<?xml version='1.0' encoding='UTF-8' standalone='yes' ?>
<tagfile>
  <compound kind="file">
    <name>calibrateBuoyancy.py</name>
    <path>/tmp/ws/src/riptide_controllers/action/</path>
    <filename>calibrateBuoyancy_8py.html</filename>
    <class kind="class">calibrateBuoyancy::CalibrateBuoyancyAction</class>
    <namespace>calibrateBuoyancy</namespace>
    <member kind="function">
      <type>def</type>
      <name>changeFrame</name>
      <anchorfile>namespacecalibrateBuoyancy.html</anchorfile>
      <anchor>a88e357465c6f54b8d1800db17996480c</anchor>
      <arglist>(orientation, vector, w2b=True)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>msg_to_numpy</name>
      <anchorfile>namespacecalibrateBuoyancy.html</anchorfile>
      <anchor>a5542845ad44ddbf1e35b3bba60ae8770</anchor>
      <arglist>(msg)</arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>GRAVITY</name>
      <anchorfile>namespacecalibrateBuoyancy.html</anchorfile>
      <anchor>a5c4239c98ba96d4106466b5fa6ff9d10</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>server</name>
      <anchorfile>namespacecalibrateBuoyancy.html</anchorfile>
      <anchor>a50c1b0e813e83cbb2375faa2da8631fa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>WATER_DENSITY</name>
      <anchorfile>namespacecalibrateBuoyancy.html</anchorfile>
      <anchor>ae054c5cbda4c3186100684abe4f64131</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>calibrateDrag.py</name>
    <path>/tmp/ws/src/riptide_controllers/action/</path>
    <filename>calibrateDrag_8py.html</filename>
    <class kind="class">calibrateDrag::CalibrateDragAction</class>
    <namespace>calibrateDrag</namespace>
    <member kind="variable">
      <type></type>
      <name>server</name>
      <anchorfile>namespacecalibrateDrag.html</anchorfile>
      <anchor>ac11e8d25e787ee06f58402842737233f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>controller.py</name>
    <path>/tmp/ws/src/riptide_controllers/scripts/</path>
    <filename>controller_8py.html</filename>
    <class kind="class">controller::AccelerationCalculator</class>
    <class kind="class">controller::AngularCascadedPController</class>
    <class kind="class">controller::CascadedPController</class>
    <class kind="class">controller::ControllerNode</class>
    <class kind="class">controller::LinearCascadedPController</class>
    <class kind="class">controller::TrajectoryReader</class>
    <namespace>controller</namespace>
    <member kind="function">
      <type>def</type>
      <name>applyMax</name>
      <anchorfile>namespacecontroller.html</anchorfile>
      <anchor>a4dae369604c053cc6187d38d976cd6b0</anchor>
      <arglist>(vector, max_vector)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>msgToNumpy</name>
      <anchorfile>namespacecontroller.html</anchorfile>
      <anchor>a9622327b0bf64c5d35d0cf0f6a9a67fc</anchor>
      <arglist>(msg)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>worldToBody</name>
      <anchorfile>namespacecontroller.html</anchorfile>
      <anchor>a80cd6c8719d74d177fa9bfc641f3c42f</anchor>
      <arglist>(orientation, vector)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>controller</name>
      <anchorfile>namespacecontroller.html</anchorfile>
      <anchor>a117426e950d2b54bd9d38fa2d9453c35</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>scriptOhio.py</name>
    <path>/tmp/ws/src/riptide_controllers/action/</path>
    <filename>scriptOhio_8py.html</filename>
    <class kind="class">scriptOhio::ScriptOhioAction</class>
    <namespace>scriptOhio</namespace>
    <member kind="function">
      <type>def</type>
      <name>body_2_world</name>
      <anchorfile>namespacescriptOhio.html</anchorfile>
      <anchor>a976283d2f17b008e42d99c1fc15f24c0</anchor>
      <arglist>(orientation, vector)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>msg_2_numpy</name>
      <anchorfile>namespacescriptOhio.html</anchorfile>
      <anchor>ab0038fdb42bcfc854760744eadf9d8ff</anchor>
      <arglist>(msg)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>server</name>
      <anchorfile>namespacescriptOhio.html</anchorfile>
      <anchor>ab2be5c67dd0f2f4ed0b806a8aeddcebc</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>shroudTest.py</name>
    <path>/tmp/ws/src/riptide_controllers/action/</path>
    <filename>shroudTest_8py.html</filename>
    <class kind="class">shroudTest::ShroudTestAction</class>
    <namespace>shroudTest</namespace>
    <member kind="function">
      <type>def</type>
      <name>msg_to_numpy</name>
      <anchorfile>namespaceshroudTest.html</anchorfile>
      <anchor>a5943e9ac4001671fdd552136fac4ece4</anchor>
      <arglist>(msg)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>server</name>
      <anchorfile>namespaceshroudTest.html</anchorfile>
      <anchor>a54c83666bb098b63def87f080730e167</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>sickTrick.py</name>
    <path>/tmp/ws/src/riptide_controllers/action/</path>
    <filename>sickTrick_8py.html</filename>
    <class kind="class">sickTrick::SickTrickAction</class>
    <namespace>sickTrick</namespace>
    <member kind="function">
      <type>def</type>
      <name>body_2_world</name>
      <anchorfile>namespacesickTrick.html</anchorfile>
      <anchor>afa15f0616cc42a16ca6e7db981fe0140</anchor>
      <arglist>(orientation, vector)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>msg_2_numpy</name>
      <anchorfile>namespacesickTrick.html</anchorfile>
      <anchor>afb0ad52f319faa4d04a33f07943f4fba</anchor>
      <arglist>(msg)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>server</name>
      <anchorfile>namespacesickTrick.html</anchorfile>
      <anchor>a5e15c727ee0e2f49862add6f5690760d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>thruster_solver.py</name>
    <path>/tmp/ws/src/riptide_controllers/scripts/</path>
    <filename>thruster__solver_8py.html</filename>
    <class kind="class">thruster_solver::ThrusterSolverNode</class>
    <namespace>thruster_solver</namespace>
    <member kind="function">
      <type>def</type>
      <name>msg_to_numpy</name>
      <anchorfile>namespacethruster__solver.html</anchorfile>
      <anchor>a66b29263d01f72ddbb3eb5bbbcb0638f</anchor>
      <arglist>(msg)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>controller</name>
      <anchorfile>namespacethruster__solver.html</anchorfile>
      <anchor>a1d33afd8c89e5d65ec65add3ce01624c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>MAX_PWM</name>
      <anchorfile>namespacethruster__solver.html</anchorfile>
      <anchor>a65880bb1a555f5d0dafd86f1409c5f93</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>MIN_PWM</name>
      <anchorfile>namespacethruster__solver.html</anchorfile>
