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      <arglist>()</arglist>
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    <base>jsk_footstep_planner::BestFirstSearchSolver</base>
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      <arglist>(GraphPtr graph)</arglist>
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      <arglist>(SolverNodePtr n)</arglist>
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      <arglist>(SolverNodePtr n)</arglist>
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      <arglist>(SolverNodePtr n)</arglist>
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      <arglist>(HeuristicFunction h)</arglist>
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      <arglist>(SolverNodePtr node)</arglist>
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      <arglist>(GraphPtr graph)</arglist>
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      <arglist>(SolverNodePtr n)</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist>(SolverNodePtr state)</arglist>
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      <arglist>(GraphPtr graph)</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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  <compound kind="class">
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      <type>boost::shared_ptr&lt; CostedGridState &gt;</type>
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      <arglist>()</arglist>
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      <arglist>(float c_)</arglist>
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    <base>jsk_footstep_planner::Solver</base>
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      <arglist></arglist>
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      <arglist>(SolverNodePtr state)</arglist>
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      <arglist>(GraphPtr graph)</arglist>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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  <compound kind="class">
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    <base>jsk_footstep_planner::AStarSolver</base>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(StatePtr s)</arglist>
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      <arglist>(SolverNodePtr node)</arglist>
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      <arglist>()</arglist>
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      <arglist>(pcl::PointCloud&lt; PointT &gt; &amp;output_cloud)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>findInCloseList</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepAStarSolver.html</anchorfile>
      <anchor>a0f2aded29ecc1c11be204a2047cca919</anchor>
      <arglist>(StatePtr s)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>fn</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepAStarSolver.html</anchorfile>
      <anchor>a31f7c6297cfc0951472597b26f50b40e</anchor>
      <arglist>(SolverNodePtr n)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>FootstepAStarSolver</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepAStarSolver.html</anchorfile>
      <anchor>add017a6a06cdd49ef62705efe75b546b</anchor>
      <arglist>(GraphPtr graph, size_t x_num, size_t y_num, size_t theta_num, unsigned int profile_period=1024, double cost_weight=1.0, double heuristic_weight=1.0)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual FootstepStateDiscreteCloseList</type>
      <name>getCloseList</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepAStarSolver.html</anchorfile>
      <anchor>aff6de6dafba18ae147d9339378951a44</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual OpenList</type>
      <name>getOpenList</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepAStarSolver.html</anchorfile>
      <anchor>a925608539e14588d4930d3ecd69d8764</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>isOK</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepAStarSolver.html</anchorfile>
      <anchor>a63a1d2d20a346334686ab2e6b9dcab91</anchor>
      <arglist>(const ros::WallTime &amp;start_time, const ros::WallDuration &amp;timeout)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>openListToPointCloud</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepAStarSolver.html</anchorfile>
      <anchor>a251a8d1785940ca75fee48213cc6ef52</anchor>
      <arglist>(pcl::PointCloud&lt; PointT &gt; &amp;output_cloud)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setProfileFunction</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepAStarSolver.html</anchorfile>
      <anchor>a593bb446470aaae3b451cffd129ad4a5</anchor>
      <arglist>(ProfileFunction f)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual std::vector&lt; typename SolverNode&lt; State, GraphT &gt;::Ptr &gt;</type>
      <name>solve</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepAStarSolver.html</anchorfile>
      <anchor>a65c662b5b3097fae86acf07e03a0eb79</anchor>
      <arglist>(const ros::WallDuration &amp;timeout=ros::WallDuration(1000000000.0))</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>const double</type>
      <name>cost_weight_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepAStarSolver.html</anchorfile>
      <anchor>a9c7ca5297717ca501034b3a9628ff727</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>FootstepStateDiscreteCloseList</type>
      <name>footstep_close_list_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepAStarSolver.html</anchorfile>
      <anchor>a04151df26e8b6d64bb61cb96e8c1e149</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>const double</type>
      <name>heuristic_weight_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepAStarSolver.html</anchorfile>
      <anchor>ae172da8d4b4bc154cfe626ceddd46584</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>is_cancelled_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepAStarSolver.html</anchorfile>
      <anchor>a218cd9e13b56343f8d28a3b3181470c0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>is_set_profile_function_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepAStarSolver.html</anchorfile>
      <anchor>ae8ce2ec3f468d802dba80f178bdc8ff4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>unsigned int</type>
      <name>loop_counter_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepAStarSolver.html</anchorfile>
      <anchor>ac8f632a64186845b898ceb8184715545</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ProfileFunction</type>
      <name>profile_function_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepAStarSolver.html</anchorfile>
      <anchor>a5c558f0bc50c236cdc6a73f0039cb0d0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>unsigned int</type>
      <name>profile_period_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepAStarSolver.html</anchorfile>
      <anchor>a5d295bee09f0dd1f6c8fd4438c4923d5</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>jsk_footstep_planner::FootstepGraph</name>
    <filename>classjsk__footstep__planner_1_1FootstepGraph.html</filename>
    <base>Graph&lt; FootstepState &gt;</base>
    <member kind="typedef">
      <type>boost::function&lt; double(StatePtr, StatePtr, double) &gt;</type>
      <name>PathCostFunction</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>afc4cc4aa28f3241aaa00bd9a8fefedb8</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; FootstepGraph &gt;</type>
      <name>Ptr</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>afdb8ece81247cb987021aef66ba81919</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::function&lt; bool(StatePtr target_state, std::vector&lt; StatePtr &gt; &amp;) &gt;</type>
      <name>SuccessorFunction</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>affb31286c46975d32e2750a43a955c26</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>clearPerceptionDuration</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>ac4ee0a93462685ba0c7077116de23bd0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>finalizeSteps</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>add186200eb23cace13144869e44c7b80</anchor>
      <arglist>(const StatePtr &amp;last_1_Step, const StatePtr &amp;lastStep, std::vector&lt; StatePtr &gt; &amp;finalizeSteps)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>FootstepGraph</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>aba73904bbc6e76a8c39f750697828849</anchor>
      <arglist>(const Eigen::Vector3f &amp;resolution, const bool use_pointcloud_model=false, const bool lazy_projection=true, const bool local_movement=false, const bool use_obstacle_model=false)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual TransitionLimit::Ptr</type>
      <name>getGlobalTransitionLimit</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>aae0528e9fcdc2309e502a2145856b5d2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual FootstepState::Ptr</type>
      <name>getGoal</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>af7a9e439811e41615ed0c80f65d9f724</anchor>
      <arglist>(int leg)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual ros::WallDuration</type>
      <name>getPerceptionDuration</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>abccecd5ec64f6582875c989568673afe</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual pcl::PointIndices::Ptr</type>
      <name>getPointIndicesCollidingSphere</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>afb22c7906d7f48c0ab6cfd2fdd6a8bc8</anchor>
      <arglist>(const Eigen::Affine3f &amp;c)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Eigen::Affine3f</type>
      <name>getRobotCoords</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>af9aec638a806d70c381e2abc788b4fa2</anchor>
      <arglist>(StatePtr current_state, StatePtr previous_state) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual TransitionLimit::Ptr</type>
      <name>getTransitionLimit</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a5b02df01ca2b08c9ef52d7f03c2fbfa0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual std::string</type>
      <name>infoString</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>aa0c18d27733e9f2a8756379206537e43</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>isColliding</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a8cfb34391a62c38f2b377a5b39951a39</anchor>
      <arglist>(StatePtr current_state, StatePtr previous_state)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>isCollidingBox</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a137e07492d0e0bef41d591a2b3c3d8fe</anchor>
      <arglist>(const Eigen::Affine3f &amp;c, pcl::PointIndices::Ptr candidates) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>isGoal</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>aa9e6f3381e53f3c023fffb233a7810a7</anchor>
      <arglist>(StatePtr state)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>isSuccessable</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a27d43452bfe4286619fd3b35f5546034</anchor>
      <arglist>(StatePtr current_state, StatePtr previous_state)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>lazyProjection</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>af8dd59b510ccb5008d84082033cd20ec</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual std::vector&lt; FootstepState::Ptr &gt;</type>
      <name>localMoveFootstepState</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>afbc0826f1841910f0d2492b9b67eae9d</anchor>
      <arglist>(FootstepState::Ptr in)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>localMovement</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a32f636e1a3ee385a32389f23ff4522a2</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>maxSuccessorDistance</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>ae01141c0c0942bcb86d40437c86dabcf</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>maxSuccessorRotation</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>ac3bb13ddfb0c215534464e19334b191a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>double</type>
      <name>path_cost_original</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a5b814c02bbb4ba0d64d17fa95f148cb4</anchor>
      <arglist>(StatePtr from, StatePtr to, double prev_cost)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>pathCost</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a8316f21931a8125cc1551da4ed1c8a27</anchor>
      <arglist>(StatePtr from, StatePtr to, double prev_cost)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual FootstepState::Ptr</type>
      <name>projectFootstep</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>ad929c268c963604feb99b81ee23c7bae</anchor>
      <arglist>(FootstepState::Ptr in)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual FootstepState::Ptr</type>
