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~UndercarriageGeomBase</name>
      <anchorfile>classUndercarriageGeomBase.html</anchorfile>
      <anchor>aedfe3fc68f0369c6f54ddfc136dba183</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected" static="yes">
      <type>static void</type>
      <name>calcDirect</name>
      <anchorfile>classUndercarriageGeomBase.html</anchorfile>
      <anchor>ac7e23526af97243303819137f7507489</anchor>
      <arglist>(PlatformState &amp;state, const V &amp;wheels)</arglist>
    </member>
    <member kind="function" protection="protected" static="yes">
      <type>static void</type>
      <name>updateWheelStates</name>
      <anchorfile>classUndercarriageGeomBase.html</anchorfile>
      <anchor>a964bce24917f4470e69f24f78e789bd7</anchor>
      <arglist>(V &amp;wheels, const std::vector&lt; WheelState &gt; &amp;states)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>WheelCommand</name>
    <filename>structWheelCommand.html</filename>
    <base>WheelState</base>
    <member kind="function">
      <type></type>
      <name>WheelCommand</name>
      <anchorfile>structWheelCommand.html</anchorfile>
      <anchor>a4087750ff9f01aa280e9ec793f13dd1a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>dAngGearSteerRadDelta</name>
      <anchorfile>structWheelCommand.html</anchorfile>
      <anchor>aedc8663b8e8e8a373c72ece346b83f2c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>cob_omni_drive_controller::WheelController</name>
    <filename>classcob__omni__drive__controller_1_1WheelController.html</filename>
    <base>WheelControllerBase&lt; GeomController&lt; hardware_interface::VelocityJointInterface, UndercarriageCtrl &gt; &gt;</base>
    <class kind="class">cob_omni_drive_controller::WheelController::PosCtrl</class>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>init</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelController.html</anchorfile>
      <anchor>a8cb98e3516f8ac517961dccebdd18c54</anchor>
      <arglist>(hardware_interface::VelocityJointInterface *hw, ros::NodeHandle &amp;root_nh, ros::NodeHandle &amp;controller_nh)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>update</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelController.html</anchorfile>
      <anchor>ac3626cb7680dba03692d5db6ad5e9d3d</anchor>
      <arglist>(const ros::Time &amp;time, const ros::Duration &amp;period)</arglist>
    </member>
    <member kind="variable">
      <type>class cob_omni_drive_controller::WheelController::PosCtrl</type>
      <name>pos_ctrl_</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelController.html</anchorfile>
      <anchor>a37fa5fb0b2976c68e8a79297ba31b209</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>cob_omni_drive_controller::WheelControllerBase</name>
    <filename>classcob__omni__drive__controller_1_1WheelControllerBase.html</filename>
    <templarg></templarg>
    <class kind="struct">cob_omni_drive_controller::WheelControllerBase::Target</class>
    <member kind="function">
      <type>bool</type>
      <name>setup</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>ad9ad7fc6261191f616f650ada6852022</anchor>
      <arglist>(ros::NodeHandle &amp;root_nh, ros::NodeHandle &amp;controller_nh)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>starting</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a0c3a218ce17482f9125ee15e23214c63</anchor>
      <arglist>(const ros::Time &amp;time)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>stopping</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a142378d65cca35f784269a5fecd8970e</anchor>
      <arglist>(const ros::Time &amp;time)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>updateCtrl</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a54d3e5fe0293394219b74e344dc4291f</anchor>
      <arglist>(const ros::Time &amp;time, const ros::Duration &amp;period)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>topicCallbackTwistCmd</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a6b960380366dd71f61b36c2917460e12</anchor>
      <arglist>(const geometry_msgs::Twist::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::scoped_ptr&lt; realtime_tools::RealtimePublisher&lt; cob_base_controller_utils::WheelCommands &gt; &gt;</type>
      <name>commands_pub_</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a6f998c9d9be66db6efc0f559b6a58d9f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>uint32_t</type>
