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    <member kind="function">
      <type></type>
      <name>OMPLSE2RNStateSpace</name>
      <anchorfile>classexotica_1_1OMPLSE2RNStateSpace.html</anchorfile>
      <anchor>ab8668bf9b8f5e3620d7b57a244daa2d6</anchor>
      <arglist>(OMPLSolverInitializer init)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>OMPLToExoticaState</name>
      <anchorfile>classexotica_1_1OMPLSE2RNStateSpace.html</anchorfile>
      <anchor>a10125a8f6473e04f2f4ef766f327ac5c</anchor>
      <arglist>(const ompl::base::State *state, Eigen::VectorXd &amp;q) const override</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>SetBounds</name>
      <anchorfile>classexotica_1_1OMPLSE2RNStateSpace.html</anchorfile>
      <anchor>ad788fca38e57c19145da589bb8110690</anchor>
      <arglist>(SamplingProblemPtr &amp;prob) override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>StateDebug</name>
      <anchorfile>classexotica_1_1OMPLSE2RNStateSpace.html</anchorfile>
      <anchor>ab10b726fc0c8348326d62ab5b0a98d44</anchor>
      <arglist>(const Eigen::VectorXd &amp;q) const override</arglist>
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    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>dim_</name>
      <anchorfile>classexotica_1_1OMPLSE2RNStateSpace.html</anchorfile>
      <anchor>a7fe0477fd63c9d3634efae7837fda03c</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>exotica::OMPLSE3RNProjection</name>
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    <member kind="function">
      <type>void</type>
      <name>defaultCellSizes</name>
      <anchorfile>classexotica_1_1OMPLSE3RNProjection.html</anchorfile>
      <anchor>a1f93524dbdd1e8e352799486a4a481ad</anchor>
      <arglist>() override</arglist>
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    <member kind="function">
      <type>unsigned int</type>
      <name>getDimension</name>
      <anchorfile>classexotica_1_1OMPLSE3RNProjection.html</anchorfile>
      <anchor>a7d6d964c10b8a1c1bc7f4ed13ebb723a</anchor>
      <arglist>(void) const override</arglist>
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    <member kind="function">
      <type></type>
      <name>OMPLSE3RNProjection</name>
      <anchorfile>classexotica_1_1OMPLSE3RNProjection.html</anchorfile>
      <anchor>affb4861ce95b9e8725b6b4bf20b63749</anchor>
      <arglist>(const ompl::base::StateSpacePtr &amp;space, const std::vector&lt; int &gt; &amp;vars)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>project</name>
      <anchorfile>classexotica_1_1OMPLSE3RNProjection.html</anchorfile>
      <anchor>a919e3c83b52a4522ad965417da20fcd2</anchor>
      <arglist>(const ompl::base::State *state, OMPLProjection projection) const override</arglist>
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    <member kind="function">
      <type></type>
      <name>~OMPLSE3RNProjection</name>
      <anchorfile>classexotica_1_1OMPLSE3RNProjection.html</anchorfile>
      <anchor>a4b36dfd0afeab77d241ceba496377660</anchor>
      <arglist>()</arglist>
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    <member kind="variable" protection="private">
      <type>std::vector&lt; int &gt;</type>
      <name>variables_</name>
      <anchorfile>classexotica_1_1OMPLSE3RNProjection.html</anchorfile>
      <anchor>a3177ee9683f6bfeeb6574925cd8f44ab</anchor>
      <arglist></arglist>
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  <compound kind="class">
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    <member kind="function">
      <type>ompl::base::StateSamplerPtr</type>
      <name>allocDefaultStateSampler</name>
      <anchorfile>classexotica_1_1OMPLSE3RNStateSpace.html</anchorfile>
      <anchor>a25b5dd1aca353a2d1cb742066ad5dce8</anchor>
      <arglist>() const override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>ExoticaToOMPLState</name>
      <anchorfile>classexotica_1_1OMPLSE3RNStateSpace.html</anchorfile>
      <anchor>ac33ca6354cca76613baefb9f7ad03a94</anchor>
      <arglist>(const Eigen::VectorXd &amp;q, ompl::base::State *state) const override</arglist>
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    <member kind="function">
      <type></type>
      <name>OMPLSE3RNStateSpace</name>
      <anchorfile>classexotica_1_1OMPLSE3RNStateSpace.html</anchorfile>
      <anchor>abb32d2c8ed4a312d710c4d701f8d7e4b</anchor>
      <arglist>(OMPLSolverInitializer init)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>OMPLToExoticaState</name>
      <anchorfile>classexotica_1_1OMPLSE3RNStateSpace.html</anchorfile>
      <anchor>aa098844d722a3ef20e5a8db0062a6b0b</anchor>
      <arglist>(const ompl::base::State *state, Eigen::VectorXd &amp;q) const override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>SetBounds</name>
      <anchorfile>classexotica_1_1OMPLSE3RNStateSpace.html</anchorfile>
      <anchor>a46f4e8ff669df9e67f9bb457085fe419</anchor>
      <arglist>(SamplingProblemPtr &amp;prob) override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>StateDebug</name>
      <anchorfile>classexotica_1_1OMPLSE3RNStateSpace.html</anchorfile>
      <anchor>ad3264a90827dc7ddade2d6a9a8cc572c</anchor>
      <arglist>(const Eigen::VectorXd &amp;q) const override</arglist>
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    <member kind="variable" protection="private">
      <type>unsigned int</type>
      <name>dim_</name>
      <anchorfile>classexotica_1_1OMPLSE3RNStateSpace.html</anchorfile>
      <anchor>a8f3f1d5701c3f3af66ed27eba9d657f7</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>exotica::OMPLSolver</name>