      <name>projectFootstep</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a5147a53334c79d54a1add0df73bf2152</anchor>
      <arglist>(FootstepState::Ptr in, unsigned int &amp;state)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>projectGoal</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a71e45a22e3f49ce43f7869aebf6fd7f6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>projectStart</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>aed4f180ce3edcb952d3915acede6a144</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setBasicSuccessors</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>abe51857cdf16d185278893eef310892b</anchor>
      <arglist>(std::vector&lt; Eigen::Affine3f &gt; left_to_right_successors)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setCollisionBBoxOffset</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a0ab49560810fa543fb4fbab6e97a8147</anchor>
      <arglist>(const Eigen::Affine3f &amp;offset)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setCollisionBBoxSize</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>ae6e465658231b630fa1693d77b03efca</anchor>
      <arglist>(const Eigen::Vector3f &amp;size)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setGlobalTransitionLimit</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a93fb54437b06447b23c92e5e538699bb</anchor>
      <arglist>(TransitionLimit::Ptr limit)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setGoalState</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>adbff51939ebe55b23e06a305007a9cbf</anchor>
      <arglist>(FootstepState::Ptr left, FootstepState::Ptr right)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setHeuristicPathLine</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a587b582554abbb14c7e7e3c976360e7f</anchor>
      <arglist>(jsk_recognition_utils::PolyLine &amp;path_line)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setLeftGoalState</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a26ae254402531df9b28147988d998998</anchor>
      <arglist>(FootstepState::Ptr goal)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setObstacleModel</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a93aead31c1691ed5a742bd88e985adf4</anchor>
      <arglist>(pcl::PointCloud&lt; pcl::PointXYZ &gt;::Ptr model)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setParameters</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>ad4f8aa925c15e2df76aba9986155787c</anchor>
      <arglist>(FootstepParameters &amp;p)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setPathCostFunction</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a0e68242ac68b3704afc3af35fd518b06</anchor>
      <arglist>(PathCostFunction p)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setPointCloudModel</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a6a8bed52996d270313456ee5dc07f295</anchor>
      <arglist>(pcl::PointCloud&lt; pcl::PointNormal &gt;::Ptr model)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setProgressPublisher</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a552ccc88df22f5486422627b1ff997e3</anchor>
      <arglist>(ros::NodeHandle &amp;nh, std::string topic)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setRightGoalState</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>ae2b5a34ec488c30f0b64d54d05e95ca0</anchor>
      <arglist>(FootstepState::Ptr goal)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setSuccessorFunction</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a6194279e5e88b6c0cb812773e13258a9</anchor>
      <arglist>(SuccessorFunction s)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setTransitionLimit</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a0f7cfa59d48b33ef3bf99544980d5ab4</anchor>
      <arglist>(TransitionLimit::Ptr limit)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual std::vector&lt; StatePtr &gt;</type>
      <name>successors</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a31fc6fd4607225fc847e9c695ad63bdd</anchor>
      <arglist>(StatePtr target_state)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>successors_original</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>ad0c11f59ffb580ac67a94fd82a1a6584</anchor>
      <arglist>(StatePtr target_state, std::vector&lt; FootstepGraph::StatePtr &gt; &amp;ret)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>useObstacleModel</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a3074b3efc345b5045ddaf8c473a40c6b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>usePointCloudModel</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a94478e7b4512211c6ce10ec16fe68624</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Eigen::Affine3f</type>
      <name>collision_bbox_offset_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>aa2105ca04d8829601abc64c32759d7d5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Eigen::Vector3f</type>
      <name>collision_bbox_size_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepGraph.html</anchorfile>
      <anchor>a4313b4171b97be375e59d860fc513260</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
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      <arglist>(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &amp;feedback)</arglist>
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      <arglist>(Config &amp;config, uint32_t level)</arglist>
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      <arglist>(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &amp;feedback)</arglist>
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      <arglist>(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &amp;feedback)</arglist>
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      <arglist>(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &amp;feedback)</arglist>
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      <arglist>(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &amp;feedback)</arglist>
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      <arglist>(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &amp;feedback)</arglist>
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      <arglist>(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &amp;feedback)</arglist>
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      <arglist>(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &amp;feedback)</arglist>
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      <arglist>(const actionlib::SimpleClientGoalState &amp;state, const ExecResult::ConstPtr &amp;result)</arglist>
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      <arglist>(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &amp;feedback)</arglist>
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      <arglist>(std_srvs::Empty::Request &amp;req, std_srvs::Empty::Response &amp;res)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual jsk_footstep_msgs::FootstepArray</type>
      <name>footstepArrayFromPosePair</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a8bbe7f3028d04951333e52d474f92e5e</anchor>
      <arglist>(PosePair::Ptr pose_pair, const std_msgs::Header &amp;header, bool is_lleg_first)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual PosePair::Ptr</type>
      <name>getCurrentFootstepPoses</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a838acc9fb2d51b57bc7cb7de08235633</anchor>
      <arglist>(const ros::Time &amp;stamp)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual PosePair::Ptr</type>
      <name>getDefaultFootstepPair</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a1df198f061bd03bfb76c151f240bd2bc</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual FootstepTrans</type>
      <name>getDefaultLeftLegOffset</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a620b50dffaa87f077c8f2670c190b7a9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual FootstepTrans</type>
      <name>getDefaultRightLegOffset</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a4154f75a07c5a25406309ad6c5e2dd21</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>getFootstepMarkerPoseService</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a64c1a70b83e0b2c09ae7a6ef0840fa36</anchor>
      <arglist>(jsk_interactive_marker::GetTransformableMarkerPose::Request &amp;req, jsk_interactive_marker::GetTransformableMarkerPose::Response &amp;res)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual PosePair::Ptr</type>
      <name>getLatestCurrentFootstepPoses</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a0de07fd65ddecf2b3a4154b0ff245a51</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual visualization_msgs::Marker</type>
      <name>goalBoundingBoxMarker</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>ad22349df4784076b231c8779dadcf138</anchor>
      <arglist>(const std_msgs::Header &amp;header, const geometry_msgs::Pose &amp;pose)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual visualization_msgs::Marker</type>
      <name>makeFootstepMarker</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>aacfeed46d8ca79bcd33a456517673761</anchor>
      <arglist>(FootstepTrans pose, unsigned char leg)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual visualization_msgs::Marker</type>
      <name>originBoundingBoxMarker</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a9d7c489d91c0dba2e776513634488989</anchor>
      <arglist>(const std_msgs::Header &amp;header, const geometry_msgs::Pose &amp;pose)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual visualization_msgs::Marker</type>
      <name>originMarker</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a089d52a3e92c3fc918bdbca397f621e7</anchor>
      <arglist>(const std_msgs::Header &amp;header, const geometry_msgs::Pose &amp;pose)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>plan</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a9299922934f0bec64c86d07cd75f5d76</anchor>
      <arglist>(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &amp;feedback)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>planDoneCB</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>afc8b69abfaaf1dcdacf40fedd0f0c19f</anchor>
      <arglist>(const actionlib::SimpleClientGoalState &amp;state, const PlanResult::ConstPtr &amp;result)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>planIfPossible</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>ab195a263e19d530c66e6b2e658b34169</anchor>
      <arglist>(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &amp;feedback)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>poseStampedCommandCallback</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>ae48d2b7e82a9a64d90709a0e09d72c04</anchor>
      <arglist>(const geometry_msgs::PoseStamped::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>processFeedbackCB</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>af56ddd52ba4628ba7d1194e1d36f6ef9</anchor>
      <arglist>(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &amp;feedback)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>processMenuFeedbackCB</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>aec4988296b307320389eef7cd4a7be4f</anchor>
      <arglist>(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &amp;feedback)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>processPoseUpdateCB</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a181a571a921393cd0aa7114281b32a4d</anchor>
      <arglist>(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &amp;feedback)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>publishCurrentMarkerMode</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>adc8a9d57ba0448185a3f23d8bb8e368a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>resetInteractiveMarker</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>ae7cb26629f2d3500934fd67be22902e7</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>resetMarkerCB</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a96b1e68a0c8d14302d3cb9ad96266ab8</anchor>
      <arglist>(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &amp;feedback)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>resetMarkerService</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>accadf68b8b80ba839fb90c852485b5eb</anchor>
      <arglist>(std_srvs::Empty::Request &amp;req, std_srvs::Empty::Response &amp;res)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>setupGoalMarker</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a423ad8ecfc2a22345cc3e1a417167cb7</anchor>
      <arglist>(FootstepTrans pose, visualization_msgs::InteractiveMarker &amp;int_marker)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>setupInitialMarker</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>aa15dfd9d3b7e15c19391c8e8acd55fbb</anchor>
