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      <anchor>a4516ffe3df54ca39d2789bc7d1ffc0c7</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>boost::shared_ptr&lt; Route &gt;</type>
      <name>RoutePtr</name>
      <anchorfile>namespaceswri__route__util.html</anchorfile>
      <anchor>aa6748ed8022b9930e3a7c51954d6079c</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>addItem</name>
      <anchorfile>namespaceswri__route__util.html</anchorfile>
      <anchor>a518d34e2af3955a661b3193b6e5e8ded</anchor>
      <arglist>(mcm::KeyValueArray &amp;m, const std::string &amp;key, const std::string &amp;value)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static double</type>
      <name>estimateCurvature</name>
      <anchorfile>namespaceswri__route__util.html</anchorfile>
      <anchor>a29170013d2dbbb363e4d456a2257139c</anchor>
      <arglist>(const Route &amp;route, const size_t index, double filter_size)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>extractSubroute</name>
      <anchorfile>namespaceswri__route__util.html</anchorfile>
      <anchor>ae6af70b03f46c636e968a0af262363b8</anchor>
      <arglist>(Route &amp;sub_route, const Route &amp;route, const marti_nav_msgs::RoutePosition &amp;start, const marti_nav_msgs::RoutePosition &amp;end)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>fillOrientations</name>
      <anchorfile>namespaceswri__route__util.html</anchorfile>
      <anchor>af984e8ffcaea49234a17a2f832d10deb</anchor>
      <arglist>(Route &amp;route, const tf::Vector3 &amp;up=tf::Vector3(0.0, 0.0, 1.0))</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>generateObstacleData</name>
      <anchorfile>namespaceswri__route__util.html</anchorfile>
      <anchor>a6346ffcbdc314e4b7796b5ab8939dd4c</anchor>
      <arglist>(std::vector&lt; ObstacleData &gt; &amp;obstacle_data, const swri_transform_util::Transform g_route_from_obs, const marti_nav_msgs::ObstacleArray &amp;obstacles_msg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>generateObstacleData</name>
      <anchorfile>namespaceswri__route__util.html</anchorfile>
      <anchor>a5fa1fef485d7498996bdd1a8b9155ad5</anchor>
      <arglist>(std::vector&lt; ObstacleData &gt; &amp;obstacle_data, const stu::Transform g_route_from_obs, const mnm::ObstacleArray &amp;obstacles_msg)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>interpolateRoutePosition</name>
      <anchorfile>namespaceswri__route__util.html</anchorfile>
      <anchor>a4625058ab197ab03bdb3e6c1b7f97ec5</anchor>
      <arglist>(RoutePoint &amp;point, const Route &amp;route, const marti_nav_msgs::RoutePosition &amp;position, bool allow_extrapolation)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>interpolateRoutePosition</name>
      <anchorfile>namespaceswri__route__util.html</anchorfile>
      <anchor>a069ae4fc5c69e6f12ac5133694981aa4</anchor>
      <arglist>(RoutePoint &amp;dst, const Route &amp;route, const mnm::RoutePosition &amp;position, bool allow_extrapolation)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>interpolateRouteSegment</name>
      <anchorfile>namespaceswri__route__util.html</anchorfile>
      <anchor>a3d2b4976e60add407a8faefa4d65ba2c</anchor>
      <arglist>(RoutePoint &amp;dst, const RoutePoint &amp;p0, const RoutePoint &amp;p1, double distance)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static geometry_msgs::Point</type>
      <name>makePoint</name>
      <anchorfile>namespaceswri__route__util.html</anchorfile>
      <anchor>ae6856f230a30899480b5b7a12e33f572</anchor>
      <arglist>(const double x, const double y)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>markerForRouteSpeeds</name>
      <anchorfile>namespaceswri__route__util.html</anchorfile>
      <anchor>a0a6957f018d59c34d544e234e3ba834d</anchor>