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    <templarg></templarg>
    <base>exotica::MotionSolver</base>
    <member kind="function">
      <type>double</type>
      <name>GetLongestValidSegmentLength</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>a6f85e695c5e605e33f1fd91c2e3a6f69</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>double</type>
      <name>GetMaximumExtent</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>ad33d3620bca1a4c3c703db37637b56a6</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>int</type>
      <name>GetRandomSeed</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>abfa22353338acdd50d73632506071e31</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>unsigned int</type>
      <name>GetValidSegmentCountFactor</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>a1e34a74d9940c132c71d7449553cdd12</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type></type>
      <name>OMPLSolver</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>a74b747fe8475e5e17f9525c9bea49790</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>SetLongestValidSegmentFraction</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>a88a2530e014468cb565769bda7d49705</anchor>
      <arglist>(double segmentFraction)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>SetValidSegmentCountFactor</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>a91e4e642b8b94f9530ebc25883c3eeee</anchor>
      <arglist>(unsigned int factor)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>Solve</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>ae98db0ffba082378aea4e63b227fc00d</anchor>
      <arglist>(Eigen::MatrixXd &amp;solution) override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>SpecifyProblem</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>a794e9c516874ceb2e227499de57a5245</anchor>
      <arglist>(PlanningProblemPtr pointer) override</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~OMPLSolver</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>a5d401fdb5ac9d3505fc56083c74a7c3b</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
      <name>GetPath</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>a94813a9098bd1bf9e09e082332a6c0d7</anchor>
      <arglist>(Eigen::MatrixXd &amp;traj, ompl::base::PlannerTerminationCondition &amp;ptc)</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
      <name>PostSolve</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>a47b6aa87ade69fccb8da5e4ec0173552</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
      <name>PreSolve</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>a79e8b3b873dd7f3e72fa923f062d0f8f</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
      <name>SetGoalState</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>a5a5884f7f91f1d5416f643809583fce7</anchor>
      <arglist>(Eigen::VectorXdRefConst qT, const double eps=0)</arglist>
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    <member kind="function" protection="protected" static="yes">
      <type>static ompl::base::PlannerPtr</type>
      <name>AllocatePlanner</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>ae959810814ddbe69c52248b60ea7c4e4</anchor>
      <arglist>(const ompl::base::SpaceInformationPtr &amp;si, const std::string &amp;new_name)</arglist>
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    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>algorithm_</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>a6887cf64b29cbdb763a53f3d2c01a48d</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::vector&lt; double &gt;</type>
      <name>bounds_</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>abbd38ebb68eae44095e46881493c18be</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>OMPLSolverInitializer</type>
      <name>init_</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>ac92fdb9cddab9907bb70d03bf97c3058</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>multi_query_</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>a5265628be16f133eb01bcc4fb5970a9f</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ompl::geometric::SimpleSetupPtr</type>
      <name>ompl_simple_setup_</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>a1951c8a584c08c51aff1579b7a4f83ec</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ConfiguredPlannerAllocator</type>
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      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>a8c58e0c7ad583505e72d6f21d4696eb7</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::shared_ptr&lt; ProblemType &gt;</type>
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      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>adae1b120bd86d4b88889a1976ee31e54</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ompl::base::StateSpacePtr</type>
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      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
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    <base>exotica::MotionSolver</base>
    <member kind="function">
      <type>double</type>
      <name>GetLongestValidSegmentLength</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>a6f85e695c5e605e33f1fd91c2e3a6f69</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>double</type>
      <name>GetMaximumExtent</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>ad33d3620bca1a4c3c703db37637b56a6</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>int</type>
      <name>GetRandomSeed</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>abfa22353338acdd50d73632506071e31</anchor>
      <arglist>() const</arglist>
