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    <path>/tmp/ws/src/jsk_control/jsk_footstep_controller/scripts/</path>
    <filename>stance__phase_8py.html</filename>
    <namespace>stance_phase</namespace>
    <member kind="function">
      <type>def</type>
      <name>callback</name>
      <anchorfile>namespacestance__phase.html</anchorfile>
      <anchor>a6999a67fea9771b10583a2c65c0409b8</anchor>
      <arglist>(msg)</arglist>
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    <member kind="function">
      <type>def</type>
      <name>main</name>
      <anchorfile>namespacestance__phase.html</anchorfile>
      <anchor>ab7cd4512345238e8782bdabb2e89a6ea</anchor>
      <arglist>()</arglist>
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  </compound>
  <compound kind="file">
    <name>test_footstep_controller.py</name>
    <path>/tmp/ws/src/jsk_control/jsk_footstep_controller/test/</path>
    <filename>test__footstep__controller_8py.html</filename>
    <namespace>test_footstep_controller</namespace>
    <member kind="function">
      <type>def</type>
      <name>backSteps</name>
      <anchorfile>namespacetest__footstep__controller.html</anchorfile>
      <anchor>a61201513b0b520fa4f3b10f16fff04ac</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>currentSpot</name>
      <anchorfile>namespacetest__footstep__controller.html</anchorfile>
      <anchor>ac1830fa3f931d5ca31b4379f3c7b90ed</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>getCurrentLeftLeg</name>
      <anchorfile>namespacetest__footstep__controller.html</anchorfile>
      <anchor>aaa57538afa0f598c6e971f54aa1ea762</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>matToMsg</name>
      <anchorfile>namespacetest__footstep__controller.html</anchorfile>
      <anchor>a33e2e6caa6881f30f2815103d8d97e16</anchor>
      <arglist>(mat)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>msgToMat</name>
      <anchorfile>namespacetest__footstep__controller.html</anchorfile>
      <anchor>afb85c1461163ec123901f0e34c7b3447</anchor>
      <arglist>(pose)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>oneFootstep</name>
      <anchorfile>namespacetest__footstep__controller.html</anchorfile>
      <anchor>aeff45f9a8052e52a2b592ce965c2e2b4</anchor>
      <arglist>(origin, leg, x=0, y=0, z=0, roll=0, pitch=0, yaw=0)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>sendFootstep</name>
      <anchorfile>namespacetest__footstep__controller.html</anchorfile>
      <anchor>a4a1591b1536ab9d5395406b3c4641320</anchor>
      <arglist>(footstep)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>slopeDown</name>
      <anchorfile>namespacetest__footstep__controller.html</anchorfile>
      <anchor>a2de6e45742ad39c6b5ff8357922f8fe3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>slopeUp</name>
      <anchorfile>namespacetest__footstep__controller.html</anchorfile>
      <anchor>ab4eab7c70b8c239c5916b5194d0bc425</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>stairDown</name>
      <anchorfile>namespacetest__footstep__controller.html</anchorfile>
      <anchor>ab5881338ffd56d27913110f63cf0e329</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>stairUp</name>
      <anchorfile>namespacetest__footstep__controller.html</anchorfile>
      <anchor>a3b380807fc02b9a3dfab03e6330bb504</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>straightSteps</name>
      <anchorfile>namespacetest__footstep__controller.html</anchorfile>
      <anchor>a05d0fdd44273507d406938e8e412d2f2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>transRotToMat</name>
      <anchorfile>namespacetest__footstep__controller.html</anchorfile>
      <anchor>a92c679f73de643f43359a7a14a1b8d39</anchor>
      <arglist>(trans, rot)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>client</name>
      <anchorfile>namespacetest__footstep__controller.html</anchorfile>
      <anchor>a3d731a74fd02864a30e0bd26d77c3c1e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pub_footsteps</name>
      <anchorfile>namespacetest__footstep__controller.html</anchorfile>
      <anchor>a16856e2639e1140f896984f580a844bb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tf_listener</name>
      <anchorfile>namespacetest__footstep__controller.html</anchorfile>
      <anchor>a6ed70ac98a7c877fe311aeceb5579569</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>jsk_footstep_controller::Footcoords</name>
    <filename>classjsk__footstep__controller_1_1Footcoords.html</filename>
    <member kind="enumvalue">
      <name>AIR</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>BOTH_GROUND</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>ab1f571a982f91408484d6b7ba078e9cea9d00a60077b73cea6b849a919df38f49</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>INITIALIZING</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>aa58e9872d531c057fc3ca36da3c42a72a455e3b0171c8f1dd7db4fa9f753cb1bb</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>LLEG_GROUND</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>ab1f571a982f91408484d6b7ba078e9cea47704e9bb69fc2da7eb7b554fd33455b</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>LLEG_SUPPORT</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>aa58e9872d531c057fc3ca36da3c42a72ab224270c2d8fe1a5628804db8879b7da</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>message_filters::sync_policies::ExactTime&lt; nav_msgs::Odometry, sensor_msgs::Imu &gt;</type>