      <arglist>(visualization_msgs::Marker &amp;marker, const Route &amp;route, const marti_nav_msgs::RouteSpeedArray &amp;speeds, double scale)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>markerForRouteSpeeds</name>
      <anchorfile>namespaceswri__route__util.html</anchorfile>
      <anchor>ac13e0424148f7608192eadcede68a77c</anchor>
      <arglist>(vm::Marker &amp;m, const Route &amp;route, const mnm::RouteSpeedArray &amp;speeds, double scale)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static double</type>
      <name>maxSpeedForCurvature</name>
      <anchorfile>namespaceswri__route__util.html</anchorfile>
      <anchor>afba05df413fce38ae9f78237c5c6b70f</anchor>
      <arglist>(double curvature, const SpeedForCurvatureParameters &amp;params)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>msgFromPoint</name>
      <anchorfile>namespaceswri__route__util.html</anchorfile>
      <anchor>a4c278de6f661f17ccfee989c4019cf40</anchor>
      <arglist>(marti_nav_msgs::RoutePoint &amp;dst, const RoutePoint &amp;src)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>nearestDistanceToLineSegment</name>
      <anchorfile>namespaceswri__route__util.html</anchorfile>
      <anchor>a4bd588e625741a2b63246feec87c3bec</anchor>
      <arglist>(double &amp;min_distance_from_line, double &amp;min_distance_on_line, const tf::Vector3 &amp;p0, const tf::Vector3 &amp;p1, const tf::Vector3 &amp;p, bool extrapolate_start, bool extrapolate_end)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>normalizeRoutePosition</name>
      <anchorfile>namespaceswri__route__util.html</anchorfile>
      <anchor>a101fce156a386c17d773de17c7b8c1b9</anchor>
      <arglist>(marti_nav_msgs::RoutePosition &amp;normalized_position, const Route &amp;route, const marti_nav_msgs::RoutePosition &amp;position)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>normalizeRoutePosition</name>
      <anchorfile>namespaceswri__route__util.html</anchorfile>
      <anchor>a1ecea129babad8fea5bd42772b9e8f9a</anchor>
      <arglist>(mnm::RoutePosition &amp;normalized_position, const Route &amp;route, const mnm::RoutePosition &amp;position)</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static void</type>
      <name>pointFromMsg</name>
      <anchorfile>namespaceswri__route__util.html</anchorfile>
      <anchor>a354ab055b21323bbca607c9f1918b576</anchor>
      <arglist>(RoutePoint &amp;dst, const marti_nav_msgs::RoutePoint &amp;src)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>projectOntoRoute</name>
      <anchorfile>namespaceswri__route__util.html</anchorfile>
      <anchor>a752c960585f9f8a56ed694ab21795a8f</anchor>
      <arglist>(marti_nav_msgs::RoutePosition &amp;position, const Route &amp;route, const tf::Vector3 &amp;point, bool extrapolate_before_start, bool extrapolate_past_end)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>projectOntoRoute</name>
      <anchorfile>namespaceswri__route__util.html</anchorfile>
      <anchor>adbe05f9bc741ceb7afb78406581e1eb2</anchor>
      <arglist>(mnm::RoutePosition &amp;position, const Route &amp;route, const tf::Vector3 &amp;point, bool extrapolate_before_start, bool extrapolate_past_end)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>projectOntoRouteWindow</name>
      <anchorfile>namespaceswri__route__util.html</anchorfile>
      <anchor>a1e9340def93223c42ef8431e4c20b3a7</anchor>
      <arglist>(marti_nav_msgs::RoutePosition &amp;position, const Route &amp;route, const tf::Vector3 &amp;point, const marti_nav_msgs::RoutePosition &amp;window_start, const marti_nav_msgs::RoutePosition &amp;window_end)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>projectOntoRouteWindow</name>
      <anchorfile>namespaceswri__route__util.html</anchorfile>
      <anchor>a5be724132c124181e33355849c737b41</anchor>