      <anchor>a83cb2a887879a09ec29976e60cd6143a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>NEUTRAL_PWM</name>
      <anchorfile>namespacethruster__solver.html</anchorfile>
      <anchor>aadda7681af8ec7896f249e24417de1b1</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>thrusterTest.py</name>
    <path>/tmp/ws/src/riptide_controllers/action/</path>
    <filename>thrusterTest_8py.html</filename>
    <class kind="class">thrusterTest::ThrusterTest</class>
    <namespace>thrusterTest</namespace>
    <member kind="variable">
      <type>int</type>
      <name>NEGATIVE_PWM</name>
      <anchorfile>namespacethrusterTest.html</anchorfile>
      <anchor>adfbd56631b06305c7c4354d91988f47d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>NEUTRAL_PWM</name>
      <anchorfile>namespacethrusterTest.html</anchorfile>
      <anchor>a456d2e2fd7c035684572a28af8f41598</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>POSITIVE_PWM</name>
      <anchorfile>namespacethrusterTest.html</anchorfile>
      <anchor>a02184820822fd19eb03e8d9a582a42ed</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>server</name>
      <anchorfile>namespacethrusterTest.html</anchorfile>
      <anchor>a0885d993085788e183096ac9b8ea0b16</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>controller::AccelerationCalculator</name>
    <filename>classcontroller_1_1AccelerationCalculator.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classcontroller_1_1AccelerationCalculator.html</anchorfile>
      <anchor>aa3091a1c43f548f3721a4dea1f30e79a</anchor>
      <arglist>(self, config)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>accelToNetForce</name>
      <anchorfile>classcontroller_1_1AccelerationCalculator.html</anchorfile>
      <anchor>a6e4ea593e332e50b2da83e13160173e3</anchor>
      <arglist>(self, odom, linearAccel, angularAccel)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>buoyancy</name>
      <anchorfile>classcontroller_1_1AccelerationCalculator.html</anchorfile>
      <anchor>a724bffea740244f2ef7628fd5bdc0bd6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>cob</name>
      <anchorfile>classcontroller_1_1AccelerationCalculator.html</anchorfile>
      <anchor>a63c4b82db5d0bc0adde020ee32ff1b04</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com</name>
      <anchorfile>classcontroller_1_1AccelerationCalculator.html</anchorfile>
      <anchor>a7dfebe45bce60df4f06b77b833c2615c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>density</name>
      <anchorfile>classcontroller_1_1AccelerationCalculator.html</anchorfile>
      <anchor>a7e81d7dc8931b80b666f8f63555f401c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>gravity</name>
      <anchorfile>classcontroller_1_1AccelerationCalculator.html</anchorfile>
      <anchor>a83f03a6c795e86ba3fccd806ecb19542</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>inertia</name>
      <anchorfile>classcontroller_1_1AccelerationCalculator.html</anchorfile>
      <anchor>aab585e09237936f700853fbb328b0804</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>linearDrag</name>
      <anchorfile>classcontroller_1_1AccelerationCalculator.html</anchorfile>
      <anchor>a3a484b59cc3fac2c72d9f49744f3a860</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>mass</name>
      <anchorfile>classcontroller_1_1AccelerationCalculator.html</anchorfile>
      <anchor>ab3ddb9c43bc79201e3bbf3a8725565f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>quadraticDrag</name>
      <anchorfile>classcontroller_1_1AccelerationCalculator.html</anchorfile>
      <anchor>af0dfc1d3e8784d98ef791825cf1f9752</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>volume</name>
      <anchorfile>classcontroller_1_1AccelerationCalculator.html</anchorfile>
      <anchor>a59a40bbde6c43a016abe04019e695935</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>controller::AngularCascadedPController</name>
    <filename>classcontroller_1_1AngularCascadedPController.html</filename>
    <base>controller::CascadedPController</base>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classcontroller_1_1AngularCascadedPController.html</anchorfile>
      <anchor>a458042c8e2a098567b2d71bfdb4ad200</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>computeCorrectiveAcceleration</name>
      <anchorfile>classcontroller_1_1AngularCascadedPController.html</anchorfile>
      <anchor>aa8e89be3e8df1c555e81954a0f08611a</anchor>
      <arglist>(self, odom, correctiveVelocity)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>computeCorrectiveVelocity</name>
      <anchorfile>classcontroller_1_1AngularCascadedPController.html</anchorfile>
      <anchor>a05500b86f29003ade642da95407b6296</anchor>
      <arglist>(self, odom)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>steadyAccelThresh</name>
      <anchorfile>classcontroller_1_1AngularCascadedPController.html</anchorfile>
      <anchor>abff83e5580877b8e95d73615688c0749</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>steadyVelThresh</name>
      <anchorfile>classcontroller_1_1AngularCascadedPController.html</anchorfile>
      <anchor>a3966d54d9b408b8fe28f78cd8377715a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>calibrateBuoyancy::CalibrateBuoyancyAction</name>
    <filename>classcalibrateBuoyancy_1_1CalibrateBuoyancyAction.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classcalibrateBuoyancy_1_1CalibrateBuoyancyAction.html</anchorfile>
      <anchor>a622b895f0efd90baf7d37a3e09e2895e</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>check_preempted</name>
      <anchorfile>classcalibrateBuoyancy_1_1CalibrateBuoyancyAction.html</anchorfile>
      <anchor>afdf5443568948c7fd4a1983ffdf9a3ce</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>cleanup</name>
      <anchorfile>classcalibrateBuoyancy_1_1CalibrateBuoyancyAction.html</anchorfile>
      <anchor>ae7cabeb886d7bb2519ffc98b35e33bab</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>execute_cb</name>
      <anchorfile>classcalibrateBuoyancy_1_1CalibrateBuoyancyAction.html</anchorfile>
      <anchor>a6e2a5bb8e085dbabc39ba000c244c235</anchor>
      <arglist>(self, goal)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>tune</name>
      <anchorfile>classcalibrateBuoyancy_1_1CalibrateBuoyancyAction.html</anchorfile>
      <anchor>aaf799f9ee12d5a36cd29db8ac6de2c9b</anchor>
      <arglist>(self, initial_value, get_adjustment, apply_change, num_samples=10, delay=4)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>client</name>
      <anchorfile>classcalibrateBuoyancy_1_1CalibrateBuoyancyAction.html</anchorfile>
      <anchor>ab498b863298d6557168577645a9dfcaf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>com</name>
      <anchorfile>classcalibrateBuoyancy_1_1CalibrateBuoyancyAction.html</anchorfile>