      <arglist>(PosePair::Ptr leg_poses, visualization_msgs::InteractiveMarker &amp;int_marker)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>setupMenuHandler</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>aeaa478288d2271d3ae8e955a9363db87</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual visualization_msgs::Marker</type>
      <name>stackedPosesMarker</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>af33c05443af53f7223f5384b6f2819c3</anchor>
      <arglist>(const std_msgs::Header &amp;header, const geometry_msgs::Pose &amp;pose)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>stackFootstepCB</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>af8d0178be91b36cb1a830f0096156bee</anchor>
      <arglist>(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &amp;feedback)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>stackMarkerPoseService</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a6a58e0b23db244f10539579ca18754d0</anchor>
      <arglist>(jsk_interactive_marker::SetPose::Request &amp;req, jsk_interactive_marker::SetPose::Response &amp;res)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual visualization_msgs::Marker</type>
      <name>targetArrow</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a8f1f9fd92bccfeda8ab65e08aaf8ea17</anchor>
      <arglist>(const std_msgs::Header &amp;header, const geometry_msgs::Pose &amp;pose)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>toggleFootstepMarkerModeService</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a3c5b6d9240ff0cdb501d047dae2cacdd</anchor>
      <arglist>(std_srvs::Empty::Request &amp;req, std_srvs::Empty::Response &amp;res)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>updateMarkerArray</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>aea1d62dc31c11b9649b922e262c26584</anchor>
      <arglist>(const std_msgs::Header &amp;header, const geometry_msgs::Pose &amp;pose)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>waitForExecuteFootstepService</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>aa8ae4443d92683a59fc03ac34811d0e4</anchor>
      <arglist>(std_srvs::Empty::Request &amp;req, std_srvs::Empty::Response &amp;res)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>waitForFootstepPlanService</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>ae9e31e7739e25f9af82914fead9e2f83</anchor>
      <arglist>(std_srvs::Empty::Request &amp;req, std_srvs::Empty::Response &amp;res)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ExecuteActionClient</type>
      <name>ac_exec_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a013b7d269451239451a1de883b2ca37a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>PlanningActionClient</type>
      <name>ac_planner_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a29229f391b4c20eef3125b99e3560e84</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>FootstepTrans</type>
      <name>collision_bbox_offset_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>aea1343d1acbeb3a3824dd58275e99afe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>FootstepVec</type>
      <name>collision_bbox_size_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a451fa12c601798ff09caf5e5967fc329</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>CommandMode</type>
      <name>command_mode_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>aef9fb66dbccc7b651d5d90e89c4faa08</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>interactive_markers::MenuHandler::EntryHandle</type>
      <name>cont_mode_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>abf4925bdea65a93625ab4773e34e980a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>interactive_markers::MenuHandler::EntryHandle</type>
      <name>cube_mode_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a68b149b470466887fd867b2acd622867</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>FootstepTrans</type>
      <name>current_lleg_offset_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>ad0990b2f8c105299caa73ea3404c3aea</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>FootstepTrans</type>
      <name>current_rleg_offset_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a4637fb9a86d7c5ebb32522bdb895b87e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>default_footstep_margin_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a8f207fd3bbdcaeb6ae8f9e8ccf086b37</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>disable_tf_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a2799e76f1807ff8fc290f504f622540f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>interactive_markers::MenuHandler::EntryHandle</type>
      <name>entry_2d_mode_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>ae991f180d6c3ec167923a91f82bd44fa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>interactive_markers::MenuHandler::EntryHandle</type>
      <name>entry_3d_mode_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a79276b75c8b9da75fed2d79c957391e0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>foot_size_x_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a6f063f595f23e646eec233dde38ff10f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>foot_size_y_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a62342a8ecae7d600b67b42283ac60a7c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>foot_size_z_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a555cde4f2d8a0bb2603e0dbf48bae321</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>have_last_step_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a75acf800cca81a1a5b47646f5aa3988f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>is_2d_mode_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a5d241d04b2e111ba0b5bcae123a6c4f2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>is_cube_mode_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a42ebf70b005bcfdd38b4ff27cb09bf1c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>jsk_footstep_msgs::Footstep</type>
      <name>last_steps_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a13b4399523cecaa47ce432055ca05ddb</anchor>
      <arglist>[2]</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>interactive_markers::MenuHandler::EntryHandle</type>
      <name>line_mode_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>ac1ea0c5fd14bbb16c51a8d46db30376b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>lleg_end_coords_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a33781187cbcf2774ea8592e3f659f4b4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>FootstepVec</type>
      <name>lleg_footstep_offset_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a190a67284c79ad6309a3f055ba561e72</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>FootstepTrans</type>
      <name>lleg_goal_pose_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>ad93726ecd940b8d6b7081874940b7dac</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>interactive_markers::MenuHandler</type>
      <name>menu_handler_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>abc0c831c7741ba8ad6dd5a5ba03cfe01</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::NodeHandle</type>
      <name>nh_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a4a435f89361cad44ab06e17aefc3a81d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>odom_frame_id_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a1ec19542935087269a4aa643949741fb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>PosePair::Ptr</type>
      <name>original_foot_poses_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>afd7bd35761d068fa715843a59872e488</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>jsk_footstep_msgs::FootstepArray</type>
      <name>plan_result_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a8e57a9be85a74b036080495f6ef901bc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::mutex</type>
      <name>planner_mutex_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>a2283fd3ab493a71af1e85fc327eca73a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>PlanningState</type>
      <name>planning_state_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
      <anchor>aba764f43b46a859cb87d7d8599a99a1e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::NodeHandle</type>
      <name>pnh_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepMarker.html</anchorfile>
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      <arglist></arglist>
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      <arglist>(const sensor_msgs::PointCloud2::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>profile</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a7e06f908b88f5de7395bb9741087f8dc</anchor>
      <arglist>(FootstepAStarSolver&lt; FootstepGraph &gt; &amp;solver, FootstepGraph::Ptr graph)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>projectFootPrint</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a0bdf26f786667ec17b96e15391392236</anchor>
      <arglist>(const Eigen::Affine3f &amp;center_pose, const Eigen::Affine3f &amp;left_pose_trans, const Eigen::Affine3f &amp;right_pose_trans, geometry_msgs::Pose &amp;pose)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>projectFootPrintService</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a1ccf89dd99f7b5560de24fb5f38d0f7b</anchor>
      <arglist>(jsk_interactive_marker::SnapFootPrint::Request &amp;req, jsk_interactive_marker::SnapFootPrint::Response &amp;res)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>projectFootPrintWithLocalSearchService</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>adde41a0406be576c5cc1b45f6e92c90f</anchor>
      <arglist>(jsk_interactive_marker::SnapFootPrint::Request &amp;req, jsk_interactive_marker::SnapFootPrint::Response &amp;res)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>projectFootstepService</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>ae2ba210d220e027c1f82b857b26b9d14</anchor>
      <arglist>(jsk_footstep_planner::ProjectFootstep::Request &amp;req, jsk_footstep_planner::ProjectFootstep::Response &amp;res)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>publishPointCloud</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a394fa4233d538c5ad0a7b55217b41b03</anchor>
      <arglist>(const pcl::PointCloud&lt; pcl::PointNormal &gt; &amp;cloud, ros::Publisher &amp;pub, const std_msgs::Header &amp;header)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>publishText</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a2eb6944f1b77819fec0a3937abebf3ab</anchor>
      <arglist>(ros::Publisher &amp;pub, const std::string &amp;text, PlanningStatus status)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>readSuccessors</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a37dc0b64426858338a62fa4e3568a1e7</anchor>
      <arglist>(ros::NodeHandle &amp;nh)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>setHeuristicPathService</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a664fddd0bab6aad21c77dbc920e91677</anchor>
      <arglist>(jsk_footstep_planner::SetHeuristicPath::Request &amp;req, jsk_footstep_planner::SetHeuristicPath::Response &amp;res)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual double</type>
      <name>stepCostHeuristic</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a317a95829b3cd456da270c4c81a36c01</anchor>
      <arglist>(SolverNode&lt; FootstepState, FootstepGraph &gt;::Ptr node, FootstepGraph::Ptr graph)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual double</type>
      <name>straightHeuristic</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>af620a61010186332cd70766a3ac389e2</anchor>
      <arglist>(SolverNode&lt; FootstepState, FootstepGraph &gt;::Ptr node, FootstepGraph::Ptr graph)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual double</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a187e21a79ad4e818ed48c130e4aed889</anchor>
      <arglist>(SolverNode&lt; FootstepState, FootstepGraph &gt;::Ptr node, FootstepGraph::Ptr graph)</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual double</type>
      <name>zeroHeuristic</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>affdca20800b73c61aae327a54826398e</anchor>
      <arglist>(SolverNode&lt; FootstepState, FootstepGraph &gt;::Ptr node, FootstepGraph::Ptr graph)</arglist>
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    <member kind="variable" protection="protected">
      <type>actionlib::SimpleActionServer&lt; jsk_footstep_msgs::PlanFootstepsAction &gt;</type>
      <name>as_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>ac6e490d868c1191ef91305ec8b994777</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>int</type>