      <arglist>(mnm::RoutePosition &amp;position, const Route &amp;route, const tf::Vector3 &amp;point, const mnm::RoutePosition &amp;window_start, const mnm::RoutePosition &amp;window_end)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>projectToXY</name>
      <anchorfile>namespaceswri__route__util.html</anchorfile>
      <anchor>a5a4ded003ce32f8b2133bf5aee29e204</anchor>
      <arglist>(Route &amp;route)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>routeDistance</name>
      <anchorfile>namespaceswri__route__util.html</anchorfile>
      <anchor>a69275dc37adf802f681de14a424442df</anchor>
      <arglist>(double &amp;distance, const marti_nav_msgs::RoutePosition &amp;start, const marti_nav_msgs::RoutePosition &amp;end, const Route &amp;route)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>routeDistance</name>
      <anchorfile>namespaceswri__route__util.html</anchorfile>
      <anchor>a6cd462a92150e373e4b410db00674e11</anchor>
      <arglist>(double &amp;distance, const mnm::RoutePosition &amp;start, const mnm::RoutePosition &amp;end, const Route &amp;route)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>routeDistances</name>
      <anchorfile>namespaceswri__route__util.html</anchorfile>
      <anchor>ad4ad153c0d2b2a0427dbb966df6a1e9a</anchor>
      <arglist>(std::vector&lt; double &gt; &amp;distances, const marti_nav_msgs::RoutePosition &amp;start, const std::vector&lt; marti_nav_msgs::RoutePosition &gt; &amp;ends, const Route &amp;route)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>routeDistances</name>
      <anchorfile>namespaceswri__route__util.html</anchorfile>
      <anchor>a1e5d77f4fec069ebfbcc7cfa1179902e</anchor>
      <arglist>(std::vector&lt; double &gt; &amp;distances, const mnm::RoutePosition &amp;start, const std::vector&lt; mnm::RoutePosition &gt; &amp;ends, const Route &amp;route)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>speedsForCurvature</name>
      <anchorfile>namespaceswri__route__util.html</anchorfile>
      <anchor>a16249f0ba4cb91840e74c0111e5a990e</anchor>
      <arglist>(marti_nav_msgs::RouteSpeedArray &amp;speeds, const Route &amp;route, const SpeedForCurvatureParameters &amp;parameters)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>speedsForCurvature</name>
      <anchorfile>namespaceswri__route__util.html</anchorfile>
      <anchor>a5c55f0ff48a2d915c8b6681233858d07</anchor>
      <arglist>(mnm::RouteSpeedArray &amp;speeds, const Route &amp;route, const SpeedForCurvatureParameters &amp;parameters)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>speedsForObstacles</name>
      <anchorfile>namespaceswri__route__util.html</anchorfile>
      <anchor>aca1680f8e9001f40eaf86863ce249598</anchor>
      <arglist>(marti_nav_msgs::RouteSpeedArray &amp;speeds, std::vector&lt; DistanceReport &gt; &amp;reports, const Route &amp;route, const marti_nav_msgs::RoutePosition &amp;route_position, const std::vector&lt; ObstacleData &gt; &amp;obstacles, const SpeedForObstaclesParameters &amp;parameters)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>speedsForObstacles</name>
      <anchorfile>namespaceswri__route__util.html</anchorfile>
      <anchor>a9bc4e48ae91f86efd138e39c14067d55</anchor>
      <arglist>(mnm::RouteSpeedArray &amp;speeds, std::vector&lt; DistanceReport &gt; &amp;reports, const Route &amp;route, const mnm::RoutePosition &amp;route_position, const std::vector&lt; ObstacleData &gt; &amp;obstacles, const SpeedForObstaclesParameters &amp;p)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>transform</name>
      <anchorfile>namespaceswri__route__util.html</anchorfile>
      <anchor>aff637ebef6a6e78f21aea165b720839f</anchor>
      <arglist>(Route &amp;route, const swri_transform_util::Transform &amp;transform, const std::string &amp;target_frame)</arglist>
    </member>
  </compound>
</tagfile>