      <anchor>a9d7bf27438a829aec6f037fc177b1db6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>inertia</name>
      <anchorfile>classcalibrateBuoyancy_1_1CalibrateBuoyancyAction.html</anchorfile>
      <anchor>a2fa18e14c01d16c93270a2cdf5277490</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>initial_config</name>
      <anchorfile>classcalibrateBuoyancy_1_1CalibrateBuoyancyAction.html</anchorfile>
      <anchor>a689bf285d63cac1582ed14095a43bc8f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>mass</name>
      <anchorfile>classcalibrateBuoyancy_1_1CalibrateBuoyancyAction.html</anchorfile>
      <anchor>a0f47ae744021a26b26a3bb43f55707a3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>off_pub</name>
      <anchorfile>classcalibrateBuoyancy_1_1CalibrateBuoyancyAction.html</anchorfile>
      <anchor>afeeb0d72c6d82371e71e941f4522a270</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>orientation_pub</name>
      <anchorfile>classcalibrateBuoyancy_1_1CalibrateBuoyancyAction.html</anchorfile>
      <anchor>a2ee6fe58dfc241a782910f8e3b22376b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>position_pub</name>
      <anchorfile>classcalibrateBuoyancy_1_1CalibrateBuoyancyAction.html</anchorfile>
      <anchor>a3497d9c1c2860c8b01182ef9c321d713</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type></type>
      <name>_as</name>
      <anchorfile>classcalibrateBuoyancy_1_1CalibrateBuoyancyAction.html</anchorfile>
      <anchor>a90a201d5e0b1386126fdf1ce225bc724</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type></type>
      <name>_result</name>
      <anchorfile>classcalibrateBuoyancy_1_1CalibrateBuoyancyAction.html</anchorfile>
      <anchor>a28b09a19f81f2d465d5a20d78badd031</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>calibrateDrag::CalibrateDragAction</name>
    <filename>classcalibrateDrag_1_1CalibrateDragAction.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classcalibrateDrag_1_1CalibrateDragAction.html</anchorfile>
      <anchor>ad30f23d5a60a2652b81c764478b10d0d</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>calculate_parameters</name>
      <anchorfile>classcalibrateDrag_1_1CalibrateDragAction.html</anchorfile>
      <anchor>a53a7846c96b6014867080265086e9fb5</anchor>
      <arglist>(self, velocities, forces)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>collect_data</name>
      <anchorfile>classcalibrateDrag_1_1CalibrateDragAction.html</anchorfile>
      <anchor>a224563a9360a1854ae3b96cccf1151d0</anchor>
      <arglist>(self, axis, velocity)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>execute_cb</name>
      <anchorfile>classcalibrateDrag_1_1CalibrateDragAction.html</anchorfile>
      <anchor>aa9c7162518b79126370f36e57b6c426a</anchor>
      <arglist>(self, goal)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>get_euler</name>
      <anchorfile>classcalibrateDrag_1_1CalibrateDragAction.html</anchorfile>
      <anchor>af8cb2ff038b2a5971595dd32d344d083</anchor>
      <arglist>(self, odom_msg)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>restrict_angle</name>
      <anchorfile>classcalibrateDrag_1_1CalibrateDragAction.html</anchorfile>
      <anchor>a53a22fb51e63133524dfc4fb1a0e688d</anchor>
      <arglist>(self, angle)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>to_orientation</name>
      <anchorfile>classcalibrateDrag_1_1CalibrateDragAction.html</anchorfile>
      <anchor>a0a9fb2b37ba0fdd42331ba2b1b5420cf</anchor>
      <arglist>(self, r, p, y)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>ang_vel_pub</name>
      <anchorfile>classcalibrateDrag_1_1CalibrateDragAction.html</anchorfile>
      <anchor>aedee4144f234ca023ccc7bcf882ef92a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>client</name>
      <anchorfile>classcalibrateDrag_1_1CalibrateDragAction.html</anchorfile>
      <anchor>aa63b968e0ce649c44e341708992fa569</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>inertia</name>
      <anchorfile>classcalibrateDrag_1_1CalibrateDragAction.html</anchorfile>
      <anchor>a6e591918e2b95cdb6be6806ca66232d7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>lin_vel_pub</name>
      <anchorfile>classcalibrateDrag_1_1CalibrateDragAction.html</anchorfile>
      <anchor>a494d2d9b61d19ebaae352f41ed377058</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>orientation_pub</name>
      <anchorfile>classcalibrateDrag_1_1CalibrateDragAction.html</anchorfile>
      <anchor>aca125dd199a8b5745ae39d6d8b402566</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>position_pub</name>
      <anchorfile>classcalibrateDrag_1_1CalibrateDragAction.html</anchorfile>
      <anchor>ae5752291aaeb483dfaca88c44fc13564</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type></type>
      <name>_as</name>
      <anchorfile>classcalibrateDrag_1_1CalibrateDragAction.html</anchorfile>
      <anchor>a2f8f8b563eb5a8df49af6946d4333455</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type></type>
      <name>_result</name>
      <anchorfile>classcalibrateDrag_1_1CalibrateDragAction.html</anchorfile>
      <anchor>a447344cfb84dad077907e329e52c2c61</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>controller::CascadedPController</name>
    <filename>classcontroller_1_1CascadedPController.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classcontroller_1_1CascadedPController.html</anchorfile>
      <anchor>a081b0144a17bd453742fa616692322c0</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>computeCorrectiveAcceleration</name>
      <anchorfile>classcontroller_1_1CascadedPController.html</anchorfile>
      <anchor>a2f726db945ba0f6424f2b59160f5794f</anchor>
      <arglist>(self, odom, correctiveVelocity)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>computeCorrectiveVelocity</name>
      <anchorfile>classcontroller_1_1CascadedPController.html</anchorfile>
      <anchor>a14031c81048840ec846f6fa791355153</anchor>
      <arglist>(self, odom)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>disable</name>
      <anchorfile>classcontroller_1_1CascadedPController.html</anchorfile>
      <anchor>a2f99b738d19ce15ae636b769ee83bd2b</anchor>
      <arglist>(self, msg=None)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>setTargetPosition</name>
      <anchorfile>classcontroller_1_1CascadedPController.html</anchorfile>
      <anchor>a54b662951a20e9762f206bff8c19c123</anchor>
      <arglist>(self, targetPosition)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>setTargetVelocity</name>
      <anchorfile>classcontroller_1_1CascadedPController.html</anchorfile>
      <anchor>a9bf2b6ca51661ab31a7476842dc65922</anchor>
      <arglist>(self, targetVelocity)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>update</name>
      <anchorfile>classcontroller_1_1CascadedPController.html</anchorfile>