      <name>close_list_theta_num_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a8f9d8ed1520d3dfeb0b0ad9ab13ca772</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>int</type>
      <name>close_list_x_num_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>ab7bb1093a98555dbdceb75ff09f0ad99</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>int</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a627bc67a5d1a87d84e0e805b9c13a7a9</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>Eigen::Affine3f</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a115548aa8d3d1d8931ccf3a6aa4ca91a</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>Eigen::Vector3f</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a96427f782754a9b6a0b2dd459a6f345d</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a693b87cb5590d1cb4cad854ed7e9baed</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>aca50297c9d8b4c9d8285af3ac05ced49</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a4c3ca51127320dbf2e1e41d8e95925e7</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>FootstepGraph::Ptr</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a1cd31d52debc1a2734817b2a0508fa36</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>heuristic_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>ad315e445654f6483e8a9147a550a3da5</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
      <name>heuristic_first_rotation_weight_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a22d1ff882efda59959fd652b1b553630</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a4d57fed035a4307c04226e054038a915</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>ab3690f250d28cafe2d3f411efa0de3b1</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>Eigen::Vector3f</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>aae5eaa8b3f3639efaba39bb9f128d195</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>Eigen::Vector3f</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a861e1c933b5e75a67c1eccb3ac3fd6f3</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std_msgs::Header</type>
      <name>latest_header_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>aac4dd7bc667c1bf7c28a962928d31cc9</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>boost::mutex</type>
      <name>mutex_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a5824e04ccb312c85227c7d5ba4cd5a2a</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>size_t</type>
      <name>num_finalize_steps_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>aaa939695814356234b2e67d7fde52948</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>pcl::PointCloud&lt; pcl::PointXYZ &gt;::Ptr</type>
      <name>obstacle_model_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>ab7889c7d69bc52bd0829ba5e69d10c96</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>obstacle_model_frame_id_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a135a30ad38f1ca6a48de4e1acda67af1</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>FootstepParameters</type>
      <name>parameters_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a34ffc258d415c0ab19a47f9b34d3e78d</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>ac3d7e6dff5cb365dbebc9e7d28a1bdfc</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>pcl::PointCloud&lt; pcl::PointNormal &gt;::Ptr</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>ac85e3a8753613e263f8c1fbf09ee84db</anchor>
      <arglist></arglist>
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      <type>std::string</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
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      <arglist></arglist>
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      <type>int</type>
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      <arglist></arglist>
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      <type>bool</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>aadb14cc27d3e6fc07e07ffe13160f9c8</anchor>
      <arglist></arglist>
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      <type>bool</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>afd80fccee92d01b01bb51fde1b07c121</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>a6b935bcd3646bbbf212be6b09c702f71</anchor>
      <arglist></arglist>
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      <type>ros::Publisher</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
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      <arglist></arglist>
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      <type>ros::Publisher</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>double</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
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      <arglist></arglist>
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      <type>double</type>
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      <arglist></arglist>
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      <type>double</type>
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      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>jsk_footstep_msgs::PlanFootstepsResult</type>
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      <arglist></arglist>
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      <type>bool</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
      <anchor>add735c3343c16fcd61134187a9b50cb4</anchor>
      <arglist></arglist>
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      <type>boost::shared_ptr&lt; dynamic_reconfigure::Server&lt; Config &gt; &gt;</type>
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      <arglist></arglist>
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      <type>ros::ServiceServer</type>
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      <type>ros::ServiceServer</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepPlanner.html</anchorfile>
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      <type>ros::ServiceServer</type>
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      <arglist></arglist>
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      <type>ros::ServiceServer</type>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <type>std::vector&lt; Eigen::Affine3f &gt;</type>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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  <compound kind="class">
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    <member kind="typedef">
      <type>boost::shared_ptr&lt; FootstepState &gt;</type>
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      <arglist></arglist>
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    <member kind="function">
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      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a4dfe1959f2d7393c894efe96b99820fa</anchor>
      <arglist>(pcl::PointCloud&lt; pcl::PointNormal &gt;::Ptr cloud, ANNGrid::Ptr grid_search, double padding_x=0.0, double padding_y=0.0)</arglist>
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    <member kind="function">
      <type>pcl::PointIndices::Ptr</type>
      <name>cropPointCloudExact</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a1ca13a84823cf60c69258fdfcd258b77</anchor>
      <arglist>(pcl::PointCloud&lt; pcl::PointNormal &gt;::Ptr cloud, pcl::PointIndices::Ptr near_indices, double padding_x=0.0, double padding_y=0.0)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>cross2d</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a4c22c0b660826ed4290c2defe3dd09f5</anchor>
      <arglist>(const Eigen::Vector2f &amp;a, const Eigen::Vector2f &amp;b) const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>crossCheck</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a1c6baea3eda19ded793203c97138528b</anchor>
      <arglist>(FootstepState::Ptr other, float collision_padding=0)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>FootstepState</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>ab0e4c23f98c94b3c0e246bf9ccd85151</anchor>
      <arglist>(int leg, const Eigen::Affine3f &amp;pose, const Eigen::Vector3f &amp;dimensions, const Eigen::Vector3f &amp;resolution)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>FootstepState</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a090730e607d3e1fbca3ae147d19ecc79</anchor>
      <arglist>(int leg, const Eigen::Affine3f &amp;pose, const Eigen::Vector3f &amp;dimensions, const Eigen::Vector3f &amp;resolution, int index_x, int index_y, int index_yaw)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Eigen::Vector3f</type>
      <name>getDimensions</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>abb7e2000fe57f867988ab9710221f39f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getLeg</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a155e95d41e281bcb30f3434130136a71</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Eigen::Affine3f</type>
      <name>getPose</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a6e88255b88af0e862fa187cd6a428383</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Eigen::Vector3f</type>
      <name>getResolution</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>ae1f3f6f1bd1251c99c3734eddb4bc925</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>indexT</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>ad76430cb2f07e90f7ab5f426b6e87be1</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>indexX</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a1e5de8d3f7a4d78f243e6ced111c38f7</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>indexY</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a0ba9128ee5ee3ac18f3e937ee669a326</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual FootstepSupportState</type>
      <name>isSupportedByPointCloud</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a554d135eabb9b171c24a008723fe1e0d</anchor>
      <arglist>(const Eigen::Affine3f &amp;pose, pcl::PointCloud&lt; pcl::PointNormal &gt;::Ptr cloud, pcl::KdTreeFLANN&lt; pcl::PointNormal &gt; &amp;tree, pcl::PointIndices::Ptr inliers, const int foot_x_sampling_num, const int foot_y_sampling_num, const double vertex_threshold)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual FootstepSupportState</type>
      <name>isSupportedByPointCloudWithoutCropping</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>abb68aa6f00714ebd986a4c912720be13</anchor>
      <arglist>(const Eigen::Affine3f &amp;pose, pcl::PointCloud&lt; pcl::PointNormal &gt;::Ptr cloud, pcl::KdTreeFLANN&lt; pcl::PointNormal &gt; &amp;tree, pcl::PointIndices::Ptr inliers, const int foot_x_sampling_num, const int foot_y_sampling_num, const double vertex_threshold)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual Eigen::Affine3f</type>
      <name>midcoords</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a878921c6433a689479cabb199c700d8c</anchor>
      <arglist>(const FootstepState &amp;other)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>operator==</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>ac438b6ca742ee3d788453de7aae777ef</anchor>
      <arglist>(FootstepState &amp;other)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual FootstepState::Ptr</type>
      <name>projectToCloud</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a1aa02dc98cc8fc19653baa066c533fff</anchor>
      <arglist>(pcl::KdTreeFLANN&lt; pcl::PointNormal &gt; &amp;tree, pcl::PointCloud&lt; pcl::PointNormal &gt;::Ptr cloud, ANNGrid::Ptr grid_search, pcl::search::Octree&lt; pcl::PointNormal &gt; &amp;tree_2d, pcl::PointCloud&lt; pcl::PointNormal &gt;::Ptr cloud_2d, const Eigen::Vector3f &amp;z, unsigned int &amp;error_state, FootstepParameters &amp;parameters)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setPose</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a2f91e2144f01fdbdc5538d8017d2c75b</anchor>
      <arglist>(const Eigen::Affine3f &amp;pose)</arglist>
    </member>
    <member kind="function">
      <type>PointT</type>
      <name>toPoint</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>abcedf844d4e8ccfcf7ae299c9ac28c07</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual jsk_footstep_msgs::Footstep::Ptr</type>
      <name>toROSMsg</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a9659eca98ce31fdebd3310d514094b14</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual jsk_footstep_msgs::Footstep::Ptr</type>
      <name>toROSMsg</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>aa8aeee131471760383132b786fa41929</anchor>
      <arglist>(const Eigen::Vector3f &amp;ioffset)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>vertices</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>addc85e64b7d93ff3b976262e75be381d</anchor>