      <name>cycles_</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a27bd074d0c666b0d91c94ad82fa4c9f6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>max_vel_rot_</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a1d82dd926f51ec2de9f0c6562b019214</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>max_vel_trans_</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a926b08bdb410128d158d3c3387cb6921</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::mutex</type>
      <name>mutex_</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a5ecb48160614e20db6a568cc31a1e91a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>uint32_t</type>
      <name>pub_divider_</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a1cd408bf6860cf742c9133d07014572c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>struct cob_omni_drive_controller::WheelControllerBase::Target</type>
      <name>target_</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>ad8159e764052bb9aa4fd0a0bd19a2d62</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Duration</type>
      <name>timeout_</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a56028c53d1999c8313de6a74c84d5416</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Subscriber</type>
      <name>twist_subscriber_</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a919c0684b24787059f66a39fe898ccbe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; WheelCommand &gt;</type>
      <name>wheel_commands_</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a7cb043eeb1cc5856948eb993ae6bc434</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>WheelControllerBase&lt; GeomController&lt; hardware_interface::VelocityJointInterface, UndercarriageCtrl &gt; &gt;</name>
    <filename>classcob__omni__drive__controller_1_1WheelControllerBase.html</filename>
    <base>GeomController&lt; hardware_interface::VelocityJointInterface, UndercarriageCtrl &gt;</base>
    <member kind="function">
      <type>bool</type>
      <name>setup</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>ad9ad7fc6261191f616f650ada6852022</anchor>
      <arglist>(ros::NodeHandle &amp;root_nh, ros::NodeHandle &amp;controller_nh)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>starting</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a0c3a218ce17482f9125ee15e23214c63</anchor>
      <arglist>(const ros::Time &amp;time)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>stopping</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a142378d65cca35f784269a5fecd8970e</anchor>
      <arglist>(const ros::Time &amp;time)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>updateCtrl</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a54d3e5fe0293394219b74e344dc4291f</anchor>
      <arglist>(const ros::Time &amp;time, const ros::Duration &amp;period)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>topicCallbackTwistCmd</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a6b960380366dd71f61b36c2917460e12</anchor>
      <arglist>(const geometry_msgs::Twist::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::scoped_ptr&lt; realtime_tools::RealtimePublisher&lt; cob_base_controller_utils::WheelCommands &gt; &gt;</type>
      <name>commands_pub_</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a6f998c9d9be66db6efc0f559b6a58d9f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>uint32_t</type>
      <name>cycles_</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a27bd074d0c666b0d91c94ad82fa4c9f6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>max_vel_rot_</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a1d82dd926f51ec2de9f0c6562b019214</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>max_vel_trans_</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a926b08bdb410128d158d3c3387cb6921</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::mutex</type>
      <name>mutex_</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a5ecb48160614e20db6a568cc31a1e91a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>uint32_t</type>
      <name>pub_divider_</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a1cd408bf6860cf742c9133d07014572c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>struct cob_omni_drive_controller::WheelControllerBase::Target</type>
      <name>target_</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>ad8159e764052bb9aa4fd0a0bd19a2d62</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Duration</type>
      <name>timeout_</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a56028c53d1999c8313de6a74c84d5416</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Subscriber</type>