      <anchor>a241b897acfbf4ef7b413ad6d190c2b7c</anchor>
      <arglist>(self, odom)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>maxAccel</name>
      <anchorfile>classcontroller_1_1CascadedPController.html</anchorfile>
      <anchor>a5f762cced184d9c0d2d31be213a2c986</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>maxVelocity</name>
      <anchorfile>classcontroller_1_1CascadedPController.html</anchorfile>
      <anchor>a40d8cb6d1e4b3907e47e8caa31a88ff3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>positionP</name>
      <anchorfile>classcontroller_1_1CascadedPController.html</anchorfile>
      <anchor>abada8c400176bdc3fd9630b0ecaf5950</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>steady</name>
      <anchorfile>classcontroller_1_1CascadedPController.html</anchorfile>
      <anchor>a38946fa9b3f94b3c84caa06a859584f1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>steadyAccelThresh</name>
      <anchorfile>classcontroller_1_1CascadedPController.html</anchorfile>
      <anchor>a2e3e69dde630e71edfeba940e877c906</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>steadyVelThresh</name>
      <anchorfile>classcontroller_1_1CascadedPController.html</anchorfile>
      <anchor>a7dea7472d1a288e2f0ed4e2829bfba9f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>targetAcceleration</name>
      <anchorfile>classcontroller_1_1CascadedPController.html</anchorfile>
      <anchor>a666e2beeb34c166aec7db76349227fcf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>targetPosition</name>
      <anchorfile>classcontroller_1_1CascadedPController.html</anchorfile>
      <anchor>a4af3fe40f6f879732b8feb31fef72d51</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>targetVelocity</name>
      <anchorfile>classcontroller_1_1CascadedPController.html</anchorfile>
      <anchor>aa7f91d9c71822a3eab1a9d4b223422c2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>velocityP</name>
      <anchorfile>classcontroller_1_1CascadedPController.html</anchorfile>
      <anchor>af8279e4703f04ecef00c794deb5ad327</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>controller::ControllerNode</name>
    <filename>classcontroller_1_1ControllerNode.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classcontroller_1_1ControllerNode.html</anchorfile>
      <anchor>a12d0809ab1af2cd9b52a7fc089dee57d</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>dynamicReconfigureCb</name>
      <anchorfile>classcontroller_1_1ControllerNode.html</anchorfile>
      <anchor>aeaf7d8d2f18c5fddd64448f1ca61f46f</anchor>
      <arglist>(self, config, level)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>switch_cb</name>
      <anchorfile>classcontroller_1_1ControllerNode.html</anchorfile>
      <anchor>ac25df95e28dac35be2278478ff66846e</anchor>
      <arglist>(self, msg)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>turnOff</name>
      <anchorfile>classcontroller_1_1ControllerNode.html</anchorfile>
      <anchor>a2f32cb6f5c6d9d842e035ddbaa02897b</anchor>
      <arglist>(self, msg=None)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>updateState</name>
      <anchorfile>classcontroller_1_1ControllerNode.html</anchorfile>
      <anchor>a6e7d679e45923cc2b020980cd0d5227c</anchor>
      <arglist>(self, odomMsg)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>accelerationCalculator</name>
      <anchorfile>classcontroller_1_1ControllerNode.html</anchorfile>
      <anchor>afbf646a2eb171ccbf0c6c9f73f411a47</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>accelPub</name>
      <anchorfile>classcontroller_1_1ControllerNode.html</anchorfile>
      <anchor>a3a8df22c6d596ca3809feccda9cda4ab</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>angularController</name>
      <anchorfile>classcontroller_1_1ControllerNode.html</anchorfile>
      <anchor>a2d5e601341b7d3ce049d712bee9a792d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>forcePub</name>
      <anchorfile>classcontroller_1_1ControllerNode.html</anchorfile>
      <anchor>af53ea8240c1f53f10b9a6abdca838ada</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>lastForce</name>
      <anchorfile>classcontroller_1_1ControllerNode.html</anchorfile>
      <anchor>a2f2d1cf1b09e2ea83cc7377b802b0255</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>lastTorque</name>
      <anchorfile>classcontroller_1_1ControllerNode.html</anchorfile>
      <anchor>a736d3b7fc794ff783cb8bcb0f151e066</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>linearController</name>
      <anchorfile>classcontroller_1_1ControllerNode.html</anchorfile>
      <anchor>a0a4d805160422de1dc9fe596ee6919e8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>maxAngularAcceleration</name>
      <anchorfile>classcontroller_1_1ControllerNode.html</anchorfile>
      <anchor>aa8ae53b60695e118f7e22dffcd76303f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>maxAngularVelocity</name>
      <anchorfile>classcontroller_1_1ControllerNode.html</anchorfile>
      <anchor>ae39dc9186a89c0c5f70a89bb52add560</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>maxLinearAcceleration</name>
      <anchorfile>classcontroller_1_1ControllerNode.html</anchorfile>
      <anchor>a7b67e508f307a0a6abaec3ec329c577c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>maxLinearVelocity</name>
      <anchorfile>classcontroller_1_1ControllerNode.html</anchorfile>
      <anchor>ac409cb9baa4817eaba828aaf295ad91e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>off</name>
      <anchorfile>classcontroller_1_1ControllerNode.html</anchorfile>
      <anchor>a48d97afac52559f6c5527f0e7b085590</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>reconfigure_server</name>
      <anchorfile>classcontroller_1_1ControllerNode.html</anchorfile>
      <anchor>a0f57f099a7e6c4891b21ca5ef40f8945</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>steadyPub</name>
      <anchorfile>classcontroller_1_1ControllerNode.html</anchorfile>
      <anchor>ad72297e26aef1faf36a45734986a90c0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>trajectory_reader</name>
      <anchorfile>classcontroller_1_1ControllerNode.html</anchorfile>
      <anchor>a3875e4332e45a5eb801e6895570308f6</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>controller::LinearCascadedPController</name>
    <filename>classcontroller_1_1LinearCascadedPController.html</filename>
    <base>controller::CascadedPController</base>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classcontroller_1_1LinearCascadedPController.html</anchorfile>
      <anchor>ae7b0e37ee7a3e08fc38d4f891e2d8635</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>computeCorrectiveAcceleration</name>
      <anchorfile>classcontroller_1_1LinearCascadedPController.html</anchorfile>