      <name>OdomImuSyncPolicy</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>aa8b99ef4fa4a86571f0cb5fdd38bf722</anchor>
      <arglist></arglist>
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    <member kind="enumeration">
      <type></type>
      <name>OdomStatus</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>aa58e9872d531c057fc3ca36da3c42a72</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
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      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>INITIALIZING</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>LLEG_SUPPORT</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>RLEG_SUPPORT</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>aa58e9872d531c057fc3ca36da3c42a72a1989160b149b30dfaf554f13afc3bd3e</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>RLEG_GROUND</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>ab1f571a982f91408484d6b7ba078e9cea49c8e77f72f66b4a614965f045814d58</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>RLEG_SUPPORT</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
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      <arglist></arglist>
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    <member kind="enumeration">
      <type></type>
      <name>SupportLegStatus</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>ab1f571a982f91408484d6b7ba078e9ce</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>LLEG_GROUND</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>ab1f571a982f91408484d6b7ba078e9cea47704e9bb69fc2da7eb7b554fd33455b</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>RLEG_GROUND</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
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      <arglist></arglist>
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    <member kind="enumvalue">
      <name>AIR</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>ab1f571a982f91408484d6b7ba078e9cea04a9ff9268128c8ded0c87f975dff4c9</anchor>
      <arglist></arglist>
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    <member kind="enumvalue">
      <name>BOTH_GROUND</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>ab1f571a982f91408484d6b7ba078e9cea9d00a60077b73cea6b849a919df38f49</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>message_filters::sync_policies::ExactTime&lt; geometry_msgs::WrenchStamped, geometry_msgs::WrenchStamped, sensor_msgs::JointState, geometry_msgs::PointStamped &gt;</type>
      <name>SyncPolicy</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a7acd8a2b93382d39dded91b2f580213e</anchor>
      <arglist></arglist>
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      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
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      <arglist></arglist>
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    <member kind="function">
      <type></type>
      <name>Footcoords</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>ab2d9218239018a2c6631e072b3647038</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~Footcoords</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a09d499a73ec6874362f52cca4469b500</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
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      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>aad7ec6e1fd477dc1915c506da713a389</anchor>
      <arglist>(TimeStampedVector&lt; ValueStamped::Ptr &gt; &amp;values, double threshold)</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>allValueSmallerThan</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>ae938a3d47fca9e69ae59d717be94ba7d</anchor>
      <arglist>(TimeStampedVector&lt; ValueStamped::Ptr &gt; &amp;values, double threshold)</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual double</type>
      <name>applyLowPassFilter</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a8783aea88ab9ea957f7d25d3010e25b9</anchor>
      <arglist>(double current_val, double prev_val) const</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>computeMidCoords</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a21ecaa77fa6e815070d7c007c7ff5e91</anchor>
      <arglist>(const ros::Time &amp;stamp)</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>computeMidCoordsFromSingleLeg</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a8e0c8cd6f08b91776f15a40fbbbd7693</anchor>
      <arglist>(const ros::Time &amp;stamp, bool use_left_leg)</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>computeVelicity</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>ae6b0458dcfa46919b0dcb69a22296ed8</anchor>