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    <member kind="function">
      <type>unsigned int</type>
      <name>GetValidSegmentCountFactor</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
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      <arglist>() const</arglist>
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    <member kind="function">
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      <name>OMPLSolver</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>a74b747fe8475e5e17f9525c9bea49790</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>SetLongestValidSegmentFraction</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>a88a2530e014468cb565769bda7d49705</anchor>
      <arglist>(double segmentFraction)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>SetValidSegmentCountFactor</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>a91e4e642b8b94f9530ebc25883c3eeee</anchor>
      <arglist>(unsigned int factor)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>Solve</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>ae98db0ffba082378aea4e63b227fc00d</anchor>
      <arglist>(Eigen::MatrixXd &amp;solution) override</arglist>
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    <member kind="function">
      <type>void</type>
      <name>SpecifyProblem</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>a794e9c516874ceb2e227499de57a5245</anchor>
      <arglist>(PlanningProblemPtr pointer) override</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~OMPLSolver</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>a5d401fdb5ac9d3505fc56083c74a7c3b</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
      <name>GetPath</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>a94813a9098bd1bf9e09e082332a6c0d7</anchor>
      <arglist>(Eigen::MatrixXd &amp;traj, ompl::base::PlannerTerminationCondition &amp;ptc)</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
      <name>PostSolve</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>a47b6aa87ade69fccb8da5e4ec0173552</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
      <name>PreSolve</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>a79e8b3b873dd7f3e72fa923f062d0f8f</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected">
      <type>void</type>
      <name>SetGoalState</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>a5a5884f7f91f1d5416f643809583fce7</anchor>
      <arglist>(Eigen::VectorXdRefConst qT, const double eps=0)</arglist>
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    <member kind="function" protection="protected" static="yes">
      <type>static ompl::base::PlannerPtr</type>
      <name>AllocatePlanner</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>ae959810814ddbe69c52248b60ea7c4e4</anchor>
      <arglist>(const ompl::base::SpaceInformationPtr &amp;si, const std::string &amp;new_name)</arglist>
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    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>algorithm_</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::vector&lt; double &gt;</type>
      <name>bounds_</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>abbd38ebb68eae44095e46881493c18be</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>OMPLSolverInitializer</type>
      <name>init_</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>ac92fdb9cddab9907bb70d03bf97c3058</anchor>
      <arglist></arglist>
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      <type>bool</type>
      <name>multi_query_</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>a5265628be16f133eb01bcc4fb5970a9f</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ompl::geometric::SimpleSetupPtr</type>
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      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>a1951c8a584c08c51aff1579b7a4f83ec</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ConfiguredPlannerAllocator</type>
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      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>a8c58e0c7ad583505e72d6f21d4696eb7</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::shared_ptr&lt; SamplingProblem &gt;</type>
      <name>prob_</name>
      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>adae1b120bd86d4b88889a1976ee31e54</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ompl::base::StateSpacePtr</type>
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      <anchorfile>classexotica_1_1OMPLSolver.html</anchorfile>
      <anchor>a83a0f2e3bb9b0b6e3bab30c4d5852e93</anchor>
      <arglist></arglist>
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  <compound kind="class">
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    <member kind="function" virtualness="pure">
      <type>virtual ompl::base::StateSamplerPtr</type>
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      <anchor>a968743c726dcbde6bbcfd46993ac7af3</anchor>
      <arglist>() const =0</arglist>
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    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>ExoticaToOMPLState</name>
      <anchorfile>classexotica_1_1OMPLStateSpace.html</anchorfile>
      <anchor>a2e7aad3d45b132129394b507049cff75</anchor>
      <arglist>(const Eigen::VectorXd &amp;q, ompl::base::State *state) const =0</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>OMPLStateSpace</name>
      <anchorfile>classexotica_1_1OMPLStateSpace.html</anchorfile>
      <anchor>a8060f4eb1729ccfa59438937ca16f845</anchor>
      <arglist>(OMPLSolverInitializer init)</arglist>
    </member>
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