      <anchor>a3c2320ceae17ac5d1e4fd045c915eeda</anchor>
      <arglist>(self, odom, correctiveVelocity)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>computeCorrectiveVelocity</name>
      <anchorfile>classcontroller_1_1LinearCascadedPController.html</anchorfile>
      <anchor>a56566a8554c135be023761d5797c37c6</anchor>
      <arglist>(self, odom)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>steadyAccelThresh</name>
      <anchorfile>classcontroller_1_1LinearCascadedPController.html</anchorfile>
      <anchor>adac3e365f16781bacc49a3249496d19d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>steadyVelThresh</name>
      <anchorfile>classcontroller_1_1LinearCascadedPController.html</anchorfile>
      <anchor>a4521b0461516d8912c965163f5a60d76</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>scriptOhio::ScriptOhioAction</name>
    <filename>classscriptOhio_1_1ScriptOhioAction.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classscriptOhio_1_1ScriptOhioAction.html</anchorfile>
      <anchor>ad47ff6dc70781dcb06dd4ae8bac8467f</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>execute_cb</name>
      <anchorfile>classscriptOhio_1_1ScriptOhioAction.html</anchorfile>
      <anchor>a789b6a876d3ba22c08ab2a4db877ce3d</anchor>
      <arglist>(self, goal)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>input_2_world</name>
      <anchorfile>classscriptOhio_1_1ScriptOhioAction.html</anchorfile>
      <anchor>ad091b14b10089ecb7ed75c0acefc0974</anchor>
      <arglist>(self, input_point, position, orientation)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>i_dot</name>
      <anchorfile>classscriptOhio_1_1ScriptOhioAction.html</anchorfile>
      <anchor>a7e9552aa694144b00d514f72abb45f14</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>max_x</name>
      <anchorfile>classscriptOhio_1_1ScriptOhioAction.html</anchorfile>
      <anchor>a06012f2fe5158385bc77faba515c9396</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>max_y</name>
      <anchorfile>classscriptOhio_1_1ScriptOhioAction.html</anchorfile>
      <anchor>a94cd2a8e8c5d4e1c380b598b5b27a2c6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>middle_x</name>
      <anchorfile>classscriptOhio_1_1ScriptOhioAction.html</anchorfile>
      <anchor>a2b4b4d9907b13f2bc892e2d0bc91b56f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>middle_y</name>
      <anchorfile>classscriptOhio_1_1ScriptOhioAction.html</anchorfile>
      <anchor>ad2d096ff437a795d14d775575c9fffe4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>min_x</name>
      <anchorfile>classscriptOhio_1_1ScriptOhioAction.html</anchorfile>
      <anchor>a33d2f7709fd6ff7dd4a2ff452e8a3186</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>min_y</name>
      <anchorfile>classscriptOhio_1_1ScriptOhioAction.html</anchorfile>
      <anchor>a9542a95073256a2b7234f59c3286e8df</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>orientation_pub</name>
      <anchorfile>classscriptOhio_1_1ScriptOhioAction.html</anchorfile>
      <anchor>a6d500f063152dbc4558d4d0cf6fdf0df</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>path_pub</name>
      <anchorfile>classscriptOhio_1_1ScriptOhioAction.html</anchorfile>
      <anchor>ab432402954ba0c1076367584016f2d99</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>points</name>
      <anchorfile>classscriptOhio_1_1ScriptOhioAction.html</anchorfile>
      <anchor>a30f8e59770f65fb93d2b858effa233fb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>position_pub</name>
      <anchorfile>classscriptOhio_1_1ScriptOhioAction.html</anchorfile>
      <anchor>ad4ff49ea32cda81fde1510413d2aed11</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>scale</name>
      <anchorfile>classscriptOhio_1_1ScriptOhioAction.html</anchorfile>
      <anchor>a33f30a7f3ae18465f94681223ed1fda8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>TOTAL_TIME</name>
      <anchorfile>classscriptOhio_1_1ScriptOhioAction.html</anchorfile>
      <anchor>a9857a0f39016c4cfbf49179d53e1e70e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>trajectory_pub</name>
      <anchorfile>classscriptOhio_1_1ScriptOhioAction.html</anchorfile>
      <anchor>a0e68ed0ede144c707b24db62ea0e5db2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>Z_HEIGHT</name>
      <anchorfile>classscriptOhio_1_1ScriptOhioAction.html</anchorfile>
      <anchor>a43cc33be8f74e769bc5317b6b4e38bc9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type></type>
      <name>_as</name>
      <anchorfile>classscriptOhio_1_1ScriptOhioAction.html</anchorfile>
      <anchor>a76643b158208160c41325d088ef58e2f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type></type>
      <name>_result</name>
      <anchorfile>classscriptOhio_1_1ScriptOhioAction.html</anchorfile>
      <anchor>a6fd2da0b3059dd8f6f2f87bc6281fa62</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>shroudTest::ShroudTestAction</name>
    <filename>classshroudTest_1_1ShroudTestAction.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classshroudTest_1_1ShroudTestAction.html</anchorfile>
      <anchor>af6b2530a69755bb1ccf88e30e20a5e99</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>execute_cb</name>
      <anchorfile>classshroudTest_1_1ShroudTestAction.html</anchorfile>
      <anchor>abb0f04a6af659c22e4a52302e690d5e3</anchor>
      <arglist>(self, goal)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>linear_drag</name>
      <anchorfile>classshroudTest_1_1ShroudTestAction.html</anchorfile>
      <anchor>a9a794f50ee403659b62bf54784e84459</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>mass</name>
      <anchorfile>classshroudTest_1_1ShroudTestAction.html</anchorfile>
      <anchor>a50aa44522d674d72ab7019484a4ace30</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>off_pub</name>
      <anchorfile>classshroudTest_1_1ShroudTestAction.html</anchorfile>
      <anchor>ae6ea7649959da0ed2c647919f777d9e9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>orientation_pub</name>
      <anchorfile>classshroudTest_1_1ShroudTestAction.html</anchorfile>
      <anchor>ab0af404baa6112138dbdcd0a81ead2a5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>position_pub</name>
      <anchorfile>classshroudTest_1_1ShroudTestAction.html</anchorfile>
      <anchor>a09effcbd11ccb8d1a83500ffec95e04b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>quadratic_drag</name>
      <anchorfile>classshroudTest_1_1ShroudTestAction.html</anchorfile>
      <anchor>a7c4f6b4a1df84d294759a347b43483f2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>velocity_pub</name>
      <anchorfile>classshroudTest_1_1ShroudTestAction.html</anchorfile>
      <anchor>a7ff64af7d88d69b07bc64955deb9cb03</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type></type>