      <name>twist_subscriber_</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a919c0684b24787059f66a39fe898ccbe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; WheelCommand &gt;</type>
      <name>wheel_commands_</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a7cb043eeb1cc5856948eb993ae6bc434</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>WheelControllerBase&lt; GeomMultiController &gt;</name>
    <filename>classcob__omni__drive__controller_1_1WheelControllerBase.html</filename>
    <base>cob_omni_drive_controller::GeomMultiController</base>
    <member kind="function">
      <type>bool</type>
      <name>setup</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>ad9ad7fc6261191f616f650ada6852022</anchor>
      <arglist>(ros::NodeHandle &amp;root_nh, ros::NodeHandle &amp;controller_nh)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>starting</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a0c3a218ce17482f9125ee15e23214c63</anchor>
      <arglist>(const ros::Time &amp;time)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>stopping</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a142378d65cca35f784269a5fecd8970e</anchor>
      <arglist>(const ros::Time &amp;time)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>updateCtrl</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a54d3e5fe0293394219b74e344dc4291f</anchor>
      <arglist>(const ros::Time &amp;time, const ros::Duration &amp;period)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>topicCallbackTwistCmd</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a6b960380366dd71f61b36c2917460e12</anchor>
      <arglist>(const geometry_msgs::Twist::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::scoped_ptr&lt; realtime_tools::RealtimePublisher&lt; cob_base_controller_utils::WheelCommands &gt; &gt;</type>
      <name>commands_pub_</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a6f998c9d9be66db6efc0f559b6a58d9f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>uint32_t</type>
      <name>cycles_</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a27bd074d0c666b0d91c94ad82fa4c9f6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>max_vel_rot_</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a1d82dd926f51ec2de9f0c6562b019214</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>max_vel_trans_</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a926b08bdb410128d158d3c3387cb6921</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::mutex</type>
      <name>mutex_</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a5ecb48160614e20db6a568cc31a1e91a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>uint32_t</type>
      <name>pub_divider_</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a1cd408bf6860cf742c9133d07014572c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>struct cob_omni_drive_controller::WheelControllerBase::Target</type>
      <name>target_</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>ad8159e764052bb9aa4fd0a0bd19a2d62</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Duration</type>
      <name>timeout_</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a56028c53d1999c8313de6a74c84d5416</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Subscriber</type>
      <name>twist_subscriber_</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a919c0684b24787059f66a39fe898ccbe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; WheelCommand &gt;</type>
      <name>wheel_commands_</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelControllerBase.html</anchorfile>
      <anchor>a7cb043eeb1cc5856948eb993ae6bc434</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>WheelCtrlParams</name>
    <filename>structWheelCtrlParams.html</filename>
    <member kind="variable">
      <type>CtrlParams</type>
      <name>ctrl</name>
      <anchorfile>structWheelCtrlParams.html</anchorfile>
      <anchor>a30d93d80ac73e4ce87abe76c7a9a3c70</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>WheelGeom</type>
      <name>geom</name>
      <anchorfile>structWheelCtrlParams.html</anchorfile>
      <anchor>a4b2c6b8d7281e66dc16f805b6737a6dc</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>WheelCtrlPosParams</name>
    <filename>structWheelCtrlPosParams.html</filename>
    <member kind="variable">
      <type>CtrlParams</type>
      <name>ctrl</name>
      <anchorfile>structWheelCtrlPosParams.html</anchorfile>
      <anchor>ae736ac59dec9ef47ffb23237281eea9e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>WheelGeom</type>