      <arglist>(Eigen::Vector3f &amp;a, Eigen::Vector3f &amp;b, Eigen::Vector3f &amp;c, Eigen::Vector3f &amp;d, double collision_padding=0)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static FootstepState::Ptr</type>
      <name>fromROSMsg</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a75dd44e6f1de5b21c75eb1b13aa1cd91</anchor>
      <arglist>(const jsk_footstep_msgs::Footstep &amp;f, const Eigen::Vector3f &amp;size, const Eigen::Vector3f &amp;resolution)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>debug_print_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a25fa72c02dd80bd5c20e90cdff8b7165</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>const Eigen::Vector3f</type>
      <name>dimensions_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a2126cb55272aa7773508225b47fe65f0</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>int</type>
      <name>index_x_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a269e44ec57f5025cb045eceddcd9dc69</anchor>
      <arglist></arglist>
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      <type>int</type>
      <name>index_y_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a4c384e589f9843265883292da0909cac</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>int</type>
      <name>index_yaw_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>ac6451440c388740b27e82dd3c068e2e3</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>const int</type>
      <name>leg_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>aba992b187362692eed43e268e603762a</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>Eigen::Affine3f</type>
      <name>pose_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a1c6d4cddb55fb496cac4f61c6b8942d0</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>const Eigen::Vector3f</type>
      <name>resolution_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepState.html</anchorfile>
      <anchor>a91fec5ac496c32e27233fb895e904949</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>jsk_footstep_planner::FootstepStateDiscreteCloseList</name>
    <filename>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseList.html</filename>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; FootstepStateDiscreteCloseList &gt;</type>
      <name>Ptr</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseList.html</anchorfile>
      <anchor>a842196a963fecdf3b8dfa68630d0f3cb</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>boost::tuple&lt; int, int, int &gt;</type>
      <name>VolumeKey</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseList.html</anchorfile>
      <anchor>a3f2c6d94fe7550ce6e412ddf0b9dcc4f</anchor>
      <arglist></arglist>
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    <member kind="function">
      <type>bool</type>
      <name>find</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseList.html</anchorfile>
      <anchor>a81d954567a7545bf3309c86a40be94f6</anchor>
      <arglist>(FootstepState::Ptr state)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>FootstepStateDiscreteCloseList</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseList.html</anchorfile>
      <anchor>a8570a7a9a8fc5c7b93bdd33f79c3b11b</anchor>
      <arglist>(const size_t local_x_num, const size_t local_y_num, const size_t local_theta_num)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>keyDivide</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseList.html</anchorfile>
      <anchor>aedc8de90bde977100a427bc4b717a03f</anchor>
      <arglist>(int x, int y)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>push_back</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseList.html</anchorfile>
      <anchor>a4adbd20794e8559e7eb1dba12159f751</anchor>
      <arglist>(FootstepState::Ptr state)</arglist>
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    <member kind="function">
      <type>size_t</type>
      <name>size</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseList.html</anchorfile>
      <anchor>a824642654d20101d35203b6b934cc553</anchor>
      <arglist>()</arglist>
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    <member kind="function">
      <type>void</type>
      <name>toPointCloud</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseList.html</anchorfile>
      <anchor>a487211bf3d1e506b81abfd4c332caa91</anchor>
      <arglist>(pcl::PointCloud&lt; PointT &gt; &amp;output)</arglist>
    </member>
    <member kind="function">
      <type>VolumeKey</type>
      <name>volumeKey</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseList.html</anchorfile>
      <anchor>a794162e0bdcc9d8555612eace027f2d0</anchor>
      <arglist>(int xi, int yi, int ti)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>const size_t</type>
      <name>local_theta_num_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseList.html</anchorfile>
      <anchor>adb679b17fac2592f4ce654c13f1b1e17</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::map&lt; VolumeKey, FootstepStateDiscreteCloseListLocal::Ptr &gt;</type>
      <name>local_volumes_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseList.html</anchorfile>
      <anchor>a343104c93d5c5086770d35b851f3c3de</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>const size_t</type>
      <name>local_x_num_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseList.html</anchorfile>
      <anchor>abdd54b765ec483493e4389e61bdb000e</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>const size_t</type>
      <name>local_y_num_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseList.html</anchorfile>
      <anchor>a660c239ba77e39cbad3144b2de0ae898</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>jsk_footstep_planner::FootstepStateDiscreteCloseListLocal</name>
    <filename>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseListLocal.html</filename>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; FootstepStateDiscreteCloseListLocal &gt;</type>
      <name>Ptr</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseListLocal.html</anchorfile>
      <anchor>aa51a1a876f3ca75abe89a0e143aceeed</anchor>
      <arglist></arglist>
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    <member kind="function">
      <type>void</type>
      <name>add</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseListLocal.html</anchorfile>
      <anchor>a56bf87a48c05843e833983057d9a88f3</anchor>
      <arglist>(FootstepState::Ptr state)</arglist>
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    <member kind="function">
      <type></type>
      <name>FootstepStateDiscreteCloseListLocal</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseListLocal.html</anchorfile>
      <anchor>a82064c216bdebd954b348d4ecee701d6</anchor>
      <arglist>(int x_offset, int y_offset, int theta_offset, size_t x_num, size_t y_num, size_t theta_num)</arglist>
    </member>
    <member kind="function">
      <type>FootstepState::Ptr</type>
      <name>get</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseListLocal.html</anchorfile>
      <anchor>a4b25891068ea14ba76bd43f9e322d675</anchor>
      <arglist>(int x, int y, int theta)</arglist>
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    <member kind="function">
      <type>void</type>
      <name>insertToPointCloud</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseListLocal.html</anchorfile>
      <anchor>a01573c73af3843b5081ac2a437103c3d</anchor>
      <arglist>(pcl::PointCloud&lt; PointT &gt; &amp;output)</arglist>
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    <member kind="function">
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      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseListLocal.html</anchorfile>
      <anchor>abc337e8a7ba7e6195512b9d2790e6b16</anchor>
      <arglist>()</arglist>
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      <type>std::vector&lt; std::vector&lt; std::vector&lt; FootstepState::Ptr &gt; &gt; &gt;</type>
      <name>data_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseListLocal.html</anchorfile>
      <anchor>a3caff8caeac7dc0ae42b07c77febdf8a</anchor>
      <arglist></arglist>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseListLocal.html</anchorfile>
      <anchor>ae23053cf437db8ed49019d5c5f57c5fc</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>const size_t</type>
      <name>theta_num_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseListLocal.html</anchorfile>
      <anchor>ae450f35a20e551528595399b4bf74933</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>const int</type>
      <name>theta_offset_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseListLocal.html</anchorfile>
      <anchor>a4463c139130fb7fa55426faf107a3e84</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>const size_t</type>
      <name>x_num_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseListLocal.html</anchorfile>
      <anchor>aea2638903e1fc4c2328cea30e3842898</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>const int</type>
      <name>x_offset_</name>
      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseListLocal.html</anchorfile>
      <anchor>ab0c04a33b4424ab6546a441d6180acbe</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
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      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseListLocal.html</anchorfile>
      <anchor>ad02dc7d00e48112cc1445ab7baaf84eb</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>const int</type>
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      <anchorfile>classjsk__footstep__planner_1_1FootstepStateDiscreteCloseListLocal.html</anchorfile>
      <anchor>ab434c04aedbedac6494b3ca04a413381</anchor>
      <arglist></arglist>
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  <compound kind="class">
    <name>jsk_footstep_planner::Graph</name>
    <filename>classjsk__footstep__planner_1_1Graph.html</filename>
    <templarg></templarg>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; Graph &gt;</type>
      <name>Ptr</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a584bb181d220b5e4ab75883bcfff82b2</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>boost::shared_ptr&lt; StateT &gt;</type>
      <name>StatePtr</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
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      <arglist></arglist>
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      <type>StateT_</type>
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      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
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      <arglist></arglist>
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    <member kind="function" virtualness="virtual">
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      <name>addNode</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>ac2cd2d54e712edf69240f9300de174af</anchor>
      <arglist>(StatePtr state)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual StatePtr</type>
      <name>getGoalState</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a4aea8607498bc63691676af24322347b</anchor>
      <arglist>()</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual StatePtr</type>
      <name>getStartState</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a043fce7089184931475876c2bcc52429</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Graph</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a3d04a0e5e35bc598fea2f4a8b3f1f20d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>isGoal</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a46a3155f609e78fc38f60e55a1c5adfb</anchor>
      <arglist>(StatePtr state)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual size_t</type>
      <name>numNodes</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a2c0d107236a330ae870363ddfec4c143</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>pathCost</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a02c7035be4895a698ef2580d241789ae</anchor>
      <arglist>(StatePtr from, StatePtr to, double prev_cost)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setGoalState</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a63feb868fb9bd4a8a7aaf5d158dbc297</anchor>
      <arglist>(StatePtr goal)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setStartState</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>aa3c31433e66a8534832e3c84a6f76ac5</anchor>
      <arglist>(StatePtr start)</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual std::vector&lt; StatePtr &gt;</type>
      <name>successors</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>acb8ab95a2e1b92a68da71a9220671bc7</anchor>