      <name>_as</name>
      <anchorfile>classshroudTest_1_1ShroudTestAction.html</anchorfile>
      <anchor>a4dd6f674494338681c754258f47a919c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private" static="yes">
      <type></type>
      <name>_result</name>
      <anchorfile>classshroudTest_1_1ShroudTestAction.html</anchorfile>
      <anchor>ada71f3b5a0c59f3541fa1dfb3bd5f2e5</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>sickTrick::SickTrickAction</name>
    <filename>classsickTrick_1_1SickTrickAction.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classsickTrick_1_1SickTrickAction.html</anchorfile>
      <anchor>a93930e1640afe0404c7888180492890f</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>execute_cb</name>
      <anchorfile>classsickTrick_1_1SickTrickAction.html</anchorfile>
      <anchor>a9706919d7227cf5c78e11bedf0380436</anchor>
      <arglist>(self, goal)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>input_2_world</name>
      <anchorfile>classsickTrick_1_1SickTrickAction.html</anchorfile>
      <anchor>a060587a7fefd15ca1106c9dc20d75bcc</anchor>
      <arglist>(self, input_point, input_orientation, position, orientation)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>DT</name>
      <anchorfile>classsickTrick_1_1SickTrickAction.html</anchorfile>
      <anchor>a1cc8c0a3e030c64b48bdce52bdb6d1a7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>max_x</name>
      <anchorfile>classsickTrick_1_1SickTrickAction.html</anchorfile>
      <anchor>a3116ca88a91d53dbad4e4805d087916d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>max_y</name>
      <anchorfile>classsickTrick_1_1SickTrickAction.html</anchorfile>
      <anchor>a57f5e0f8b2a401b8a0ed41547a07d2d3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>max_z</name>
      <anchorfile>classsickTrick_1_1SickTrickAction.html</anchorfile>
      <anchor>a5764bc106b5f4dde9b9b4675ec132dc0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>middle_x</name>
      <anchorfile>classsickTrick_1_1SickTrickAction.html</anchorfile>
      <anchor>a4ca81e188d2b2e685e61d83323bde297</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>middle_y</name>
      <anchorfile>classsickTrick_1_1SickTrickAction.html</anchorfile>
      <anchor>a3338046e4fb40423473ea9d64aa48437</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>middle_z</name>
      <anchorfile>classsickTrick_1_1SickTrickAction.html</anchorfile>
      <anchor>a03f28408063dfb40ba70969f95cb61ae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>min_x</name>
      <anchorfile>classsickTrick_1_1SickTrickAction.html</anchorfile>
      <anchor>ab94df9f3c0fd4b2c196af419114ca35b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>min_y</name>
      <anchorfile>classsickTrick_1_1SickTrickAction.html</anchorfile>
      <anchor>a83a5fcccc89b2f29744234c6544307da</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>min_z</name>
      <anchorfile>classsickTrick_1_1SickTrickAction.html</anchorfile>
      <anchor>a924c1a6133e1c3131a3329d783da1402</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>orientation_pub</name>
      <anchorfile>classsickTrick_1_1SickTrickAction.html</anchorfile>
      <anchor>abbdf169f858c5f5abe9e824f4e7ff819</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>path_pub</name>
      <anchorfile>classsickTrick_1_1SickTrickAction.html</anchorfile>
      <anchor>a490f2c6a859c1213128e55ffdc245ca4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>points</name>
      <anchorfile>classsickTrick_1_1SickTrickAction.html</anchorfile>
      <anchor>ad51a7c9cad03dfaf495d9e4131d6e89c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>position_pub</name>
      <anchorfile>classsickTrick_1_1SickTrickAction.html</anchorfile>
      <anchor>addd3a08af27e1df5accce3d4cb319ba8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>trajectory_pub</name>
      <anchorfile>classsickTrick_1_1SickTrickAction.html</anchorfile>
      <anchor>a399c679c8518b3d7feda7102a142606f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type></type>
      <name>_as</name>
      <anchorfile>classsickTrick_1_1SickTrickAction.html</anchorfile>
      <anchor>a3ca34ccc813e6458fb1a03c2635958c3</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>thruster_solver::ThrusterSolverNode</name>
    <filename>classthruster__solver_1_1ThrusterSolverNode.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classthruster__solver_1_1ThrusterSolverNode.html</anchorfile>
      <anchor>a6ce71aada5474da8f31b949cf88b8f25</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>check_thrusters</name>
      <anchorfile>classthruster__solver_1_1ThrusterSolverNode.html</anchorfile>
      <anchor>a4f88bab75a87657fd7c5037d50d7cdcb</anchor>
      <arglist>(self, timer_event)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>force_cb</name>
      <anchorfile>classthruster__solver_1_1ThrusterSolverNode.html</anchorfile>
      <anchor>a7c1adcddc4e601f4405f59738490fd65</anchor>
      <arglist>(self, msg)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>force_cost</name>
      <anchorfile>classthruster__solver_1_1ThrusterSolverNode.html</anchorfile>
      <anchor>ab9663ac55783057c0649e699f1a12bad</anchor>
      <arglist>(self, thruster_forces, desired_state)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>force_cost_jac</name>
      <anchorfile>classthruster__solver_1_1ThrusterSolverNode.html</anchorfile>
      <anchor>a4a0f95639c4a8e43a9f8762d4a13d18c</anchor>
      <arglist>(self, thruster_forces, desired_state)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>power_cost</name>
      <anchorfile>classthruster__solver_1_1ThrusterSolverNode.html</anchorfile>
      <anchor>a4c5520e2c48a4216473125165bc23dac</anchor>
      <arglist>(self, thruster_forces)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>power_cost_jac</name>
      <anchorfile>classthruster__solver_1_1ThrusterSolverNode.html</anchorfile>
      <anchor>ac4079d791c79215fcf5428cb59f5dd54</anchor>
      <arglist>(self, thruster_forces)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>publish_pwm</name>
      <anchorfile>classthruster__solver_1_1ThrusterSolverNode.html</anchorfile>
      <anchor>a9e69c15cd058a9d92d2e180ae28a5d05</anchor>
      <arglist>(self, forces)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>total_cost</name>
      <anchorfile>classthruster__solver_1_1ThrusterSolverNode.html</anchorfile>
      <anchor>a4df25be0d3a74e294109b47dec8a7830</anchor>
      <arglist>(self, thruster_forces, desired_state)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>total_cost_jac</name>
      <anchorfile>classthruster__solver_1_1ThrusterSolverNode.html</anchorfile>
      <anchor>a9cde1ba36ee94347d9ac18cdf02ea9df</anchor>