      <name>geom</name>
      <anchorfile>structWheelCtrlPosParams.html</anchorfile>
      <anchor>a0b94e58bab5b8011a22cd9389fe745e1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>PosCtrlParams</type>
      <name>pos_ctrl</name>
      <anchorfile>structWheelCtrlPosParams.html</anchorfile>
      <anchor>a4197f37276d78dfb5fb81cacd30322e3</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>WheelData</name>
    <filename>structWheelData.html</filename>
    <member kind="function">
      <type>double</type>
      <name>getVelX</name>
      <anchorfile>structWheelData.html</anchorfile>
      <anchor>ae84e8f9e385ffe5aac583784f5e5e3ca</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>getVelY</name>
      <anchorfile>structWheelData.html</anchorfile>
      <anchor>a28a8789dc66985d6f91ee1864b0de098</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>updateState</name>
      <anchorfile>structWheelData.html</anchorfile>
      <anchor>a2f850e30d71be704f528cb3f098acf1f</anchor>
      <arglist>(const WheelState &amp;state)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>WheelData</name>
      <anchorfile>structWheelData.html</anchorfile>
      <anchor>a5610081a3ee9c64551bd8cac8a3f225c</anchor>
      <arglist>(const WheelGeom &amp;geom)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static double</type>
      <name>mergeRotRobRadS</name>
      <anchorfile>structWheelData.html</anchorfile>
      <anchor>afc2b193be0c7bd530b1a70eff727d065</anchor>
      <arglist>(const WheelData &amp;wheel1, const WheelData &amp;wheel2)</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>dFactorVel</name>
      <anchorfile>structWheelData.html</anchorfile>
      <anchor>a69cbab0e095eafb5dde123207ddb9a62</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>WheelGeom</type>
      <name>geom_</name>
      <anchorfile>structWheelData.html</anchorfile>
      <anchor>a0484041d6e558e611c47ddcd6c41d159</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>m_dExWheelAngRad</name>
      <anchorfile>structWheelData.html</anchorfile>
      <anchor>a825b61d6da75467f937a0a3cb8ac80c0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>m_dExWheelDistMM</name>
      <anchorfile>structWheelData.html</anchorfile>
      <anchor>a9ddc9baf8098d7223c2717deb1e0f90c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>m_dExWheelXPosMM</name>
      <anchorfile>structWheelData.html</anchorfile>
      <anchor>a0f2695ffc2640114a68208b389490131</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>m_dExWheelYPosMM</name>
      <anchorfile>structWheelData.html</anchorfile>
      <anchor>a0f624c421dbbfa47fb54282e728238a0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>m_dVelWheelMMS</name>
      <anchorfile>structWheelData.html</anchorfile>
      <anchor>a528a69b6a7b23a32abaca38acc9bb1d2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>WheelState</type>
      <name>state_</name>
      <anchorfile>structWheelData.html</anchorfile>
      <anchor>aab5b992428c764a8da6ca1d4a76ff386</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>WheelGeom</name>
    <filename>structWheelGeom.html</filename>
    <member kind="variable">
      <type>double</type>
      <name>dDistSteerAxisToDriveWheelMM</name>
      <anchorfile>structWheelGeom.html</anchorfile>
      <anchor>aa6cb46c50e0e7d8bd7b91d40423a5bc1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>dRadiusWheelMM</name>
      <anchorfile>structWheelGeom.html</anchorfile>
      <anchor>a5ab96c82e368748de6b85c679d265692</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::string</type>
      <name>drive_name</name>
      <anchorfile>structWheelGeom.html</anchorfile>
      <anchor>a7c18d48d6571a3d904b4f05ac36f1e95</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>dSteerDriveCoupling</name>
      <anchorfile>structWheelGeom.html</anchorfile>
      <anchor>a19eeb79295bc3434c2b322a053e9b444</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>dWheelXPosMM</name>
      <anchorfile>structWheelGeom.html</anchorfile>
      <anchor>a4937859f46f499ab035d43be62e8dbba</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>dWheelYPosMM</name>
      <anchorfile>structWheelGeom.html</anchorfile>
      <anchor>afb808749f1494540e8b3e5c238995c56</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::string</type>
      <name>steer_name</name>
      <anchorfile>structWheelGeom.html</anchorfile>
      <anchor>a8e89eabfecd98e62676a4669d4d33ede</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>cob_omni_drive_controller::WheelMultiController</name>