      <arglist>(StatePtr target_state)=0</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>StatePtr</type>
      <name>goal_state_</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a836ffe4d716644e0a034690c19e8898c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; StatePtr &gt;</type>
      <name>nodes_</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a3786b2634267fa7570b7a23f7afeb5b9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>StatePtr</type>
      <name>start_state_</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a0ac335216501eb1aff3f70160bd71864</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>Graph&lt; FootstepState &gt;</name>
    <filename>classjsk__footstep__planner_1_1Graph.html</filename>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; Graph &gt;</type>
      <name>Ptr</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a584bb181d220b5e4ab75883bcfff82b2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; StateT &gt;</type>
      <name>StatePtr</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a55f61d4aeba2e988b41791e795654dfc</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>FootstepState</type>
      <name>StateT</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>af56984b347bc609f8c82296f2fc6f621</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>addNode</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>ac2cd2d54e712edf69240f9300de174af</anchor>
      <arglist>(StatePtr state)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual StatePtr</type>
      <name>getGoalState</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a4aea8607498bc63691676af24322347b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual StatePtr</type>
      <name>getStartState</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a043fce7089184931475876c2bcc52429</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Graph</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a3d04a0e5e35bc598fea2f4a8b3f1f20d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>isGoal</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a46a3155f609e78fc38f60e55a1c5adfb</anchor>
      <arglist>(StatePtr state)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual size_t</type>
      <name>numNodes</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a2c0d107236a330ae870363ddfec4c143</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>pathCost</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a02c7035be4895a698ef2580d241789ae</anchor>
      <arglist>(StatePtr from, StatePtr to, double prev_cost)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setGoalState</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a63feb868fb9bd4a8a7aaf5d158dbc297</anchor>
      <arglist>(StatePtr goal)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setStartState</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>aa3c31433e66a8534832e3c84a6f76ac5</anchor>
      <arglist>(StatePtr start)</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual std::vector&lt; StatePtr &gt;</type>
      <name>successors</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>acb8ab95a2e1b92a68da71a9220671bc7</anchor>
      <arglist>(StatePtr target_state)=0</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>StatePtr</type>
      <name>goal_state_</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a836ffe4d716644e0a034690c19e8898c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; StatePtr &gt;</type>
      <name>nodes_</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a3786b2634267fa7570b7a23f7afeb5b9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>StatePtr</type>
      <name>start_state_</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a0ac335216501eb1aff3f70160bd71864</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>Graph&lt; Grid2DNode &gt;</name>
    <filename>classjsk__footstep__planner_1_1Graph.html</filename>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; Graph &gt;</type>
      <name>Ptr</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a584bb181d220b5e4ab75883bcfff82b2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; StateT &gt;</type>
      <name>StatePtr</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a55f61d4aeba2e988b41791e795654dfc</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Grid2DNode</type>
      <name>StateT</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>af56984b347bc609f8c82296f2fc6f621</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>addNode</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>ac2cd2d54e712edf69240f9300de174af</anchor>
      <arglist>(StatePtr state)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual StatePtr</type>
      <name>getGoalState</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a4aea8607498bc63691676af24322347b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual StatePtr</type>
      <name>getStartState</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a043fce7089184931475876c2bcc52429</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Graph</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a3d04a0e5e35bc598fea2f4a8b3f1f20d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>isGoal</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a46a3155f609e78fc38f60e55a1c5adfb</anchor>
      <arglist>(StatePtr state)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual size_t</type>
      <name>numNodes</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a2c0d107236a330ae870363ddfec4c143</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>pathCost</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a02c7035be4895a698ef2580d241789ae</anchor>
      <arglist>(StatePtr from, StatePtr to, double prev_cost)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setGoalState</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a63feb868fb9bd4a8a7aaf5d158dbc297</anchor>
      <arglist>(StatePtr goal)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setStartState</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>aa3c31433e66a8534832e3c84a6f76ac5</anchor>
      <arglist>(StatePtr start)</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual std::vector&lt; StatePtr &gt;</type>
      <name>successors</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>acb8ab95a2e1b92a68da71a9220671bc7</anchor>
      <arglist>(StatePtr target_state)=0</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>StatePtr</type>
      <name>goal_state_</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a836ffe4d716644e0a034690c19e8898c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; StatePtr &gt;</type>
      <name>nodes_</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a3786b2634267fa7570b7a23f7afeb5b9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>StatePtr</type>
      <name>start_state_</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a0ac335216501eb1aff3f70160bd71864</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>Graph&lt; GridState &gt;</name>
    <filename>classjsk__footstep__planner_1_1Graph.html</filename>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; Graph &gt;</type>
      <name>Ptr</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a584bb181d220b5e4ab75883bcfff82b2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; StateT &gt;</type>
      <name>StatePtr</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a55f61d4aeba2e988b41791e795654dfc</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>GridState</type>
      <name>StateT</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>af56984b347bc609f8c82296f2fc6f621</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>addNode</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>ac2cd2d54e712edf69240f9300de174af</anchor>
      <arglist>(StatePtr state)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual StatePtr</type>
      <name>getGoalState</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a4aea8607498bc63691676af24322347b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual StatePtr</type>
      <name>getStartState</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a043fce7089184931475876c2bcc52429</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Graph</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a3d04a0e5e35bc598fea2f4a8b3f1f20d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>isGoal</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a46a3155f609e78fc38f60e55a1c5adfb</anchor>
      <arglist>(StatePtr state)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual size_t</type>
      <name>numNodes</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a2c0d107236a330ae870363ddfec4c143</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>pathCost</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a02c7035be4895a698ef2580d241789ae</anchor>
      <arglist>(StatePtr from, StatePtr to, double prev_cost)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setGoalState</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a63feb868fb9bd4a8a7aaf5d158dbc297</anchor>
      <arglist>(StatePtr goal)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setStartState</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>aa3c31433e66a8534832e3c84a6f76ac5</anchor>
      <arglist>(StatePtr start)</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual std::vector&lt; StatePtr &gt;</type>
      <name>successors</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>acb8ab95a2e1b92a68da71a9220671bc7</anchor>
      <arglist>(StatePtr target_state)=0</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>StatePtr</type>
      <name>goal_state_</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a836ffe4d716644e0a034690c19e8898c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; StatePtr &gt;</type>
      <name>nodes_</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a3786b2634267fa7570b7a23f7afeb5b9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>StatePtr</type>
      <name>start_state_</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a0ac335216501eb1aff3f70160bd71864</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>Graph&lt; SimpleNeighboredNode &gt;</name>
    <filename>classjsk__footstep__planner_1_1Graph.html</filename>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; Graph &gt;</type>
      <name>Ptr</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a584bb181d220b5e4ab75883bcfff82b2</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; StateT &gt;</type>
      <name>StatePtr</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a55f61d4aeba2e988b41791e795654dfc</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>SimpleNeighboredNode</type>
      <name>StateT</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>af56984b347bc609f8c82296f2fc6f621</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>addNode</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>ac2cd2d54e712edf69240f9300de174af</anchor>
      <arglist>(StatePtr state)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual StatePtr</type>
      <name>getGoalState</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a4aea8607498bc63691676af24322347b</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual StatePtr</type>
      <name>getStartState</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a043fce7089184931475876c2bcc52429</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Graph</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a3d04a0e5e35bc598fea2f4a8b3f1f20d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>isGoal</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a46a3155f609e78fc38f60e55a1c5adfb</anchor>
      <arglist>(StatePtr state)=0</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual size_t</type>
      <name>numNodes</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a2c0d107236a330ae870363ddfec4c143</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual double</type>
      <name>pathCost</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a02c7035be4895a698ef2580d241789ae</anchor>
      <arglist>(StatePtr from, StatePtr to, double prev_cost)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setGoalState</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>a63feb868fb9bd4a8a7aaf5d158dbc297</anchor>
      <arglist>(StatePtr goal)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>setStartState</name>
      <anchorfile>classjsk__footstep__planner_1_1Graph.html</anchorfile>
      <anchor>aa3c31433e66a8534832e3c84a6f76ac5</anchor>
      <arglist>(StatePtr start)</arglist>
    </member>
    <member kind="function" virtualness="pure">
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      <arglist>(StatePtr target_state)=0</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(StatePtr state)</arglist>