      <arglist>(self, thruster_forces, desired_state)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>bounds</name>
      <anchorfile>classthruster__solver_1_1ThrusterSolverNode.html</anchorfile>
      <anchor>ab5ee56c5fb7e0ee6aa006793f0b3b2ae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>current_thruster_coeffs</name>
      <anchorfile>classthruster__solver_1_1ThrusterSolverNode.html</anchorfile>
      <anchor>a8ef5d3c15a01d6d70c3ff4a6892d46b2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>initial_condition</name>
      <anchorfile>classthruster__solver_1_1ThrusterSolverNode.html</anchorfile>
      <anchor>a6103705c413c82382994c751d6254379</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>listener</name>
      <anchorfile>classthruster__solver_1_1ThrusterSolverNode.html</anchorfile>
      <anchor>a23fdd6fc1e46842ba7b37af25a829c34</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>max_force</name>
      <anchorfile>classthruster__solver_1_1ThrusterSolverNode.html</anchorfile>
      <anchor>adc3d67b24ef28995ab2e0185037a613d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>power_priority</name>
      <anchorfile>classthruster__solver_1_1ThrusterSolverNode.html</anchorfile>
      <anchor>ac6a251a7d40e958a1891115061d3c989</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pwm_file</name>
      <anchorfile>classthruster__solver_1_1ThrusterSolverNode.html</anchorfile>
      <anchor>a42e049150c2f6ae3afedb79d2bc95042</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pwm_pub</name>
      <anchorfile>classthruster__solver_1_1ThrusterSolverNode.html</anchorfile>
      <anchor>a5c40823c3521408b8ec3cff53bb93a4c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>start_time</name>
      <anchorfile>classthruster__solver_1_1ThrusterSolverNode.html</anchorfile>
      <anchor>a5ebc32ff372ba51805535e9602309032</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>tf_namespace</name>
      <anchorfile>classthruster__solver_1_1ThrusterSolverNode.html</anchorfile>
      <anchor>a639e5f924c72f9c339608c9276dcbeb6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>thruster_coeffs</name>
      <anchorfile>classthruster__solver_1_1ThrusterSolverNode.html</anchorfile>
      <anchor>a084172758e66abdd1260b575e2feeced</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>thruster_pub</name>
      <anchorfile>classthruster__solver_1_1ThrusterSolverNode.html</anchorfile>
      <anchor>a2dc5337b78251653b675d5a9042be045</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>thruster_types</name>
      <anchorfile>classthruster__solver_1_1ThrusterSolverNode.html</anchorfile>
      <anchor>a5e07f844490ac5ebf56a35df8cd894f1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>timer</name>
      <anchorfile>classthruster__solver_1_1ThrusterSolverNode.html</anchorfile>
      <anchor>a95915fd659761fbe049348613b89f5b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>WATER_LEVEL</name>
      <anchorfile>classthruster__solver_1_1ThrusterSolverNode.html</anchorfile>
      <anchor>aab4ec94a8d6fbb7883e31a8f72e853f3</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>thrusterTest::ThrusterTest</name>
    <filename>classthrusterTest_1_1ThrusterTest.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classthrusterTest_1_1ThrusterTest.html</anchorfile>
      <anchor>a4dda1c38649f08ac48f32dd961776895</anchor>
      <arglist>(self)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>execute_cb</name>
      <anchorfile>classthrusterTest_1_1ThrusterTest.html</anchorfile>
      <anchor>a2109836399a38931405e8f9d6edb47ad</anchor>
      <arglist>(self, goal)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>publish_pwm</name>
      <anchorfile>classthrusterTest_1_1ThrusterTest.html</anchorfile>
      <anchor>a55c1e628158dc7dcd5db1e7b93b40de9</anchor>
      <arglist>(self, pwm)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>max_force</name>
      <anchorfile>classthrusterTest_1_1ThrusterTest.html</anchorfile>
      <anchor>ac4b4b1781e2f69f9bb26a9c717d0e381</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>num_thrusters</name>
      <anchorfile>classthrusterTest_1_1ThrusterTest.html</anchorfile>
      <anchor>a422425b689f554cee63633fd275c425f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>pwm_pub</name>
      <anchorfile>classthrusterTest_1_1ThrusterTest.html</anchorfile>
      <anchor>aa00ad36af4cee89b01beefa441604c03</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>vehicle_file</name>
      <anchorfile>classthrusterTest_1_1ThrusterTest.html</anchorfile>
      <anchor>a3e390b0ba7ebd3581ad10ae08fca15f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" static="yes">
      <type>float</type>
      <name>THRUSTER_PERCENT</name>
      <anchorfile>classthrusterTest_1_1ThrusterTest.html</anchorfile>
      <anchor>a770f4919d85c8ec843b03d61d2182625</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type></type>
      <name>_as</name>
      <anchorfile>classthrusterTest_1_1ThrusterTest.html</anchorfile>
      <anchor>a5e1f01e261cdb7386e449e7b88215bf3</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>controller::TrajectoryReader</name>
    <filename>classcontroller_1_1TrajectoryReader.html</filename>
    <member kind="function">
      <type>def</type>
      <name>__init__</name>
      <anchorfile>classcontroller_1_1TrajectoryReader.html</anchorfile>
      <anchor>a8aab346850150e29d9a01c5255f5380f</anchor>
      <arglist>(self, linear_controller, angular_controller)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>execute_cb</name>
      <anchorfile>classcontroller_1_1TrajectoryReader.html</anchorfile>
      <anchor>abd0da465a55c455136df40e4ffe8dbc0</anchor>
      <arglist>(self, goal)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>angular_controller</name>
      <anchorfile>classcontroller_1_1TrajectoryReader.html</anchorfile>
      <anchor>a81c444b91e6faf6302a7724441f55961</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>linear_controller</name>
      <anchorfile>classcontroller_1_1TrajectoryReader.html</anchorfile>
      <anchor>a868a9cdbc314f0a7075e3803d9030e30</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type></type>
      <name>_as</name>
      <anchorfile>classcontroller_1_1TrajectoryReader.html</anchorfile>
      <anchor>aa404fcb64d8215c967352353f07cd9f0</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>calibrateBuoyancy</name>
    <filename>namespacecalibrateBuoyancy.html</filename>
    <class kind="class">calibrateBuoyancy::CalibrateBuoyancyAction</class>
    <member kind="function">
      <type>def</type>
      <name>changeFrame</name>
      <anchorfile>namespacecalibrateBuoyancy.html</anchorfile>
      <anchor>a88e357465c6f54b8d1800db17996480c</anchor>
      <arglist>(orientation, vector, w2b=True)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>msg_to_numpy</name>