      <arglist>(double dt, std::map&lt; std::string, double &gt; &amp;joint_angles, KDL::Chain &amp;chain, geometry_msgs::Twist &amp;output)</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>estimateOdometry</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a8daa14574ae438a9348b48cfb3578292</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>estimateOdometryMainSupportLeg</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a9e76c93e58e1672d4dd089ba99b066d6</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>estimateOdometryNaive</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a04e61dce9472e0e0623bf435662d33f1</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>estimateOdometryZMPSupportLeg</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>aafa7f5f9feb1b7c81397dc154ff9ba45</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>estimateVelocity</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>affd415be39c25cffaaca5252848f483a</anchor>
      <arglist>(const ros::Time &amp;stamp, std::map&lt; std::string, double &gt; &amp;joint_angles)</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>filter</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a36d54bf650b7ea160b47b386cb1837d4</anchor>
      <arglist>(const jsk_footstep_controller::SynchronizedForces::ConstPtr &amp;msg)</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>floorCoeffsCallback</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a36da4e473ea37955733618a2b4b4f57d</anchor>
      <arglist>(const pcl_msgs::ModelCoefficients &amp;coeffs)</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>getRollPitch</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a74ab5d5c7c12682b1bd8a9d12c8f89c4</anchor>
      <arglist>(const Eigen::Affine3d &amp;pose, float &amp;roll, float &amp;pitch)</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual float</type>
      <name>getYaw</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>ae8e5fc519c648e553aaa5c8ad7e623ef</anchor>
      <arglist>(const Eigen::Affine3d &amp;pose)</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>odomImuCallback</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a223d61a0e229d4b567ebaf20ca15a44d</anchor>
      <arglist>(const nav_msgs::Odometry::ConstPtr &amp;odom_msg, const sensor_msgs::Imu::ConstPtr &amp;imu_msg)</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>odomInitTriggerCallback</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a9efd14704926cf1a7e4b2411c049d096</anchor>
      <arglist>(const std_msgs::Empty &amp;trigger)</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>periodicTimerCallback</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>ac550abf677d3ce53aad6a2cd48673134</anchor>
      <arglist>(const ros::TimerEvent &amp;event)</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>publishContactState</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>aee1fecd82e9c6ab84f28824e79f15ed5</anchor>
      <arglist>(const ros::Time &amp;stamp)</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>publishState</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a743611f7902327e72dda6ce3c343c4dd</anchor>
      <arglist>(const std::string &amp;state)</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>publishTF</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a196624902cf2a62cc8edfcba30f5d5db</anchor>
      <arglist>(const ros::Time &amp;stamp)</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>resolveForceTf</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>ab6c07ba9f4b3d7c6e84397a2477a3d2c</anchor>
      <arglist>(const geometry_msgs::WrenchStamped &amp;lfoot, const geometry_msgs::WrenchStamped &amp;rfoot, tf::Vector3 &amp;lfoot_force, tf::Vector3 &amp;rfoot_force)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>synchronizeForces</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>ae54e16e0150077bb4d5cf864f4e4fa47</anchor>
      <arglist>(const geometry_msgs::WrenchStamped::ConstPtr &amp;lfoot, const geometry_msgs::WrenchStamped::ConstPtr &amp;rfoot, const sensor_msgs::JointState::ConstPtr &amp;joint_states, const geometry_msgs::PointStamped::ConstPtr &amp;zmp)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>updateChain</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a1b7588bef65bc9988ba19bf544a9149b</anchor>
      <arglist>(std::map&lt; std::string, double &gt; &amp;joint_angles, KDL::Chain &amp;chain, tf::Pose &amp;output_pose)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>updateGroundTF</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>aca363933308b812319c9116d25509254</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>updateLegDiagnostics</name>
      <anchorfile>classjsk__footstep__controller_1_1Footcoords.html</anchorfile>
      <anchor>a01633f57804347b208466da3c38f160e</anchor>
      <arglist>(diagnostic_updater::DiagnosticStatusWrapper &amp;stat)</arglist>
    </member>
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