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      <arglist>(StatePtr state)</arglist>
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      <anchorfile>classGrid2DGraph.html</anchorfile>
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      <arglist>(StatePtr from, StatePtr to, double prev_cost)</arglist>
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    <member kind="function" virtualness="virtual">
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      <arglist>(StatePtr target_state)</arglist>
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      <arglist>[1024][1024]</arglist>
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      <anchorfile>classGrid2DNode.html</anchorfile>
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      <arglist>()</arglist>
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      <anchorfile>classGrid2DNode.html</anchorfile>
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      <arglist>()</arglist>
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      <arglist>()</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(SolverNodePtr node)</arglist>
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      <arglist>(SolverNodePtr node)</arglist>
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      <arglist>(SolverNodePtr node, double &amp;cost)</arglist>
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      <arglist>(SolverNodePtr node, double &amp;cost)</arglist>
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      <anchorfile>classjsk__footstep__planner_1_1GridAStarSolver.html</anchorfile>
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      <arglist>(std::vector&lt; StatePtr &gt; &amp;lst, std::vector&lt; float &gt; &amp;cost)</arglist>
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      <arglist>(std::vector&lt; StatePtr &gt; &amp;lst, std::vector&lt; float &gt; &amp;cost)</arglist>
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      <name>GridAStarSolver</name>
      <anchorfile>classjsk__footstep__planner_1_1GridAStarSolver.html</anchorfile>
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      <arglist>(GraphPtr graph)</arglist>
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      <arglist>()</arglist>
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      <anchorfile>classjsk__footstep__planner_1_1GridAStarSolver.html</anchorfile>
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      <arglist>()</arglist>
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      <arglist>(SolverNodePtr node)</arglist>
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      <arglist>(SolverNodePtr node)</arglist>
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      <arglist>(const ros::WallDuration &amp;timeout=ros::WallDuration(1000000000.0))</arglist>
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      <arglist></arglist>
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    <base>Graph&lt; GridState &gt;</base>
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      <arglist>(int ix, int iy)</arglist>
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      <arglist>(StatePtr state)</arglist>
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      <arglist>(StatePtr from, StatePtr to, double prev_cost)</arglist>
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      <arglist>(StatePtr target_state)</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(int ix, int iy)</arglist>
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      <arglist>(int ix, int iy)</arglist>
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      <arglist>(int ix, int iy)</arglist>
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      <arglist>(int _x, int _y)</arglist>
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      <arglist>(int ix, int iy)</arglist>
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      <arglist>(int ix, int iy)</arglist>
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      <arglist>(int ix, int iy)</arglist>
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      <anchorfile>classjsk__footstep__planner_1_1GridMap.html</anchorfile>
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      <arglist>(int ix, int iy, float cost=0.0)</arglist>
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      <anchorfile>classjsk__footstep__planner_1_1GridMap.html</anchorfile>
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      <arglist>(std::vector&lt; float &gt; in)</arglist>
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      <anchorfile>classjsk__footstep__planner_1_1GridMap.html</anchorfile>
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      <arglist>(int ix, int iy, int occupancy=0)</arglist>
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      <arglist>(std::vector&lt; int &gt; in)</arglist>
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      <arglist>()</arglist>
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      <type>virtual int</type>
      <name>sizeY</name>
      <anchorfile>classjsk__footstep__planner_1_1GridMap.html</anchorfile>
      <anchor>a7b7307dd380593f2d39486f45dc51992</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>createGrid</name>
      <anchorfile>classjsk__footstep__planner_1_1GridMap.html</anchorfile>
      <anchor>ac5ee7d9fc3e3f7a46749ea25b651b9e6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>GridMap</name>
      <anchorfile>classjsk__footstep__planner_1_1GridMap.html</anchorfile>
      <anchor>acd40c8b64c90f5ad3e6647a461d4199e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>size_x_</name>
      <anchorfile>classjsk__footstep__planner_1_1GridMap.html</anchorfile>
      <anchor>ae59ef1ebc82fcf878ab6ab817cb19efa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>size_y_</name>
      <anchorfile>classjsk__footstep__planner_1_1GridMap.html</anchorfile>
      <anchor>afada2599d1adae825481e1c1aa20b42f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; StatePtr &gt;</type>
      <name>state_list_</name>
      <anchorfile>classjsk__footstep__planner_1_1GridMap.html</anchorfile>
      <anchor>ae2ac457920941392b7b46909574a4cc6</anchor>
      <arglist></arglist>
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  </compound>
  <compound kind="class">
    <name>GridMap&lt; CostedGridState &gt;</name>
    <filename>classjsk__footstep__planner_1_1GridMap.html</filename>
    <member kind="typedef">
      <type>CostedGridState</type>
      <name>MapState</name>
      <anchorfile>classjsk__footstep__planner_1_1GridMap.html</anchorfile>
      <anchor>ae49602332f42aaa5750c6e846829b21b</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; CostedGridState &gt;</type>
      <name>MapStatePtr</name>
      <anchorfile>classjsk__footstep__planner_1_1GridMap.html</anchorfile>
      <anchor>a3d736f06ea8801c4f2df1e3bf38b8b59</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>boost::shared_ptr&lt; GridMap &gt;</type>
      <name>Ptr</name>
      <anchorfile>classjsk__footstep__planner_1_1GridMap.html</anchorfile>
      <anchor>a314d2005fb8e0f0659d86e85e68ddacc</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>GridState</type>
      <name>State</name>
      <anchorfile>classjsk__footstep__planner_1_1GridMap.html</anchorfile>
      <anchor>a9c3282ca79facf6478306e2f86674bf4</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>GridState::Ptr</type>
      <name>StatePtr</name>
      <anchorfile>classjsk__footstep__planner_1_1GridMap.html</anchorfile>
      <anchor>a4f684fb611ff68b931a63d6dc73b7153</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual float</type>
      <name>getCost</name>
      <anchorfile>classjsk__footstep__planner_1_1GridMap.html</anchorfile>
      <anchor>a568a07dd99f9f3e6533387fdb4c5246c</anchor>
      <arglist>(int ix, int iy)</arglist>
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    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>getOccupancy</name>
      <anchorfile>classjsk__footstep__planner_1_1GridMap.html</anchorfile>
      <anchor>a777c478007feedd1daa1b3d15bcbd201</anchor>
      <arglist>(int ix, int iy)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual StatePtr</type>
      <name>getState</name>
      <anchorfile>classjsk__footstep__planner_1_1GridMap.html</anchorfile>
      <anchor>a5ccf406b1d05cd1a2ec7b5305a8a91d3</anchor>
      <arglist>(int ix, int iy)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>GridMap</name>
      <anchorfile>classjsk__footstep__planner_1_1GridMap.html</anchorfile>
      <anchor>a28c8a53088d713fabfdcf5d78e9058cf</anchor>
      <arglist>(int _x, int _y)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>index</name>
      <anchorfile>classjsk__footstep__planner_1_1GridMap.html</anchorfile>
      <anchor>af0a534f5e978cd77b81d4ec4f1aaf481</anchor>
      <arglist>(int ix, int iy)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>inRange</name>
      <anchorfile>classjsk__footstep__planner_1_1GridMap.html</anchorfile>
      <anchor>a677f0930755fade5fb29bc33f0b4875f</anchor>
      <arglist>(int ix, int iy)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>isValid</name>
      <anchorfile>classjsk__footstep__planner_1_1GridMap.html</anchorfile>
      <anchor>aa2442785592a79c92a11f210885515b6</anchor>
      <arglist>(int ix, int iy)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>setCost</name>
      <anchorfile>classjsk__footstep__planner_1_1GridMap.html</anchorfile>
      <anchor>a61046b75e1875207938a992af6353293</anchor>
      <arglist>(int ix, int iy, float cost=0.0)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>setCost</name>
      <anchorfile>classjsk__footstep__planner_1_1GridMap.html</anchorfile>
      <anchor>adb39cd0dbdfbdab99e608491e116074e</anchor>
      <arglist>(std::vector&lt; float &gt; in)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>setOccupancy</name>
      <anchorfile>classjsk__footstep__planner_1_1GridMap.html</anchorfile>
      <anchor>a22f59929b364334b665149523b260442</anchor>
      <arglist>(int ix, int iy, int occupancy=0)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual bool</type>
      <name>setOccupancy</name>
      <anchorfile>classjsk__footstep__planner_1_1GridMap.html</anchorfile>
      <anchor>a51728f52889ea894069a3fd32834b247</anchor>
      <arglist>(std::vector&lt; int &gt; in)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>sizeX</name>
      <anchorfile>classjsk__footstep__planner_1_1GridMap.html</anchorfile>
      <anchor>ace68251213a1a68ec150fd174f0bfa30</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual int</type>
      <name>sizeY</name>
      <anchorfile>classjsk__footstep__planner_1_1GridMap.html</anchorfile>
      <anchor>a7b7307dd380593f2d39486f45dc51992</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>createGrid</name>
      <anchorfile>classjsk__footstep__planner_1_1GridMap.html</anchorfile>
      <anchor>ac5ee7d9fc3e3f7a46749ea25b651b9e6</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type></type>
      <name>GridMap</name>
      <anchorfile>classjsk__footstep__planner_1_1GridMap.html</anchorfile>
      <anchor>acd40c8b64c90f5ad3e6647a461d4199e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>size_x_</name>
      <anchorfile>classjsk__footstep__planner_1_1GridMap.html</anchorfile>
      <anchor>ae59ef1ebc82fcf878ab6ab817cb19efa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>int</type>
      <name>size_y_</name>
      <anchorfile>classjsk__footstep__planner_1_1GridMap.html</anchorfile>
      <anchor>afada2599d1adae825481e1c1aa20b42f</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::vector&lt; StatePtr &gt;</type>
      <name>state_list_</name>
      <anchorfile>classjsk__footstep__planner_1_1GridMap.html</anchorfile>
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      <arglist></arglist>
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  <compound kind="class">
    <name>jsk_footstep_planner::GridPathPlanner</name>
    <filename>classjsk__footstep__planner_1_1GridPathPlanner.html</filename>
    <member kind="typedef">
      <type>PerceptionGridGraph</type>
      <name>Graph</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>a0f60e1e984458630f2fad54ab7e6538e</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>PerceptionGridMap</type>
      <name>GridMap</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>abd86bae24f6e339eecb55e43a6ea849e</anchor>
      <arglist></arglist>
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    <member kind="typedef">
      <type>GridAStarSolver&lt; PerceptionGridGraph &gt;</type>
      <name>Solver</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>a793063c850bf8e9cc1e0e7f6db10c481</anchor>