    <filename>classcob__omni__drive__controller_1_1WheelMultiController.html</filename>
    <base>WheelControllerBase&lt; GeomMultiController &gt;</base>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>init</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelMultiController.html</anchorfile>
      <anchor>aef8cc8995c32e17c8c349a113b944967</anchor>
      <arglist>(hardware_interface::RobotHW *robot_hw, ros::NodeHandle &amp;root_nh, ros::NodeHandle &amp;controller_nh)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>update</name>
      <anchorfile>classcob__omni__drive__controller_1_1WheelMultiController.html</anchorfile>
      <anchor>a3938f429bef8ae7f9036a0888ab1c153</anchor>
      <arglist>(const ros::Time &amp;time, const ros::Duration &amp;period)</arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>UndercarriageGeom::WheelParams</name>
    <filename>structUndercarriageGeom_1_1WheelParams.html</filename>
    <member kind="variable">
      <type>WheelGeom</type>
      <name>geom</name>
      <anchorfile>structUndercarriageGeom_1_1WheelParams.html</anchorfile>
      <anchor>a3b4cc5fd16e5518d31a747063da64011</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>WheelState</name>
    <filename>structWheelState.html</filename>
    <member kind="function">
      <type></type>
      <name>WheelState</name>
      <anchorfile>structWheelState.html</anchorfile>
      <anchor>a6fb46879208a8fc43d3a64f48c0c8d30</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>dAngGearSteerRad</name>
      <anchorfile>structWheelState.html</anchorfile>
      <anchor>aec933db9321b196100105ec11459a5e1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>dVelGearDriveRadS</name>
      <anchorfile>structWheelState.html</anchorfile>
      <anchor>a875ede2403bc4c8125e711396bc23839</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>dVelGearSteerRadS</name>
      <anchorfile>structWheelState.html</anchorfile>
      <anchor>a73a3789efcee3f7f9abe30aab49fbd35</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>cob_omni_drive_controller</name>
    <filename>namespacecob__omni__drive__controller.html</filename>
    <class kind="class">cob_omni_drive_controller::GeomController</class>
    <class kind="class">cob_omni_drive_controller::GeomControllerBase</class>
    <class kind="class">cob_omni_drive_controller::GeomMultiController</class>
    <class kind="class">cob_omni_drive_controller::OdometryController</class>
    <class kind="class">cob_omni_drive_controller::WheelController</class>
    <class kind="class">cob_omni_drive_controller::WheelControllerBase</class>
    <class kind="class">cob_omni_drive_controller::WheelMultiController</class>
    <member kind="function">
      <type>bool</type>
      <name>parseWheelParams</name>
      <anchorfile>namespacecob__omni__drive__controller.html</anchorfile>
      <anchor>ac02aacfab9a9f6d759dc1c7b9b6f278d</anchor>
      <arglist>(std::vector&lt; UndercarriageCtrl::WheelParams &gt; &amp;params, const ros::NodeHandle &amp;nh, bool read_urdf=true)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>parseWheelParams</name>
      <anchorfile>namespacecob__omni__drive__controller.html</anchorfile>
      <anchor>afa9512fa4081991ee4b64455ff983cae</anchor>
      <arglist>(std::vector&lt; UndercarriageDirectCtrl::WheelParams &gt; &amp;params, const ros::NodeHandle &amp;nh, bool read_urdf=true)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>parseWheelParams</name>
      <anchorfile>namespacecob__omni__drive__controller.html</anchorfile>
      <anchor>afeaa0b3a793b233ee17e69485687351d</anchor>
      <arglist>(std::vector&lt; UndercarriageGeom::WheelParams &gt; &amp;params, const ros::NodeHandle &amp;nh, bool read_urdf=true)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>MathSup</name>
    <filename>namespaceMathSup.html</filename>
    <member kind="function">
      <type>double</type>
      <name>atan4quad</name>
      <anchorfile>namespaceMathSup.html</anchorfile>
      <anchor>afdbf5cfa154f41ed72f17d4516551d60</anchor>
      <arglist>(double y, double x)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalizePi</name>
      <anchorfile>namespaceMathSup.html</anchorfile>
      <anchor>a38b92acb90f3fa70b91140acddad4ab4</anchor>
      <arglist>(double &amp;val)</arglist>
    </member>
    <member kind="variable">
      <type>const double</type>
      <name>PI</name>
      <anchorfile>namespaceMathSup.html</anchorfile>
      <anchor>a7cf618d446d59c0b71f2324e2d146eea</anchor>
      <arglist></arglist>
    </member>
  </compound>
</tagfile>