      <anchorfile>namespacecalibrateBuoyancy.html</anchorfile>
      <anchor>a5542845ad44ddbf1e35b3bba60ae8770</anchor>
      <arglist>(msg)</arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>GRAVITY</name>
      <anchorfile>namespacecalibrateBuoyancy.html</anchorfile>
      <anchor>a5c4239c98ba96d4106466b5fa6ff9d10</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>server</name>
      <anchorfile>namespacecalibrateBuoyancy.html</anchorfile>
      <anchor>a50c1b0e813e83cbb2375faa2da8631fa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>WATER_DENSITY</name>
      <anchorfile>namespacecalibrateBuoyancy.html</anchorfile>
      <anchor>ae054c5cbda4c3186100684abe4f64131</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>calibrateDrag</name>
    <filename>namespacecalibrateDrag.html</filename>
    <class kind="class">calibrateDrag::CalibrateDragAction</class>
    <member kind="variable">
      <type></type>
      <name>server</name>
      <anchorfile>namespacecalibrateDrag.html</anchorfile>
      <anchor>ac11e8d25e787ee06f58402842737233f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>controller</name>
    <filename>namespacecontroller.html</filename>
    <class kind="class">controller::AccelerationCalculator</class>
    <class kind="class">controller::AngularCascadedPController</class>
    <class kind="class">controller::CascadedPController</class>
    <class kind="class">controller::ControllerNode</class>
    <class kind="class">controller::LinearCascadedPController</class>
    <class kind="class">controller::TrajectoryReader</class>
    <member kind="function">
      <type>def</type>
      <name>applyMax</name>
      <anchorfile>namespacecontroller.html</anchorfile>
      <anchor>a4dae369604c053cc6187d38d976cd6b0</anchor>
      <arglist>(vector, max_vector)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>msgToNumpy</name>
      <anchorfile>namespacecontroller.html</anchorfile>
      <anchor>a9622327b0bf64c5d35d0cf0f6a9a67fc</anchor>
      <arglist>(msg)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>worldToBody</name>
      <anchorfile>namespacecontroller.html</anchorfile>
      <anchor>a80cd6c8719d74d177fa9bfc641f3c42f</anchor>
      <arglist>(orientation, vector)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>controller</name>
      <anchorfile>namespacecontroller.html</anchorfile>
      <anchor>a117426e950d2b54bd9d38fa2d9453c35</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>scriptOhio</name>
    <filename>namespacescriptOhio.html</filename>
    <class kind="class">scriptOhio::ScriptOhioAction</class>
    <member kind="function">
      <type>def</type>
      <name>body_2_world</name>
      <anchorfile>namespacescriptOhio.html</anchorfile>
      <anchor>a976283d2f17b008e42d99c1fc15f24c0</anchor>
      <arglist>(orientation, vector)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>msg_2_numpy</name>
      <anchorfile>namespacescriptOhio.html</anchorfile>
      <anchor>ab0038fdb42bcfc854760744eadf9d8ff</anchor>
      <arglist>(msg)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>server</name>
      <anchorfile>namespacescriptOhio.html</anchorfile>
      <anchor>ab2be5c67dd0f2f4ed0b806a8aeddcebc</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>shroudTest</name>
    <filename>namespaceshroudTest.html</filename>
    <class kind="class">shroudTest::ShroudTestAction</class>
    <member kind="function">
      <type>def</type>
      <name>msg_to_numpy</name>
      <anchorfile>namespaceshroudTest.html</anchorfile>
      <anchor>a5943e9ac4001671fdd552136fac4ece4</anchor>
      <arglist>(msg)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>server</name>
      <anchorfile>namespaceshroudTest.html</anchorfile>
      <anchor>a54c83666bb098b63def87f080730e167</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>sickTrick</name>
    <filename>namespacesickTrick.html</filename>
    <class kind="class">sickTrick::SickTrickAction</class>
    <member kind="function">
      <type>def</type>
      <name>body_2_world</name>
      <anchorfile>namespacesickTrick.html</anchorfile>
      <anchor>afa15f0616cc42a16ca6e7db981fe0140</anchor>
      <arglist>(orientation, vector)</arglist>
    </member>
    <member kind="function">
      <type>def</type>
      <name>msg_2_numpy</name>
      <anchorfile>namespacesickTrick.html</anchorfile>
      <anchor>afb0ad52f319faa4d04a33f07943f4fba</anchor>
      <arglist>(msg)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>server</name>
      <anchorfile>namespacesickTrick.html</anchorfile>
      <anchor>a5e15c727ee0e2f49862add6f5690760d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>thruster_solver</name>
    <filename>namespacethruster__solver.html</filename>
    <class kind="class">thruster_solver::ThrusterSolverNode</class>
    <member kind="function">
      <type>def</type>
      <name>msg_to_numpy</name>
      <anchorfile>namespacethruster__solver.html</anchorfile>
      <anchor>a66b29263d01f72ddbb3eb5bbbcb0638f</anchor>
      <arglist>(msg)</arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>controller</name>
      <anchorfile>namespacethruster__solver.html</anchorfile>
      <anchor>a1d33afd8c89e5d65ec65add3ce01624c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>MAX_PWM</name>
      <anchorfile>namespacethruster__solver.html</anchorfile>
      <anchor>a65880bb1a555f5d0dafd86f1409c5f93</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>MIN_PWM</name>
      <anchorfile>namespacethruster__solver.html</anchorfile>
      <anchor>a83cb2a887879a09ec29976e60cd6143a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>NEUTRAL_PWM</name>
      <anchorfile>namespacethruster__solver.html</anchorfile>
      <anchor>aadda7681af8ec7896f249e24417de1b1</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>thrusterTest</name>
    <filename>namespacethrusterTest.html</filename>
    <class kind="class">thrusterTest::ThrusterTest</class>
    <member kind="variable">
      <type>int</type>
      <name>NEGATIVE_PWM</name>
      <anchorfile>namespacethrusterTest.html</anchorfile>
      <anchor>adfbd56631b06305c7c4354d91988f47d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>NEUTRAL_PWM</name>
      <anchorfile>namespacethrusterTest.html</anchorfile>
      <anchor>a456d2e2fd7c035684572a28af8f41598</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>POSITIVE_PWM</name>
      <anchorfile>namespacethrusterTest.html</anchorfile>
      <anchor>a02184820822fd19eb03e8d9a582a42ed</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>server</name>
      <anchorfile>namespacethrusterTest.html</anchorfile>
      <anchor>a0885d993085788e183096ac9b8ea0b16</anchor>
      <arglist></arglist>
    </member>
  </compound>
</tagfile>