      <arglist></arglist>
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    <member kind="function">
      <type></type>
      <name>GridPathPlanner</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>a8b92b85997145a867e07e16e3ad5f3eb</anchor>
      <arglist>(ros::NodeHandle &amp;nh)</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>buildGraph</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>a356dbcde54333870aa42671c7b6d90d7</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>collisionBoundingBoxInfoService</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>a835df29a6b6aafdabdcbba77b447a081</anchor>
      <arglist>(jsk_footstep_planner::CollisionBoundingBoxInfo::Request &amp;req, jsk_footstep_planner::CollisionBoundingBoxInfo::Response &amp;res)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>gridToPoint</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>af4a26a4e69f9d0430594d1ad06b13a3b</anchor>
      <arglist>(const int ix, const int iy, Eigen::Vector3f &amp;p)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>double</type>
      <name>heuristicDistance</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>a475c4097a4e2f77772f732629a0149c1</anchor>
      <arglist>(SolverNode&lt; PerceptionGridGraph::State, PerceptionGridGraph &gt;::Ptr node, PerceptionGridGraph::Ptr graph)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>obstacleCallback</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>aa6e71802fcc1185b23edb2c17c3e83bb</anchor>
      <arglist>(const sensor_msgs::PointCloud2::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>planCB</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>ab9427329f3d8b2d68777839118c7c63c</anchor>
      <arglist>(const jsk_footstep_msgs::PlanFootstepsGoal::ConstPtr &amp;goal)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>pointcloudCallback</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>ac777d454ed7e04edd26053cd3d82f93f</anchor>
      <arglist>(const sensor_msgs::PointCloud2::ConstPtr &amp;msg)</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>pointToGrid</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>ad6266bb686205b900e441afae1e7dd65</anchor>
      <arglist>(const Eigen::Vector3f &amp;p, int &amp;ix, int &amp;iy)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>publishMarker</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>a1ca0574f30cb761969ae267802522289</anchor>
      <arglist>()</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>publishPointCloud</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>aaaea9f95b6ffcb60d6a872b1fcfd4c37</anchor>
      <arglist>(const pcl::PointCloud&lt; pcl::PointXYZRGB &gt; &amp;cloud, ros::Publisher &amp;pub, const std_msgs::Header &amp;header)</arglist>
    </member>
    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual void</type>
      <name>publishText</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>a8d088f36309f383bfd8b8267c99f80a6</anchor>
      <arglist>(ros::Publisher &amp;pub, const std::string &amp;text, GridPlanningStatus status)</arglist>
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    <member kind="function" protection="protected" virtualness="virtual">
      <type>virtual bool</type>
      <name>updateCost</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>aa4ef34cc91cea6edee5ef786bd780640</anchor>
      <arglist>(GridState::Ptr ptr)</arglist>
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    <member kind="variable" protection="protected">
      <type>actionlib::SimpleActionServer&lt; jsk_footstep_msgs::PlanFootstepsAction &gt;</type>
      <name>as_</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>ab77c471da3931c15f512f17a0e6aaa99</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Eigen::Affine3f</type>
      <name>collision_bbox_offset_</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>aeccd902422bfac9b593ca3854c96fdd4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Eigen::Vector3f</type>
      <name>collision_bbox_size_</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>aa0fd393c79232d4cad7cb32f014f8609</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>collision_circle_max_height_</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>a8cdbcaee58c0d73e24a7c7766150dc03</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>collision_circle_min_height_</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>a1c2dff6c96b3e7e559d666c6e0a1d9ac</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>collision_circle_radius_</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>aeadd762e3c61927e52a8418f712c79f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>PerceptionGridGraph::Ptr</type>
      <name>graph_</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>a5ee9069cc60eeb216dfc3176f4fcc103</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>PerceptionGridMap::Ptr</type>
      <name>gridmap_</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>aa0035eb732385020f2a64e9172bd08fa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Eigen::Vector3f</type>
      <name>map_offset_</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>a583719dbf44efb84eed0f4412908dbc1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>double</type>
      <name>map_resolution_</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>aa14edd61142d0faa77a23681254c2e4a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>boost::mutex</type>
      <name>mutex_</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>a417126d22fff71b18f8169bb01112e80</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>pcl::PointCloud&lt; pcl::PointXYZ &gt;::Ptr</type>
      <name>obstacle_points_</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>a75ef4ef5db06111ee96344b158bf1cec</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>obstacle_points_frame_id_</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>a0a82e960baa778a1a10fce136bfd4eb3</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>pcl::KdTreeFLANN&lt; pcl::PointXYZ &gt;::Ptr</type>
      <name>obstacle_tree_</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>ae0aadbc3b4a14cddb59a3d71e7df2e92</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>pcl::PointCloud&lt; pcl::PointNormal &gt;::Ptr</type>
      <name>plane_points_</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>a27c261dfcf0fce18b71970620b538cda</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::string</type>
      <name>plane_points_frame_id_</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>a3b8b20831f01a7dd4ce5d03fce2aa63d</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>pcl::KdTreeFLANN&lt; pcl::PointNormal &gt;::Ptr</type>
      <name>plane_tree_</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>a5943a6dfab1d198a99a26b3b0144d61c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>pub_close_list_</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>a0db9f2a8ca204914b72ecd6ec57abd41</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>pub_marker_</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>af936f3cf0455cfd97130caba842547df</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>pub_open_list_</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>ac032a9bc74a5994f38f8f7b295c5fc49</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>pub_text_</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>ae0fb16f99bceff775d68f2336dc15abe</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>jsk_footstep_msgs::PlanFootstepsResult</type>
      <name>result_</name>
      <anchorfile>classjsk__footstep__planner_1_1GridPathPlanner.html</anchorfile>
      <anchor>af6db3ae239fdad9e64d2557d744f5934</anchor>
      <arglist></arglist>
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    <member kind="variable" protection="protected">
      <type>ros::ServiceServer</type>
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      <arglist>()</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <anchorfile>classjsk__footstep__planner_1_1PosePair.html</anchorfile>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(const std::string &amp;name)</arglist>
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      <arglist>(StatePtr state)</arglist>
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      <arglist>(StatePtr from, StatePtr to, double prev_cost)</arglist>
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      <arglist>()</arglist>
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      <arglist>(StatePtr target_state)</arglist>
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    <member kind="typedef">
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      <arglist></arglist>
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      <arglist>(SimpleNeighboredNode::Ptr node)</arglist>
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      <arglist>()</arglist>
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      <name>getNeighbors</name>
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      <arglist>()</arglist>
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      <arglist>(SimpleNeighboredNode &amp;other)</arglist>
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      <name>SimpleNeighboredNode</name>
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      <arglist>(const std::string &amp;name)</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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    <member kind="typedef">
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(StatePtr state, double cost=0)</arglist>
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      <arglist>(SolverNodePtr node)=0</arglist>
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      <arglist>(std::vector&lt; SolverNodePtr &gt; nodes)</arglist>
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      <arglist>(StatePtr state)</arglist>
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      <arglist>(StatePtr state, double &amp;cost)</arglist>
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      <arglist>(const ros::WallTime &amp;start_time, const ros::WallDuration &amp;timeout)</arglist>
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      <name>isOpenListEmpty</name>
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      <arglist>()=0</arglist>
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      <arglist>()=0</arglist>
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      <arglist>(StatePtr state)</arglist>
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      <arglist>(bool v)</arglist>
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      <arglist>(const ros::WallDuration &amp;timeout=ros::WallDuration(1000000000.0))</arglist>
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      <arglist>()</arglist>
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      <arglist>(GraphPtr graph)</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(Ptr this_ptr, bool verbose)</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>()</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>() const</arglist>
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      <arglist>(double c)</arglist>
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      <arglist>(GraphPtr graph)</arglist>
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      <arglist>(double v)</arglist>
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      <arglist>(StatePtr state)</arglist>
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      <arglist>(StatePtr state, const double cost, GraphPtr graph)</arglist>
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      <arglist>(StatePtr state, const double cost, Ptr parent, GraphPtr graph)</arglist>
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      <arglist>(Ptr this_ptr, std::vector&lt; StatePtr &gt; successors)</arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist></arglist>
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      <arglist>(const SolverNode&lt; StateT, GraphT &gt;::Ptr a, const SolverNode&lt; StateT, GraphT &gt;::Ptr b)</arglist>
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      <arglist>(const SolverNode&lt; StateT, GraphT &gt;::Ptr a, const SolverNode&lt; StateT, GraphT &gt;::Ptr b)</arglist>
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      <arglist>(const jsk_footstep_msgs::Footstep &amp;footstep, const std_msgs::Header &amp;header)</arglist>
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      <arglist>(SolverNode&lt; PerceptionGridGraph::State, PerceptionGridGraph &gt;::Ptr node, PerceptionGridGraph::Ptr graph)</arglist>
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